| 1992 | ICRA | From characteristic invariants to stiffness matrices. | Yanxi Liu, Robin J. Popplestone |
| 1991 | AAAI | Augmenting a Nominal Assembly Motion Plan with a Compliant Behavior. | Gordon A. Dakin, Robin J. Popplestone |
| 1991 | ICRA | Symmetry groups in analysis of assembly kinematics. | Yanxi Liu, Robin J. Popplestone |
| 1990 | AAAI | Symmetiy Constraint Inference in Assembly Planning: Automatic Assembly Configuration Specification. | Yanxi Liu, Robin J. Popplestone |
| 1989 | ICRA | Symmetry inference in planning assembly. | Gordon A. Dakin, Yanxi Liu, S. Nair, Robin J. Popplestone, Rich Weiss |
| 1989 | ICRA | Planning for assembly from solid models. | Yanxi Liu, Robin J. Popplestone |
| 1988 | ICRA | Using characteristic invariants to infer new spatial relationships from old. | Robin J. Popplestone, Richard Weiss, Yanxi Liu |
| 1987 | ICRA | The Edinburgh designer system as a framework for robotics. | Robin J. Popplestone |
| 1983 | IJCAI | Reasoning About the Spatial Relationships Derived From a RAPT Program for Describing Assembly by a Robot. | D. F. Corner, A. Patricia Ambler, Robin J. Popplestone |
| 1975 | IJCAI | Forming Models Of Plane-And-Cylinder Faceled Bodies From Light Stripes. | Robin J. Popplestone, Christopher M. Brown, A. Patricia Ambler, G. Crawford |
| 1973 | IJCAI | A Versatile Computer-Controlled Assembly System. | A. Patricia Ambler, Harry G. Barrow, Christopher M. Brown, Rod M. Burstall, Robin J. Popplestone |