A computational scheme of closed link robot dynamics derived by D'Alembert principle. - Yoshihiko Nakamura; Modjtaba Ghodoussi (ICRA, 1988)

Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuators. - Yoshihiko Nakamura; Modjtaba Ghodoussi (IEEE Trans. Robotics Autom., 1989)

Principal base parameters of open and closed kinematic chains. - Modjtaba Ghodoussi; Yoshihiko Nakamura (ICRA, 1991)