the Fifth ISOPE Pacific/Asia Offshore Mechanics Symposium, page. 143 - 149, 2002-11-01
American Control Conference, page. 1395 - 1400, 2002-05-08
International Conference on Robotics and Automation, page. 4787 - 4794, 2007-04-10
International Symposium on Artificical Life and Robotics, page. 402 - 405, 2000-02-01