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Publications of Vijay Kumar
Articles in journal or book chapters
  1. Milos Zefran and Vijay Kumar. A geometrical approach to the study of the Cartesian stiffness matrix. ASME Journal of Mechanical Design, 124(1):30-38, 2002.
    Keyword(s): Stiffness matrix, Computational geometry, Stiffness, Loads (forces), Potential energy, Robotics, Tensors.


  2. V. Kumar, M. Zefran, and J. Ostrowski. Motion planning and control of robots. In Handbook of Industrial Robotics, S. Y. Nof, editor. John Wiley and Sons, New York, NY, 1999.


  3. J.P. Desai, M. Zefran, and V. Kumar. Two-arm manipulation tasks with friction-assisted grasping. Advanced Robotics, 12(5):485-507, 1999. [PDF]
    Keyword(s): force control, friction, manipulator dynamics, optimal control, planning (artificial intelligence).


  4. M. Zefran, V. Kumar, and C. B. Croke. Metrics and connections for rigid-body kinematics. International Journal of Robotics Research, 18(2):243-58, February 1999. [PDF]
    Keyword(s): acceleration, differential geometry, Lie algebras, Lie groups, path planning, robot kinematics.


  5. William Stamps Howard, M. Zefran, and V. Kumar. On the 6 × 6 Cartesian stiffness matrix for three-dimensional motions. Mechanism & Machine Theory, 33(4):389-408, 1998.
    Keyword(s): Stiffness matrix, Equations of motion, Algebra, Stiffness, Geometry.


  6. M. Zefran and V. Kumar. Interpolation schemes for rigid body motions. Computer Aided Design, 30(3):179-189, March 1998.
    Keyword(s): boundary-value problems, CAD, computational geometry, differential geometry, interpolation, motion estimation, splines (mathematics).


  7. M. Zefran, V. Kumar, and C.B. Croke. On the generation of smooth three-dimensional rigid body motions. IEEE Transactions on Robotics and Automation, 14(4):576-89, August 1998. [PDF]
    Keyword(s): differential geometry, Lie groups, minimisation, path planning, robot kinematics, variational techniques.


  8. M. Zefran, Jaydev P. Desai, and V. Kumar. Continuous Motion Plans for Robotic Systems with Changing Dynamic Behavior. In Robotic motion and manipulation, Jean-Paul Laumond and M. Overmars, editors, pages 113-128. A K Peters, Wellesley, MA, 1997.


  9. G.J. Garvin, M. Zefran, E. Henis, and V. Kumar. Two-arm trajectory planning in a manipulation task. Biological Cybernetics, 76(1):53-62, January 1997. [PDF]
    Keyword(s): biomechanics, physiological models.


  10. M. Zefran and V. Kumar. Coordinate-free formulation of the Cartesian stiffness matrix. In Advances in robot kinematics, J. Lenarcic and V. Parenti-Castelli, editors, pages 119-128. Kluwer Academic, Portoroz, Slovenia, 1996. [PDF]


Conference articles
  1. J.P. Desai, M. Zefran, and V. Kumar. A geometric approach to second and higher order kinematic analysis. In International Symposium on Advances in Robot Kinematics, J. Lenarcic and M.L. Husty, editors, Strobl, Austria, pages 365-374, 1998. Kluwer Academic.


  2. V. Kumar, M. Zefran, and J. Ostrowski. Motion Planning in Humans and Robots. In International Symposium on Robotics Research, Y. Shirai and S. Hirose, editors, Shonan, Japan, pages 102-111, 1998. Springer Verlag.


  3. Milos Zefran and Vijay Kumar. Two methods for interpolating rigid body motions. In IEEE International Conference on Robotics and Automation, volume 4, Leuven, Belgium, pages 2922-2927, 1998. IEEE. [PDF]
    Keyword(s): Mobile robots, Motion control, Position control, Interpolation, Computational geometry.


