| 2005 | IROS | How deterministic must a real-time controller be? | Ian A. Gravagne, John M. Davis, Robert J. Marks II |
| 2004 | ICRA | Bandwidth Reduction for Controller Area Networks using Adaptive Sampling. | Ian A. Gravagne, John M. Davis, Jeffrey J. Dacunha, Robert J. Marks II |
| 2003 | IROS | Asymptotic regulation of a one-section continuum manipulator. | Ian A. Gravagne |
| 2002 | ICRA | Uniform Regulation of a Multi-Section Continuum Manipulator. | Ian A. Gravagne, Ian D. Walker |
| 2001 | ICRA | Good Vibrations: A Vibration Damping Setpoint Controller for Continuum Robots. | Ian A. Gravagne, Christopher D. Rahn, Ian D. Walker |
| 2001 | IROS | Manipulability and force ellipsoids for continuum robot manipulators. | Ian A. Gravagne, Ian D. Walker |
| 2000 | ICRA | Kinematic Transformations for Remotely-Actuated Planar Continuum Robots. | Ian A. Gravagne, Ian D. Walker |
| 2000 | ICRA | On the Kinematics of Remotely-Actuated Continuum Robots. | Ian A. Gravagne, Ian D. Walker |
| 1999 | ICRA | Goldfinger: A Non-Anthropomorphic, Dextrous Robot Hand. | Ann M. Ramos, Ian A. Gravagne, Ian D. Walker |
| 1998 | IROS | Properties of minimum infinity-norm optimization applied to kinematically redundant robots. | Ian A. Gravagne, Ian D. Walker |