The application of the Grey-based Taguchi method to optimize the global performances of the robot manipulator. - Hyunseop Lim; Soonwoong Hwang; Kyoosik Shin; Chang-Soo Han (IROS, 2010)

Design analysis and optimization of 6-DOF telemanipulator based on performance indices. - Seungnam Yu; Soonwoong Hwang; Jong Kwang Lee; Byung Suk Park; Hyojik Lee (Robotica, 2018)