Some Preprints and Publication Links

Papers posted here are preprints which may be different from the final refereed and edited publications. Do not repost these preprints without explicit permission.

The following disclaimer applies to all preprints listed here:

"This preprint has not undergone peer review or any post-submission improvements or corrections. Citations are provided for the published Version of Record, and where available a link to the DOI of the published version is given."

Books
  1. D.J. Bates, J.D. Hauenstein, A.J. Sommese, and C.W. Wampler,
    Numerically Solving Polynomial Systems with Bertini, (publisher's webpage)
    SIAM Books, Philadelphia, PA, 2013.

  2. A.J. Sommese and C.W. Wampler,
    Numerical Solution of Systems of Polynomials Arising In Engineering And Science, (publisher's webpage)
    World Scientific Press, Singapore, 401+xxii pages, (2005).

Articles
  1. E.R. Cobain, J.D. Hauenstein, and C.W. Wampler,
    Robust Numerical Algebraic Geometry, (preprint)(computations)
    to appear in SIAM J. Applied Algebra and Geometry, 2025.

  2. J.D. Hauenstein, D. Mehta, M.H. Regan, S.N. Sherman, and C.W. Wampler,
    Real numerical algebraic geometry (preprint)
    Notices of the American Mathematical Society, 72(2), 217–221, 2025 (doi)

  3. C.W. Wampler, M. Husty, and J.D. Hauenstein,
    Sixth-order singularities of the 3RR planar pentad mechanism, (preprint)
    3rd IMA Conference on Mathematics of Robotics, Sep. 24-26, 2025.

  4. S. Amethyst, J.D. Hauenstein, and C.W. Wampler,
    Kinematic synthesis over curves using cellular decompositions and Chebyshev interpolants, (preprint)
    3rd IMA Conference on Mathematics of Robotics, Sep. 24-26, 2025.

  5. C.W. Wampler and M. Plecnik,
    Finding mechanisms of exceptional mobility using numerical algebraic geometry, (preprint)
    Mechanism & Machine Theory, 211:106033, 2025. (DOI Open Access)

  6. J.D. Hauenstein, C. Hills, A.J. Sommese, and C.W. Wampler,
    Branch points of homotopies: Distribution and probability of failure, (preprint)
    Applied Math. & Computation, 493:129273, 2025. (doi)

  7. A.J. Sommese, J.D. Hauenstein, C. Hills, and C.W. Wampler,
    Ramification points of homotopies: Enumeration and general theory, (preprint) (Maple worksheets and examples))
    to appear in Advances in Geometry, 2025.

  8. A. Baskar, M. Plecnik, J.D. Hauenstein, and C.W. Wampler,
    A numerical continuation approach using monodromy to solve the forward kinematics of cable-driven parallel robots with sagging cables, (preprint)
    Mechanism & Machine Theory, Volume 195, 2024. (doi)

  9. A. Baskar, M. Plecnik, J.D. Hauenstein, and C.W. Wampler,
    A real-time algorithm for computing the tension force in a suspended elastic sagging cable, (preprint)
    Proceedings MSR-RoManSy 2024, May 22-25, 2024, Springer. (doi)

  10. M. He, C.W. Wampler, L. Hector, M. Dato, S. Kolluri, K. Amine, C.-C. Su, and M. Cai,
    Revealing the Mechanism Behind Sudden Capacity Loss in Lithium Metal Batteries, (preprint)
    J. Electrochem. Soc., 170 100528. (doi)
    Erratum: (preprint) J. Electrochem. Soc., 171 029001.(doi)

  11. E. Baker, C. Wampler, and D. Baker,
    Triply invertible scarf sewing adventures (and instructions) (preprint)
    J. Mathematics and the Arts, 2023. (doi)

  12. R. Fabbri, T.Duff, H. Fan, M.H. Regan, D. da Costa de Pinho, E. Tsigaridas, C.W. Wampler, J.D. Hauenstein, P.J. Giblin, B. Kimia, A. Leykin, and T. Pajdla,
    Trifocal relative pose from lines at points (preprint)
    IEEE Transactions on Pattern Analysis and Machine Intelligence, 45(6), 7870-7884, 2023. (doi)

  13. Samantha N. Sherman, Jonathan D. Hauenstein, and C.W. Wampler,
    Advances in the theory of planar curve cognates. (preprint)
    J. Mechanisms and Robotics, 13(3), 031107, 2021. (doi)

