A Robot System Which Acquires Cylindrical Workpieces from Bins. - Robert B. Kelley; John R. Birk; Henrique A. S. Martins; Richard Tella (IEEE Trans. Syst. Man Cybern., 1982)

General Purpose Hands for Bin-Picking Robots. - Richard Tella; John R. Birk; Robert B. Kelley (IEEE Trans. Syst. Man Cybern., 1982)

FLAIR-robotic printed circuit board assembly workcell. - Sidney Liebes; William Gong; Alexander Gray; Henrique A. S. Martins; Bruce Modesitt; Richard Tella (ICRA, 1988)