Virtual Radar: An Obstacle Information Display System for Teleoperation. - Yuichi Tsumaki; Mitsugu Takahashi; Woo-Keun Yoon; Masaru Uchiyama (ICRA, 2002)

Singularity-consistent kinematic redundancy resolution for the S-R-S manipulator. - Dragomir N. Nenchev; Yuichi Tsumaki; Mitsugu Takahashi (IROS, 2004)