ORTHO-BOT: A Modular Reconfigurable Space Robot Concept. - V. Ramchurn; Robert C. Richardson; Paul Nutter (CLAWAR, 2005)

Reactive and pre-planned encirclement for whole arm grasping. - David Devereux; Paul Nutter; Robert C. Richardson (INDIN, 2009)

Determining an object's shape with a blind tactile manipulator. - David Devereux; Paul Nutter; Robert C. Richardson (IROS, 2009)