On-line Optimization of Avoidance Ability for Redundant Manipulator. - Keiji Ikeda; Hiroshi Tanaka; Tong-xiao Zhang; Mamoru Minami; Yasushi Mae (IROS, 2006)

Multi-preview configuration control for redundant manipulator by future reachability evaluation. - Tong-xiao Zhang; Mamoru Minami; Wei Song (IROS, 2007)

A Proposal of Real-Time Configuration Control System for Redundant Manipulators. - Tong-xiao Zhang; Mamoru Minami; Wei Song; Yusaku Nakamura (J. Robotics Mechatronics, 2009)