,

Synthesis and Analysis of Nonlinear H_inf control of robot manipulators

,

Analytic Nonlinear H_inf optimal control for Robotic manipulators

,

Disturbance Observer based Force Control of Robot Manipulator without Force sensor

,

Motion/Force Decomposition of Redundant Manipulator and its application to Hybrid Impedance Control

,

A Decoupled Velocity Expression and Analytic Singularity Analysis of 6-DOF Parallel Manipulators