A method for the study of position in highly redundant multibody systems in environments with obstacles. - Josu Agirrebeitia; Rafael Avilés; Igor Fernández de Bustos; Goizalde Ajuria (IEEE Trans. Robotics Autom., 2002)

A practical procedure to analyze singular configurations in closed kinematic chains. - Oscar Altuzarra; Charles Pinto; Rafael Avilés; Alfonso Hernández (IEEE Trans. Robotics, 2004)