  4. J.P. Desai, M. Zefran, and V. Kumar. Two-arm manipulation tasks with friction assisted grasping. In International Conference on Intelligent Robots and Systems, volume 1, Grenoble, France, pages 189-195, 1997. IEEE.
    Keyword(s): force control, friction, manipulator dynamics, motion control, path planning.


  5. Milos Zefran and Vijay Kumar. A Variational calculus framework for motion planning. In International Conference on Advanced Robotics, Monterey, CA, USA, pages 415-420, 1997. IEEE. [PDF]
    Keyword(s): Motion planning, Variational techniques, Redundancy, Constraint theory, Optimization, Numerical methods, Grippers.


  6. Milos Zefran and Vijay Kumar. Affine connections for the Cartesian stiffness matrix. In IEEE International Conference on Robotics and Automation, volume 2, Albuquerque, NM, USA, pages 1376-1381, 1997. IEEE. [PDF]
    Keyword(s): Stiffness matrix, Tensors, Differentiation (calculus), Robotics, Vectors.


  7. Jaydev P. Desai, Chau-Chang Wang, Milos Zefran, and Vijay Kumar. Motion planning for multiple mobile manipulators. In IEEE International Conference on Robotics and Automation, volume 3, Minneapolis, MN, USA, pages 2073-2078, 1996. IEEE. [PDF]
    Keyword(s): cooperative systems, mobile robots, optimal control, path planning.


  8. Milos Zefran and Vijay Kumar. Planning of smooth motions on SE(3). In IEEE International Conference on Robotics and Automation, volume 1, Minneapolis, MN, USA, pages 121-126, April 1996. IEEE. [PDF]
    Keyword(s): Motion planning, Integral equations, Boundary conditions, Boundary value problems, Mathematical models, Lagrange multipliers, Kinematics.


  9. M. Zefran, V. Kumar, and C. B. Croke. Choice of Riemannian Metrics for Rigid Body Kinematics. In ASME Mechanisms Conference, Irvine, CA, pages 514, 1996. [PDF]


  10. William Stamps Howard, M. Zefran, and V. Kumar. On the 6x6 Stiffness Matrix for Three Dimensional Motions. In World Congress on the Theory of Machines and Mechanisms, Milan, Italy, pages 1575-1579, 1995. Edizioni Unicopli. [PDF]


  11. Milos Zefran and Vijay Kumar. Optimal control of systems with unilateral constraints. In IEEE International Conference on Robotics and Automation, volume 3, Nagoya, Japan, pages 2695-2700, 1995. IEEE. [PDF]
    Keyword(s): manipulator dynamics, minimisation, Newton-Raphson method, optimal control, variational techniques.


  12. Milos Zefran, Vijay Kumar, Jaydev P. Desai, and Ealan Henis. Two-arm manipulation: What can we learn by studying humans?. In International Conference on Intelligent Robots and Systems, volume 1, Pittsburgh, PA, USA, pages 70-75, 1995. IEEE. [PDF]
    Keyword(s): Robotic arms, Manipulators, Force control, Motion planning, Optimal control systems, Control system analysis, Computational methods, Numerical analysis, Redundancy.


  13. G. J. Garvin, M. Zefran, E. Henis, and V. Kumar. A study on optimality criteria for two-hand reaching tasks. In 13th Southern Biomedical Engineering Conference, Rockwille, MD, 1994. [PDF]


  14. Milos Zefran, Vijay Kumar, and Xiaoping Yun. Optimal trajectories and force distribution for cooperating arms. In IEEE International Conference on Robotics and Automation, San Diego, CA, USA, pages 874-879, 1994. IEEE. [PDF]
    Keyword(s): Robotic arms, Actuators, Manipulators, Trajectories, Force control, Motion control, Optimal control systems, Redundancy, Kinematics, Optimization, Boundary value problems, Differential equations, Nonlinear equations.


Miscellaneous
  1. M. Zefran, J. P. Desai, and V. Kumar. Continuous Motion Plans for Robotic Systems with Changing Dynamic Behavior. Note: Proceedings of 2nd Int. Workshop on Algorithmic Foundations of Robotics, 1996. [PDF]



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