1. Artobolevsky I. Mechanisms in modern engineering design. Vols 1 and 2. Gendai-kogaku-sha (Japanese translation) 1979
2. Lozano-Perez T. Spatial planning: a configuration space approach. IEEE Trans Comput, 1983; C-32 (2): 108–120
3. Joskowicz L. Shape and function in mechanical devices. In Proceedings of the sixth national conference on artificial intelligence (AAAI-87). 1987. pp 611–615
4. Murakami T, Gossard D C. Mechanism concept retrieval by behavioral specification using configuration space. ASME Design Theory and Methodology—DTM'92. 1992; DE-42: 343–350
5. Quintun Co., Quintus Prolog user's manual. 1991