1. Articulated hands: Force control and kinematic issues;Salisbury;The International Journal of Robotics Research,1982
2. Manipulators inverse kinematics via condition number minimization and continuation;Angeles;The International Journal of Robotics and Automation,1987
3. Manipulability of robotic mechanicms;Yoshikawa;The International Journal of Robotics Research,1985
4. Some properties of a new kinematic structure for robot manipulators;Stoughton,1987
5. Dexterity measures for the design and control of kinematically redundant manipulators;Klein;The International Journal of Robotics Research,1987