Dynamic task distribution for multiple cooperating robot manipulators. - Ian D. Walker; Robert A. Freeman; Steven I. Marcus (ICRA, 1988)

The dynamic and stiffness modeling of general robotic manipulator systems with antagonistic actuation. - Whang Cho; Delbert Tesar; Robert A. Freeman (ICRA, 1989)

Internal object loading for multiple cooperating robot manipulators. - Ian D. Walker; Robert A. Freeman; Steven I. Marcus (ICRA, 1989)

Open-loop stiffness control of overconstrained mechanisms/robotic linkage systems. - Byung-Ju Yi; Robert A. Freeman; Delbert Tesar (ICRA, 1989)

Distribution of dynamic loads for multiple cooperating robot manipulators. - Ian D. Walker; Steven I. Marcus; Robert A. Freeman (J. Field Robotics, 1989)

Open-loop stability of overconstrained parallel robotic systems. - Byung-Ju Yi; Whang Cho; Robert A. Freeman (ICRA, 1990)

Geometric stability in force control. - Byung-Ju Yi; Ian D. Walker; Delbert Tesar; Robert A. Freeman (ICRA, 1991)

Analysis of Motion and Internal Loading of Objects Grasped by Multiple Cooperating Manipulators. - Ian D. Walker; Robert A. Freeman; Steven I. Marcus (Int. J. Robotics Res., 1991)

Joint torque optimization of redundant manipulators via the null space damping method. - Hee-Jun Kang; Robert A. Freeman (ICRA, 1992)

Geometric Characteristics of Antagonistic Stiffness in Redundantly Actuated Mechanisms. - Byung-Ju Yi; Robert A. Freeman (ICRA (2), 1993)

Null space damping method for local joint torque optimization of redundant manipulators. - Hee-Jun Kang; Robert A. Freeman (J. Field Robotics, 1993)

Geometric analysis of antagonistic stiffness in redundantly actuated parallel mechanisms. - Byung-Ju Yi; Robert A. Freeman (J. Field Robotics, 1993)

Torque Redistribution Method for Fault Recovery in Redundant Serial Manipulators. - Yung Ting; Sabri Tosunoglu; Robert A. Freeman (ICRA, 1994)

Feedforward Spring-Like Impedance Modelation in Human Arm Models. - Byung-Ju Yi; Robert A. Freeman (ICRA, 1995)

Torque redistribution and time regulation methods for actuator of fault-tolerant parallel robots. - Yung Ting; Sabri Tosunoglu; Robert A. Freeman (J. Field Robotics, 1995)

Saturation avoidance methods for serial robots operating under a failure. - Yung Ting; Sabri Tosunoglu; Robert A. Freeman; Delbert Tesar (J. Field Robotics, 1999)