Articles and Chapters in Multiply-Authored Books

1. ``Constrained Prehensile Manipulation: Distributed Manipulation with Ropes'' (with L. Gariepy and D. Rus), in Distributed Manipulation, ed. K. Böhringer et al., Kluwer Academic Publishing (2000), pp. 29-48.

2. ``Experiments in Constrained Prehensile Manipulation: Distributed Manipulation with Ropes'' (with L. Gariepy and D. Rus), in Experimental Robotics VI, Lecture Notes in Control and Information Sciences, vol. 250, ed. P. Corke et al., Springer-Verlag, 2000, pp. 25-36.