  14. Samantha N. Sherman, Jonathan D. Hauenstein, and C.W. Wampler,
    A general method for constructing planar cognate mechanisms. (preprint)
    J. Mechanisms and Robotics, 13(3), 031107, 2021. (doi)

  15. Samantha N. Sherman, Jonathan D. Hauenstein, and C.W. Wampler,
    Curve cognate construction made easy (preprint).
    Proc. ASME 2020 IDETC-CIE. Volume 10: 44th Mechanisms and Robotics Conference (MR), DETC2020-22409, V010T10A024, 2020.(doi)

  16. R. Fabbri, et al.,
    Trifocal Relative Pose from Lines at Points and its Efficient Solution: Expanded Version with Supplementary Material (preprint)
    Conf. Computer Vision & Pattern Recognition (CVPR 2020), Seattle, June 16-18, 2020 (doi)

  17. Mark W. Verbrugge and C.W. Wampler,
    Smoothing methods for numerical differentiation to identify electrochemical reactions from open-circuit-potential data, (preprint)
    J. Electrochemical Society, 165(16)A4000-A4011, 2018. (doi)

  18. Mark W. Verbrugge and C.W. Wampler,
    On the optimal sizing of batteries for electric vehicles and the influence of fast charge, (preprint)
    J. Power Sources, 384:312-317, 2018. (doi)

  19. Jonathan D. Hauenstein, Samantha N. Sherman, and C.W. Wampler,
    Exceptional Stewart-Gough platforms, Segre embeddings, and the special Euclidean group, (preprint).
    SIAM J. Appl. Algebra Geometry, 2(1), 179--205, 2018. (doi)

  20. D.J. Bates, D.A. Brake, Jonathan D. Hauenstein, A.J. Sommese, and C.W. Wampler,
    Homotopies for connected components of algebraic sets with application to computing critical sets, (preprint)
    In: Bl mer J., Kotsireas I., Kutsia T., Simos D. (eds) MACIS 2017. Lecture Notes in Computer Science, vol 10693. Springer, Cham. (doi)

  21. D.A. Brake, D.J. Bates, Wenrui Hao, Jonathan D. Hauenstein, A.J. Sommese, and C.W. Wampler,
    Algorithm 976: Bertini_real: Numerical decomposition of real algebraic curves and surfaces, (preprint)
    Trans. Math. Software (ToMS), 44(1), 10, 2017 (doi)

  22. Jonathan D. Hauenstein, C.W. Wampler, and Martin Pfurner,
    Synthesis of three-revolute spatial chains for body guidance, (preprint).
    Mechanism and Machine Theory, 110:61-72, 2017, (doi)

  23. D.A. Brake, Jonathan D. Hauenstein, Andrew P. Murray, David H. Myszka, and C.W. Wampler,
    The complete solution of Alt-Burmester synthesis problems for four-bar linkages, (preprint).
    ASME. J. Mechanisms Robotics. 2016;8(4):041018-041018-8. (doi)

  24. Jonathan D. Hauenstein and C.W. Wampler,
    Unification and extension of intersection algorithms in numerical algebraic geometry (preprint)(computations)
    Applied Mathematics and Computation, 293:226-243, 2017, (doi).

  25. Saleh M. Almestiri, Andrew P. Murray, David H. Myszka, and C.W. Wampler,
    Singularity traces of single degree-of-freedom planar linkages that include prismatic and revolute joints, (preprint).
    ASME J. Mechanism \& Robotics, 8(5):051003-051003-3, 2016. (doi)

  26. C.W. Wampler,
    Robotics, (pdf)
    in The Princeton Companion to Applied Mathematics, eds. N.J. Higham, et al.
    Princeton University Press, Princeton NJ, 2015, pp. 767--769. (publisher's page)

  27. D.J. Bates, D.A. Brake, Jonathan D. Hauenstein, A.J. Sommese, and C.W. Wampler,
    On computing a cell decomposition of a real surface containing infinitely many singularities, (preprint).
    in Mathematical Software --- ICMS 2014: 4th International Congress, eds. H. Hong and C. Yap,
    Seoul, South Korea, August 5-9, 2014, Springer, pp. 246-252. (doi)

