| 1995 | ICRA | Feedforward Spring-Like Impedance Modelation in Human Arm Models. | Byung-Ju Yi, Robert A. Freeman |
| 1994 | ICRA | Torque Redistribution Method for Fault Recovery in Redundant Serial Manipulators. | Yung Ting, Sabri Tosunoglu, Robert A. Freeman |
| 1993 | ICRA | Geometric Characteristics of Antagonistic Stiffness in Redundantly Actuated Mechanisms. | Byung-Ju Yi, Robert A. Freeman |
| 1992 | ICRA | Joint torque optimization of redundant manipulators via the null space damping method. | Hee-Jun Kang, Robert A. Freeman |
| 1991 | ICRA | Geometric stability in force control. | Byung-Ju Yi, Ian D. Walker, Delbert Tesar, Robert A. Freeman |
| 1990 | ICRA | Open-loop stability of overconstrained parallel robotic systems. | Byung-Ju Yi, Whang Cho, Robert A. Freeman |
| 1989 | ICRA | The dynamic and stiffness modeling of general robotic manipulator systems with antagonistic actuation. | Whang Cho, Delbert Tesar, Robert A. Freeman |
| 1989 | ICRA | Internal object loading for multiple cooperating robot manipulators. | Ian D. Walker, Robert A. Freeman, Steven I. Marcus |
| 1989 | ICRA | Open-loop stiffness control of overconstrained mechanisms/robotic linkage systems. | Byung-Ju Yi, Robert A. Freeman, Delbert Tesar |
| 1988 | ICRA | Dynamic task distribution for multiple cooperating robot manipulators. | Ian D. Walker, Robert A. Freeman, Steven I. Marcus |