Task modeling and force control for a two-arm robot. - Pierre Dauchez; Xavier Delebarre; Yann Bouffard-Vercelli; Eric Dégoulange (ICRA, 1991)

Force Control of a Two-arm Robot Manipulating a Deformable Object. - Xavier Delebarre; Eric Dégoulange; Pierre Dauchez; Yann Bouffard-Vercelli (ISER, 1991)

Force control experiments with a two-arm robot. - Pierre Dauchez; Xavier Delebarre; Yann Bouffard-Vercelli; Eric Dégoulange (J. Intell. Robotic Syst., 1992)

Force-controlled assembly with a two-arm robot: How and where to perform it within the workspace. - Yann Bouffard-Vercelli; Pierre Dauchez; Xavier Delebarre (IROS, 1993)

Evaluation of force capabilities for redundant manipulators. - Pasquale Chiacchio; Yann Bouffard-Vercelli; François Pierrot (ICRA, 1996)

Force polytope and force ellipsoid for redundant manipulators. - Pasquale Chiacchio; Yann Bouffard-Vercelli; François Pierrot (J. Field Robotics, 1997)