  28. D.A. Brake, D.J. Bates, Wenrui Hao, Jonathan D. Hauenstein, A.J. Sommese, and C.W. Wampler,
    Bertini_real: Numerical decomposition of real algebraic curves and surfaces, (preprint).
    in Mathematical Software --- ICMS 2014: 4th International Congress, eds. H. Hong and C. Yap,
    Seoul, South Korea, August 5-9, 2014, Springer, pp. 175--182. (doi)

  29. D.J. Bates, Wolfram Decker, Jonathan D. Hauenstein, Chris Peterson, Gerhard Pfister, Frank-Olaf Schreyer, A.J. Sommese, and C.W. Wampler,
    Comparison of probabilistic algorithms for analyzing the components of an affine algebraic variety (pdf).
    Applied Mathematics and Computation, 231:619--633, 2014 (doi)

  30. Mark Plecnik, J.Michael McCarthy, and C.W. Wampler,
    Kinematic synthesis of a Watt I six-bar linkage for body guidance,'' (publisher's link)
    in Advances in Robot Kinematics, Springer, pp.~317--325, 2014.

  31. J.D. Hauenstein, and C.W. Wampler, Isosingular sets and deflation (preprint)
    Foundations of Computational Mathematics, 13:3:371-403, 2013. (doi)

  32. J.D. Hauenstein and C.W. Wampler,
    Numerically Intersecting Algebraic Varieties via Witness Sets (preprint)
    Applied Math. Comp., 219:5730-5742, 2013. (doi)

  33. G.M Besana, S. Di Rocco, J.D. Hauenstein, A.J. Sommese, and C.W. Wampler,
    Cell decomposition of almost smooth real algebraic surfaces (preprint)
    Numerical Algorithms, 63:4:645 678, 2013. (doi)

  34. F. Permenter, C. Wampler, and R. Tedrake,
    A numerical algebraic geometry approach to regional stability analysis of polynomial systems. (preprint)
    2013 American Control Conference, Washington, DC, USA, 2127-2132, 2013. (doi)

  35. Lin Li, David H. Myszka, Andrew P. Murray, and C.W. Wampler,
    Using the singularity trace to understand linkage motion characteristics, (preprint)
    paper DETC2013-13244, Proc. ASME Int. Design Eng. Tech. Conf. (IDETC), Portland, OR, August 5--7, 2013. (doi)

  36. M. Abdallah, C.W. Wampler, and R. Platt,
    Decoupled torque control of tendon-driven fingers with tension management, (preprint)
    Int. J. Robotics Research, 32(2):247--258, 2013. (doi)

  37. D.H. Myszka, A.P. Murray, and C.W. Wampler,
    Mechanism branches, turning curves, and critical points, (preprint)
    paper DETC2012-70277, Proc. ASME Int. Design Eng. Tech. Conf. (IDETC), Chicago, IL, August 12--15, 2012. (doi)

  38. C.W. Wampler and A.J. Sommese,
    Applying Numerical Algebraic Geometry to Kinematics (preprint)
    Chapter 5, 21st Century Kinematics, Springer, 2012, pp. 125-159. (doi)

  39. J.D. Hauenstein, A.J. Sommese, and C.W. Wampler,
    Regenerative Cascade Homotopies for Solving Polynomial Systems (preprint)
    Applied Math. Comp., 218:4:1240--1246, 2011. (doi)

  40. C.W. Wampler and A.J. Sommese,
    Numerical Algebraic Geometry and Algebraic Kinematics, (preprint)
    Acta Numerica, 20:469--567, 2011. (doi)

  41. C.W. Wampler, J.D. Hauenstein, and A.J. Sommese,
    Mechanism Mobility and a Local Dimension Test, (preprint)
    Mech. & Machine Theory, 2011. (doi)

  42. D.J. Bates, C. Peterson, A.J. Sommese, and C.W. Wampler,
    Numerical Computation of the Genus of an Irreducible Curve within an Algebraic Set, (preprint)
    J. of Pure & Applied Algebra, 215:8:1844-1851, 2011. (doi)

  43. F. Arends, J. Ouaknine, and C.W. Wampler,
    On Searching for Small Kochen-Specker Vector Systems, (preprint)
    Proc. 37th Intl. Workshop on Graph-Theoretic Concepts in Computer Science (WG'11), Tepla Monastery, Czech Republic, June 21--23, 2011. (doi)

