Simulating human tasks using simple natural language instructions. - Moon-Ryul Jung; Jugal K. Kalita; Norman I. Badler; Wallace Ching (WSC, 1991)

Fast motion planning for anthropometric figures with many degrees of freedom. - Wallace Ching; Norman I. Badler (ICRA, 1992)

Motion Planning For Redundant Branching Articulated Figures With Many Degrees Of Freedom. - Wallace Ching; Norman I. Badler (IROS, 1992)