Resolving redundant manipulator joint rates and identifying special arm configurations using Jacobian null-space bases. - Ron P. Podhorodeski; Andrew A. Goldenberg; Robert G. Fenton (IEEE Trans. Robotics Autom., 1991)

A family of stewart platforms with optimal dexterity. - Kenneth H. Pittens; Ron P. Podhorodeski (J. Field Robotics, 1993)

Complete forward displacement solutions for a class of three-branch parallel manipulators. - Leila Notash; Ron P. Podhorodeski (J. Field Robotics, 1994)

Forward displacement analysis and uncertainty configurations of parallel manipulators with a redundant branch. - Leila Notash; Ron P. Podhorodeski (J. Field Robotics, 1996)

Workspace analysis of a 3-DOF parallel mechanism. - Juan A. Carretero; Meyer A. Nahon; Ron P. Podhorodeski (IROS, 1998)

Velocity degeneracy determination for the kinematically redundant CSA/ISE STEAR testbed manipulator. - Scott B. Nokleby; Ron P. Podhorodeski (J. Field Robotics, 2000)

Reconfigurable main-arm for assembly of all revolute-only kinematically simple branches. - Ron P. Podhorodeski; Scott B. Nokleby (J. Field Robotics, 2000)

Comparison of abdominal-wall stretching between basic and enhanced laparoscopic instruments. - Jonathan D. Wittchen; Ron P. Podhorodeski (J. Field Robotics, 2001)

Pose Optimization of Serial Manipulators Using Knowledge of Their Velocity-Degenerate (Singular) Configurations. - Scott B. Nokleby; Ron P. Podhorodeski (J. Field Robotics, 2003)

Design of a reconfigurable planar parallel manipulator. - Ryan Fisher; Ron P. Podhorodeski; Scott B. Nokleby (J. Field Robotics, 2004)

Wrench capabilities of planar parallel manipulators. Part I: Wrench polytopes and performance indices. - Flavio Firmani; Alp Zibil; Scott B. Nokleby; Ron P. Podhorodeski (Robotica, 2008)

Wrench capabilities of planar parallel manipulators. Part II: Redundancy and wrench workspace analysis. - Flavio Firmani; Alp Zibil; Scott B. Nokleby; Ron P. Podhorodeski (Robotica, 2008)

Backlash elimination in parallel manipulators using actuation redundancy. - Roger Boudreau; Xu Mao; Ron P. Podhorodeski (Robotica, 2012)