  44. R. Platt, M.E. Abdallah, and C.W. Wampler,
    Multiple-Priority Impedance Control, (preprint)
    Proc. 2011 IEEE Conf. Robotics & Automation (ICRA), Shanghai, May 9--13, 2011. (doi)

  45. M.E. Abdallah and C.W. Wampler,
    Torque control of underactuated tendon-driven fingers, (preprint)
    Mechanism Science, 2:1:83-90, 2011. (doi)

  46. Jonathan D. Hauenstein, Andrew J. Sommese, and C.W. Wampler,
    Regeneration homotopies for solving systems of solynomials, (preprint)
    Mathematics of Computation, 80:273:345-377, AMS, 2011. (doi)

  47. M.E. Abdallah, R. Platt, C.W. Wampler, and B. Hargrave,
    Applied joint-space torque and stiffness control of tendon-driven fingers, (preprint)
    Proc. IEEE-RAS Intl. Conf. Humanoid Robots, Nashville, TN, Dec. 6--8, 2010. (doi)

  48. M.E. Abdallah, C.W. Wampler, and R. Platt,
    Object impedance control using a closed-chain task definition, (preprint)
    Proc. IEEE-RAS Intl. Conf. Humanoid Robots, Nashville, TN, Dec. 6--8, 2010. (doi)

  49. R. Platt, M.E. Abdallah, and C.W. Wampler,
    Multi-Priority Cartesian Impedance Control, (preprint)
    Robotics: Science & Systems Conf. VI (RSS), Zaragoza, Spain, June 27-30, 2010. (doi)

  50. Sandra Di Rocco, David Eklund, A.J. Sommese, and C.W. Wampler,
    Algebraic C*-actions and the Inverse Kinematics of a General 6R Manipulator, (preprint)
    Applied Math. & Computation, 216:9:2512-2524, 2010. (doi)

  51. D.J. Bates, J.D. Hauenstein, A.J. Sommese, and C.W. Wampler,
    Stepsize Control for Adaptive Multiprecision Path Tracking, (preprint)
    in Interactions of Classical and Numerical Algebraic Geometry, eds. D.J. Bates, G.-M. Besana, S. Di Rocco, and C.W. Wampler,
    Contemporary Mathematics, CONM/496:21--31, Amer. Math. Soc., 2009. (doi)

  52. D. Gao, and C.W. Wampler
    Head Injury Criterion: Assessing the Danger of Robot Impact, (preprint)
    IEEE Robotics & Automation Magazine, pp. 71--74, Dec. 2009. (doi)

  53. D.J. Bates, J.D. Hauenstein, A.J. Sommese, and C.W. Wampler,
    Software for Numerical Algebraic Geometry: A Paradigm and Progress Towards its Implementation, (preprint)
    in Software for Algebraic Geometry, eds. M. Stillman, N. Takayama, and J. Verschelde
    IMA Volumes in Math. and its Applications, Vol. 148, Springer, 2008. (doi)

  54. D.J. Bates, J.D. Hauenstein, A.J. Sommese, and C.W. Wampler,
    Adaptive Multiprecision Path Tracking, (preprint)
    SIAM Journal on Numerical Mathematics, 46:2:722-746, 2008. (doi)

  55. A.J. Sommese and C.W. Wampler,
    Exceptional Sets and Fiber Products, (preprint)
    Foundations of Computational Mathematics, 8:2:171-196, 2008. (doi)

  56. A.J. Sommese, J. Verschelde, and C.W. Wampler,
    Solving Polynomial Systems Equation by Equation, (preprint) (abstract)
    in Algorithms in Algebraic Geometry, eds. A. Dickenstein, F.-O. Schreyer, and A.J. Sommese,
    IMA Volumes in Math. and its Applications, Vol. 146, Springer, 2008. (doi)

  57. Ye Lu, D.J. Bates, Andrew J. Sommese, and C.W. Wampler,
    Finding all Real Points of a Complex Curve, (preprint)
    In Algebra, Geometry and Their Interactions, eds. A. Corso, J. Migliore, and C. Polini,
    Contemporary Mathematics, CONM/448:183--205, Amer. Math. Soc., 2007. (doi)

