Singularity-consistent inverse kinematics of a 6-DOF manipulator with a non-spherical wrist. - Yuichi Tsumaki; Shinji Kotera; Dragomir N. Nenchev; Masaru Uchiyama (ICRA, 1997)

Advanced experiments with a teleoperation system based on the SC approach. - Yuichi Tsumaki; Shinji Kotera; Dragomir N. Nenchev; Masaru Uchiyama (IROS, 1998)