Natural motion: Efficient path tracking with robotic limbs. - Dragomir N. Nenchev; Yoichi Handa; Daisuke Sato 002 (IROS, 2010)

End-link dynamics of redundant robotic limbs: The Reaction Null Space approach. - Naoyuki Hara; Yoichi Handa; Dragomir N. Nenchev (ICRA, 2012)

Simple timing generation along workspace paths for nonredundant robotic limbs. - Shota Taki; Yoichi Handa; Naoyuki Hara; Dragomir N. Nenchev (Adv. Robotics, 2013)