Books

Making Them Move: Mechanics, Control, and Animation of Articulated Figures
(with N. I. Badler and D. Zeltzer), Morgan Kaufmann Publishers, Inc., San Francisco, 1991.

Computer Graphics and Geometric Modeling Using Beta-Splines
Springer-Verlag, Heidelberg, 1988.

An Introduction to Splines for Use in Computer Graphics and Geometric Modeling
(with R. H. Bartels and J. C. Beatty), Morgan Kaufmann Publishers, Inc., San Francisco, 1987.

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