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Lynch, K. M., and C. K. Black, "Control of underactuated manipulation by real-time nonlinear optimization", ROBOTICS RESEARCH, INTERNATIONAL SYMPOSIUM, vol. 9, pp. 51–58, 2000.
Black, C. K., and K. M. Lynch, "Planning and control for planar batting and hopping", PROCEEDINGS OF THE ANNUAL ALLERTON CONFERENCE ON COMMUNICATION CONTROL AND COMPUTING, vol. 36: UNIVERSITY OF ILLINOIS, pp. 724–733, 1998.
Lynch, K. M., and C. K. Black, "Recurrence, controllability, and stabilization of juggling", Robotics and Automation, IEEE Transactions on, vol. 17, no. 2: IEEE, pp. 113–124, 2001.