A new 3-DOF mechanism for quasi-direct-drive robot manipulators. - Robert Stoughton; Theodore Kokkinis (ICRA, 1987)

Dynamic hybrid control of cooperating robots by nonlinear inversion. - Theodore Kokkinis (Robotics Auton. Syst., 1989)

Experimental evaluation of real-time model-based control of a 3-DOF closed-chain direct-drive mechanism. - Darrin R. Uecker; Yulun Wang; Theodore Kokkinis (ICRA, 1991)