Introducing robotic 'common sense' in real time dexterous manipulation. - S. P. Ananthanarayanan; David Gershon; Andrew A. Goldenberg; John Mylopoulos (ICRA, 1992)

Identification of kinematic parameters of multiple closed chain robotic manipulators working in coordination. - S. P. Ananthanarayanan; C. Szymczyk; Andrew A. Goldenberg (ICRA, 1992)

Identification of inertial parameters of a manipulator with closed kinematic chains. - Andrew A. Goldenberg; Xiaojia He; S. P. Ananthanarayanan (IEEE Trans. Syst. Man Cybern., 1992)

A qualitative theoretical framework for 'common-sense' based multiple contact robotic manipulation. - S. P. Ananthanarayanan; Andrew A. Goldenberg; John Mylopoulos (Robotica, 1994)