International Conference Intelligent Robots and System, page. 1320 - 1325, 1998-10-13
International Conference on Robotics and Automation, page. 1080 - 1087, 1997-04-20
International Conference on Industrial Electronics, Control and Instrumentation, page. 1902 - 1908, 1996-08-05
International Conference on Robotics and Automation, page. 1441 - 1446, 1998-05-16