| 2015 | WADS | Rooted Cycle Bases. | David Eppstein, J. Michael McCarthy, Brian E. Parrish |
| 2005 | ICRA | Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials. | Alba Perez, J. Michael McCarthy |
| 2005 | ICRA | Dimensioning a Constrained Parallel Robot to Reach a Set of Task Positions. | Hai-Jun Su, J. Michael McCarthy |
| 2000 | ICRA | Mechanism Synthesis Theory and the Design of Robots. | J. Michael McCarthy |
| 1996 | ICRA | A metric for spatial displacement using biquaternions on SO(4). | K. Etzel, J. Michael McCarthy |
| 1993 | ICRA | On the Geometric Analysis of Optimum Trajectories for Cooperating Robots Using Dual Quatemion Coordinates. | J. R. Dooley, J. Michael McCarthy |
| 1992 | ICRA | The number of saturated actuators and constraint forces during time-optimal movement of a general robotic system. | J. Michael McCarthy, James E. Bobrow |
| 1991 | ICRA | Spatial rigid body dynamics using dual quaternion components. | J. R. Dooley, J. Michael McCarthy |
| 1991 | ICRA | Performance evaluation of cooperating robot movements using maximum load under time-optimal control. | Pierre M. Larochelle, J. Michael McCarthy |
| 1990 | ICRA | Parameterized descriptions of the joint space obstacles for a 5R closed chain robot. | J. R. Dooley, J. Michael McCarthy |
| 1990 | ICRA | An algebraic formulation of configuration-space obstacles for spatial robots. | Qiaode Jeffrey Ge, J. Michael McCarthy |
| 1989 | ICRA | Equations for boundaries of joint obstacles for planar robots. | Qiaode Jeffrey Ge, J. Michael McCarthy |
| 1986 | ICRA | Kinematics mappings and robotics. | J. Michael McCarthy |
| 1985 | ICRA | On grasping planar objects with two articulated fingers. | Jacob M. Abel, W. Holzmann, J. Michael McCarthy |
| 1985 | ICRA | Computing the friction forces associated with a three fingered grasp. | W. Holzmann, J. Michael McCarthy |