  58. C.W. Wampler, B.T. Larson, and A.G. Erdman,
    A New Mobility Formula for Spatial Mechanisms, (preprint)
    paper DETC2007-35574, Proc. ASME Design Engineering Technical Conf., Las Vegas, Sept.~4--7, 2007. (doi)

  59. Eugene L. Allgower, D.J. Bates, A.J. Sommese, and C.W. Wampler,
    Solution of Polynomial Systems Derived from Differential Equations, (preprint)
    Computing, 76:1-2:1-10 (2006). (doi)

  60. C.W. Wampler,
    On a rigid body subject to point-plane constraints, (preprint)
    ASME J. of Mechanical Design, 128(1):151--158, Jan. 2006. (doi)

  61. A.J. Sommese, J. Verschelde, and C.W. Wampler,
    An Intrinsic Homotopy for Intersecting Algebraic Varieties, (preprint) (abstract)
    Journal of Complexity 21:593-608 (2005). (doi)

  62. A.J. Sommese, J. Verschelde, and C.W. Wampler,
    Introduction to Numerical Algebraic Geometry, (preprint) (abstract)
    Chapter~8, Solving Polynomial Equations: Foundations, Algorithms, and Applications, eds. A.Dickenstein, I.Z.Emiris,
    Algorithms and Computation in Mathematics 14:339-392, Springer, 2005. (doi)

  63. A.J. Sommese, J. Verschelde, and C.W. Wampler,
    Homotopies for Intersecting Solution Components of Polynomial Systems, (preprint) (abstract)
    SIAM Journal on Numerical Analysis, 42:4:1552-1571 (2004). (doi)

  64. A.J. Sommese, J. Verschelde, and C.W. Wampler,
    Numerical Factorization of Multivariate Complex Polynomials, (preprint) (abstract)
    Theoretical Computer Science, 315:2-3:651-669 (2004). (doi)

  65. A.J. Sommese, J. Verschelde, and C.W. Wampler,
    Advances in Polynomial Continuation for Solving Problems in Kinematics, (preprint) (abstract)
    Paper DETC2002/MECH-34254, Proc. ASME Design Engineering Technical Conf. (CDROM), Montreal, Quebec, Sept. 29-Oct. 2, 2002.
    Revised version in ASME Journal of Mechanical Design 126:2:262-268 (2004). (doi)

  66. H.-J. Su, C.W. Wampler, and J.M. McCarthy,
    Geometric design of cylindric PRS serial chains, (preprint)
    Proc. ASME Design Engineering Technical Conf., Chicago, September 2 6, 2003.
    Revised version in ASME J. Mechanical Design, 126:2:269-277 (2004). (doi)

  67. C.W. Wampler,
    Singular foci of planar linkages, (preprint)
    Mechanism Machine Theory, 39:11:1123-1138 (2004). (doi)

  68. C.W. Wampler,
    The geometry of singular foci of planar linkages, (preprint)
    Mechanism Machine Theory, 39:11:1139-1153 (2004). (doi)

  69. C.W. Wampler,
    Displacement analysis of spherical mechanisms having three or fewer loops, (preprint)
    Paper DETC2002/MECH-34326, Proc. ASME Design Engineering Technical Conf. (CDROM), Montreal, Quebec, Sept. 29-Oct. 2, 2002.
    Revised version in ASME J. Mechanical Design, 126:1:93-100 (2004). (doi)

  70. A.J. Sommese, J. Verschelde, and C.W. Wampler,
    Numerical Irreducible Decomposition using PHCpack, (preprint) (abstract)
    in Mathematics and Visualization, eds. M. Joswig and N. Takayama, Springer-Verlag (2003), 109-130. (doi)

  71. A.J. Sommese, J. Verschelde, and C.W. Wampler,
    Method for Tracking Singular Paths with Application to the Numerical Irreducible Decomposition, (preprint) (abstract)
    in Algebraic Geometry, a Volume in Memory of Paolo Francia, ed. by M.C. Beltrametti, F. Catanese, C. Ciliberto, A. Lanteri, and C. Pedrini,
    De Gruyter (2003), 329-345. (doi)

  72. A.J. Sommese, J. Verschelde, and C.W. Wampler,
    Symmetric Functions Applied to Decomposing Polynomial Systems, (preprint) (abstract)
    SIAM Journal on Numerical Analysis 40:6:2026-2046 (2002). (doi)

