IET CONTROL THEORY AND APPLICATIONS, vol. 2, no. 10, page. 851 - 859, 2008-10
IEEE TRANSACTIONS ON ROBOTICS, vol. 24, no. 4, page. 808 - 820, 2008-08
INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL, vol. 35, no. 3, page. 259 - 265, 2008-05
AUTONOMOUS ROBOTS, vol. 24, no. 3, page. 315 - 335, 2008-04
INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL, vol. 35, no. 5, page. 435 - 448, 2008-01