A full contact model for fixture kinematic analysis. - Michael Yu Wang; Tong Liu 003 (IROS, 2002)

Computation of Multi-rigid-body Contact Dynamics. - Tong Liu 003; Michael Yu Wang (ICRA, 2004)

No Jamming Condition for Force Planning in Fixture Inserting. - Tong Liu 003; Michael Yu Wang (ROBIO, 2004)

Haptic simulation of fixture loading planning. - Tong Liu 003; Michael Yu Wang (ROBIO, 2005)

Computation of three-dimensional rigid-body dynamics with multiple unilateral contacts using time-stepping and Gauss-Seidel methods. - Tong Liu 003; Michael Yu Wang (IEEE Trans Autom. Sci. Eng., 2005)

Multi-rigid-body contact dynamics and haptic interaction for fixture loading planning. - Tong Liu 003 (2005)

Haptic Simulation of Multibody Contact Dynamics for Fixture Loading Planning. - Tong Liu 003; Michael Yu Wang (CASE, 2006)

Passive force analysis with elastic contacts for fixturing and grasping. - Tong Liu 003; Michael Yu Wang (ICRA, 2009)