  73. A.J. Sommese, J. Verschelde, and C.W. Wampler,
    Using Monodromy to Decompose Solution Sets of Polynomial Systems into Irreducible Components, (preprint) (abstract)
    in Proc. 2001 NATO Advance Research Conference, Eilat, Israel, on Applications of Algebraic Geometry to Coding Theory, Physics, and Computation, eds. C. Ciliberto, F. Hirzebruch, R. Miranda, and M. Teicher,
    Springer (2001) 297-315. (doi)

  74. A.J. Sommese, J. Verschelde, and C.W. Wampler,
    Numerical Irreducible Decomposition using Projections from Points on Components, (preprint) (abstract)
    in Symbolic Computation: Solving Equations in Algebra, Geometry, and Engineering, eds. Green, Hosten, Laubenbacher, and Power,
    Contemporary Mathematics CONM/286:37-51, 2001. (doi)

  75. A.J. Sommese, J. Verschelde, and C.W. Wampler,
    Numerical Decomposition of the Solution Sets of Polynomial Systems into Irreducible Components, (preprint)
    SIAM Journal on Numerical Analysis, 38:6:2022-2046 (2001). (doi)

  76. C.W. Wampler,
    Solving the kinematics of planar mechanisms by Dixon determinant and a complex-plane formulation, (preprint)
    in Proc. ASME Design Engr. Tech. Conf. (CDROM), Sept. 10--13, 2000, Baltimore, MD.
    Revised version in ASME J. Mechanical Design, 123:3:382--387 (2001). (doi)

  77. C.W. Wampler,
    Solving the kinematics of planar mechanisms, (preprint)
    Proc. ASME Design Engr. Tech. Conf. (CDROM), Sept. 13--16, 1998, Atlanta, GA
    Revised version in ASME J. Mechanical Design, 121:3:387-391 (1999). (doi)

  78. C.W. Wampler,
    Forward displacement analysis of general six-in-parallel SPS (Stewart) platform manipulators using soma coordinates, (preprint)
    Mechanism and Machine Theory, 31:3:331-337 (1996). (doi)

  79. J.M. Hollerbach, and C.W. Wampler,
    The calibration index and a taxonomy for robot kinematic calibration methods, (preprint)
    Int. J. of Robotics Research, 15:6:573-591 (1996). (doi)

  80. J.M. Hollerbach, and C.W. Wampler,
    The calibration index and the role of input noise in robot calibration, (preprint)
    in Robotics Research: The Seventh International Symposium, eds. G. Giralt and G Hirzinger,
    Springer, London, 1996, pp. 558-568. (doi)

  81. C.W. Wampler,
    Isotropic coordinates, circularity, and Bezout numbers: Planar kinematics from a new perspective, (preprint)
    Proc. ASME Design Engr. Tech. Conf. (CDROM), Aug. 18-22, 1996, Irvine, CA. (doi)

  82. A.J. Sommese and C.W. Wampler,
    Numerical Algebraic Geometry, (preprint)
    in The Mathematics of Numerical Analysis, Park City, Utah, Summer 1995, eds. J. Renegar, M. Shub, and S. Smale,
    Lectures in Applied Math., LAM/32:749-763, Amer. Math. Soc., 1996.

  83. Alexander P. Morgan, A.J. Sommese and C.W. Wampler,
    A Product-Decomposition Bound for Bezout Numbers,
    SIAM Journal on Numerical Analysis 32:4:1308-1325 (1995). (doi)

  84. C.W. Wampler, J.M. Hollerbach, and T. Arai,
    An implicit loop method for kinematic calibration and its application to closed-chain mechanisms, (preprint)
    IEEE Trans. Robotics and Automation, 11:5:710-724 (1995). (doi)

  85. A.P. Morgan, A.J. Sommese, and C.W. Wampler,
    A power series method for computing singular solutions to nonlinear analytic systems, (preprint)
    Numerische Mathematik, 63:391-409, 1992. (doi)

  86. C.W. Wampler, A.P. Morgan, and A.J. Sommese
    Complete solution of the nine-point path synthesis problem for four-bar linkages, (preprint)
    J. Mechanical Design, 114:153--159, 1992. (doi)
    Commentary in J. Mechanical Design, Vol. 119, 1997:

  87. C.W. Wampler and A.P. Morgan,
    Solving the 6R inverse position problem using a generic-case solution methodology, (preprint)
    Mechanism and Machine Theory, 26:1:91-106, 1991. (doi)

