Publications
1993. Control and design of the spherical pointing motor. , 1993 IEEE International Conference on Robotics and Automation, 1993. Proceedings. :630-636vol.2-630-636vol.2.
1994. A miniature pan-tilt actuator: the spherical pointing motor. IEEE Transactions on Robotics and Automation. 10(3):298-308.
2006. A Sensory-Motor Language for Human Activity Understanding. 2006 6th IEEE-RAS International Conference on Humanoid Robots. :69-75.