Whole-body motion control for capturing a tumbling target by a free-floating space robot. - Tomohisa Oki; Hiroki Nakanishi; Kazuya Yoshida (IROS, 2007)

Time-optimal manipulator control of a free-floating space robot with constraint on reaction torque. - Tomohisa Oki; Hiroki Nakanishi; Kazuya Yoshida (IROS, 2008)

Time-Optimal Manipulator Control for Management of Angular Momentum Distribution during the Capture of a Tumbling Target. - Tomohisa Oki; Hiroki Nakanishi; Kazuya Yoshida (Adv. Robotics, 2010)

Time-optimal detumbling maneuver along an arbitrary arm motion during the capture of a target satellite. - Tomohisa Oki; Satoko Abiko; Hiroki Nakanishi; Kazuya Yoshida (IROS, 2011)