  88. A.P. Morgan, A.J. Sommese, and C.W. Wampler,
    Computing singular solutions to nonlinear analytic systems, (preprint)
    Numerische Mathematik, 58:669-684, 1991. (doi)

  89. C.W. Wampler, A.P. Morgan, and A.J. Sommese,
    Complete solution of the nine-point path synthesis problem for four-bar linkages,
    Mechanism Synthesis and Analysis, Editor: M. McCarthy, et.al., ASME DE-Vol. 25, Amer. Soc. Mech. Eng., New York, 1990, pp. 361–366. (Library of Congress)
  90. A.P. Morgan and C.W. Wampler,
    Solving a planar four-bar design problem using continuation,
    ASME J. of Mechanical Design, Vol. 112, No. 4, December 1990, pp. 544–550. (doi)

  91. C.W. Wampler, A.P. Morgan, and A.J. Sommese,
    Numerical continuation methods for solving polynomial systems arising in kinematics,
    ASME J. Mechanical Design, 112:1:59-68, 1990. (doi)

  92. A.P. Morgan, A.J. Sommese, and C.W. Wampler,
    Polynomial continuation for mechanism design problems,
    in Computational Solution of Nonlinear Systems of Equations, eds. E.L. Allgower and K. Georg,
    Amer. Math. Society, LAM/26:495-517, 1990. (Library of Congress)

  93. C.W. Wampler andS.K. Agrawal,
    An implementation of inverse kinematic functions for control of a redundant wrist,
    Proc. IEEE Int. Conf. on Robotics and Automation, Scottsdale, Az., May 14–19, 1989. (doi)

  94. C.W. Wampler,
    Inverse kinematic functions for redundant spherical wrists,
    IEEE Trans. on Robotics and Automation, 5:1:106-111, 1989. (doi)

  95. C.W. Wampler,
    Winding number analysis of invertible workspaces for redundant manipulators,
    Int. J. of Robotics Research, 7:5:22-31, 1988. (doi)

  96. C.W. Wampler,
    Inverse kinematics of a seven-degree-of-freedom manipulator,
    Proc. of NATO Advanced Research Workshop on Robots with Redundancy, June 27–July 1, 1988, Salo, Italy. (Library of Congress)

  97. C.W. Wampler,
    The inverse function approach to kinematic control of redundant manipulators,
    in Proc. American Control Conference, June 15–17, 1988, Atlanta, Ga., pp. 1364–1369. (doi)

  98. D.R. Baker and C.W. Wampler,
    On the inverse kinematics of redundant manipulators,
    Int. J. Robotics Research, 7:2:3-21, 1988. (doi)

  99. C.W. Wampler and L.J. Leifer,
    Applications of damped least-squares methods to resolved-rate and resolved-acceleration control of manipulators,
    ASME J. Dynamic Systems, Measurement and Control, 110:1:31-38, 1988. (doi)

  100. C.W. Wampler,
    The inverse function approach to sensor-driven kinematic control of redundant manipulators,
    in Kinematic and Dynamic Issues in Sensor Based Control, ed. G.E. Taylor
    NATO ASI Series F, Vol. 57, Springer-Verlag, Berlin, 1990, pp. 45–58 (doi)

  101. D.R. Baker and C.W. Wampler,
    Some facts concerning the inverse kinematics of redundant manipulators,
    in Proc. of IEEE Int. Conf. on Robotics and Automation, March 31–April 3, 1987, Raleigh NC, 2:604–609. (doi)

  102. C.W. Wampler,
    Inverse kinematic functions for redundant manipulators,
    in Proc. of IEEE Int. Conf. on Robotics and Automation, March 31–April 3, 1987, Raleigh NC, 2:610-6-7. (doi)

  103. C.W. Wampler,
    Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods,
    IEEE Trans. on Systems, Man, and Cybernetics, SMC-16:1:93-101, 1986. (doi)

  104. C.W. Wampler, K. Buffinton, and J. Shu-hui
    Formulation of equations of motion for systems subject to constraints,
    ASME J. Applied Mechanics, 52:2:465-470, 1985. (doi)

  105. C.W. Wampler,
    Multiprocessor control of a telemanipulator with optical proximity sensors,
    reference (doi)