Contact Modes and Complementary Cones. - Stephen Berard; Kevin Egan; Jeffrey C. Trinkle (ICRA, 2004)

Toward Sensorless Acquisition of Multiple Contact Points Between Planar Parts. - Kevin Egan; Stephen Berard; Jeffrey C. Trinkle (Multi-point Interaction with Real and Virtual Objects, 2005)

daVinci Code: A Multi-Model Simulation and Analysis Tool for Multi-Body Systems. - Stephen Berard; Jeffrey C. Trinkle; Binh Nguyen 002; Ben Roghani; Jonathan Fink; Vijay Kumar 001 (ICRA, 2007)

An Implicit Time-Stepping Method for Multibody Systems with Intermittent Contact. - Nilanjan Chakraborty; Stephen Berard; Srinivas Akella; Jeffrey C. Trinkle (Robotics: Science and Systems, 2007)

Sources of error in a rigid body simulation of rigid parts on a vibrating rigid plate. - Stephen Berard; Binh Nguyen 002; Jeffrey C. Trinkle (SAC, 2009)

Using simulation for planning and design of robotic systems with intermittent contact. - Stephen Berard (2009)

Implications of Historical Trends in the Electrical Efficiency of Computing. - Jonathan G. Koomey; Stephen Berard; Marla Sanchez; Henry Wong (IEEE Ann. Hist. Comput., 2011)

A geometrically implicit time-stepping method for multibody systems with intermittent contact. - Nilanjan Chakraborty; Stephen Berard; Srinivas Akella; Jeffrey C. Trinkle (Int. J. Robotics Res., 2014)