A General Method for the Numerical Computation of Manipulator Singularity Sets

A Linear Relaxation Technique for the Position Analysis of Multiloop Linkages

A branch-and-prune solver for distance constraints

An ellipsoidal calculus based on propagation and fusion

artículo científico publicado en 2002

Box Approximations of Planar Linkage Configuration Spaces

Complete maps of molecular-loop conformational spaces

Complete maps of molecular-loop conformational spaces.

artículo científico publicado en 2007

Fast multiresolutive approximations of planar linkage configuration spaces

Finding all valid hand configurations for a given precision grasp

Grasp Optimization Under Specific Contact Constraints

Planning Singularity-Free Paths on Closed-Chain Manipulators

Synthesizing grasp configurations with specified contact regions