Optimal force distribution for the legs of a walking machine with friction cone constraints. - Charles A. Klein; Sakon Kittivatcharapong (IEEE Trans. Robotics Autom., 1990)

Testing iterative robotic algorithms by their rate of convergence. - Charles A. Klein; Caroline Chu-Jenq; Sakon Kittivatcharapong (IEEE Trans. Robotics Autom., 1991)