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Publications of Milos Zefran
Thesis
  1. M. Zefran. Continuous methods for motion planning. PhD thesis, University of Pennsylvania, Philadelphia, PA, 1996.


Articles in journal or book chapters
  1. Shangming Wei, Kasemsak Uthaichana, Milos Zefran, and Raymond DeCarlo. Hybrid Model Predictive Control for the Stabilization of Wheeled Mobile Robots Subject to Wheel Slippage. 2013.


  2. Richard Meyer, Milos Zefran, and Raymond A DeCarlo. A Comparison of the Embedding Method to Multi-Parametric Programming, Mixed-Integer Programming, Gradient-Descent, and Hybrid Minimum Principle Based Methods. arXiv preprint arXiv:1203.3341, 2012.


  3. Carlos H Caicedo-Nez and Milos Zefran. Counting and Rendezvous: Two Applications of Distributed Consensus in Robotics. In Wireless Networking Based Control, pages 175-201. Springer, 2011.


  4. Carlos H Caicedo-Nez and Milos Zefran. Distributed Task Assignment in Mobile Sensor Networks. Automatic Control, IEEE Transactions on, 56(10):2485-2489, 2011.


  5. Kasemsak Uthaichana, RA DeCarlo, SC Bengea, S Pekarek, and M Zefran. Hybrid Optimal Theory and Predictive Control for Power Management in Hybrid Electric Vehicle. Journal of Nonlinear Systems and Applications, 2(1-2):96-110, 2011.


  6. S. Bengea, K. Uthaichana, M. Zefran, and R. A. Decarlo. Optimal Control of Switching Systems via Embedding into Continuous Optimal Control Problem. In The Control Handbook, Second Edition, W. S. Levine, editor, pages 31-1-31-23. CRC Press, 2010.


  7. Maxim Kolesnikov and Milos Zefran. Haptic Playback: Better Trajectory Tracking during Training Does Not Mean More Effective Motor Skill Transfer. In EuroHaptics 2010, Part II, Astrid Kappers, Jan van Erp, Wouter Bergmann Tiest, and Frans van der Helm, editors, volume 6192 of LNCS, pages 451-456. Springer, Berlin / Heidelberg, 2010. [doi:10.1007/978-3-642-14075-4_67]


  8. Federico Moro, Giuseppina Gini, Milos Zefran, and Aleksandar Rodic. Simulation for the optimal design of a biped robot: Analysis of energy consumption. In Simulation, Modeling, and Programming for Autonomous Robots, pages 449-460. Springer, 2010.


  9. Maxim Kolesnikov and Milos Zefran. Generalized penetration depth for penalty-based six-degree-of-freedom haptic rendering. Robotica, 26:513-524, 2008. [PDF] [doi:10.1017/S0263574708004207]


  10. A.D. Steinberg, P.G. Bashook, J. Drummond, S. Ashrafi, and M. Zefran. Assessment of faculty perception of content validity of PerioSim, a haptic-3D virtual reality dental training simulator. Journal of Dental Education, 71:1574-1582, 2007.


  11. S. Wei, K. Uthaichana, M. Zefran, R.A. DeCarlo, and S. Bengea. Applications of numerical optimal control to nonlinear hybrid systems. Nonlinear Analysis: Hybrid Systems, 1(2):264-279, 2007. [PDF]


  12. M. Zefran and F. Bullo. Lagrangian Dynamics. In Robotics and Automation Handbook, T. R. Kurfess, editor, pages 5-1-5-16. CRC Press, 2005. [PDF]


  13. J. Kuzelicki, M. Zefran, H. Burger, and T. Bajd. Synthesis of standing-up trajectories using dynamic optimization. Gait and Posture, 21(1):1-11, 2005.


  14. F. Bullo and M. Zefran. Modeling and controllability for a class of hybrid mechanical systems. IEEE Transactions on Robotics and Automation, 18(4):563-573, August 2002. [PDF]
    Keyword(s): control system analysis, controllability, mobile robots, path planning, robot dynamics, robot kinematics.


  15. F. Bullo and M. Zefran. On mechanical control systems with nonholonomic constraints and symmetries. Systems & Control Letters, 45(2):133-143, February 2002. [PDF]
    Keyword(s): Mechanical control equipment, Nonlinear control systems, Robotics, Equations of motion, Controllability, Constraint theory, Computer simulation.


  16. B. Goodwine and M. Zefran. Feedback stabilization of a class of unstable nonholonomic systems. ASME Journal of Dynamic Systems, Measurement, and Control, 124(1):221-230, March 2002.
    Keyword(s): Control equipment, Control systems, Gears, Feedback, Stiffness matrix, Velocity measurement, Friction, Approximation theory, Linearization, Mathematical models.


  17. 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.


  18. 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.


  19. 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).


  20. 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.


  21. M. Zefran and J. W. Burdick. Stabilization of systems with changing dynamics. In Hybrid Systems: Computation and Control, T.A. Henzinger and S. Sastry, editors, volume 1386 of Lecture notes in computer science, pages 400-415. Springer Verlag, 1998. [PDF]


  22. 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.


  23. 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).


  24. 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.


  25. 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.


  26. 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.


  27. 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]


  28. Milos Zefran, Tadej Bajd, and Alojz Kralj. Kinematic modeling of four-point walking patterns in paraplegic subjects. IEEE Transactions on Systems, Man, and Cybernetics Part A: Systems and Humans, 26(6):760-770, 1996. [PDF]
    Keyword(s): Functional electric stimulation, Mathematical models, Kinematics, Gait analysis, Joints (anatomy), Walking aids, Microelectrodes, Muscle, Skin.


  29. T. Bajd, A. Kralj, and M. Zefran. Unstable states in four-point walking. Journal of Biomedical Engineering, 15(2):159-162, March 1993.
    Keyword(s): biomechanics, mechanical stability.


Conference articles
  1. Soumya Banerjee, Kai Da Zhao, Wenjing Rao, and Milos Zefran. Decentralized self-balancing systems. In Very Large Scale Integration (VLSI-SoC), 2013 IFIP/IEEE 21st International Conference on, pages 340-343, 2013. IEEE.


  2. Wen Jiang and Milos Zefran. Coverage control with information aggregation. In Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on, pages 5421-5426, 2013. IEEE.


  3. A Prasad Sistla, Milos Zefran, and Yao Feng. Runtime monitoring of stochastic cyber-physical systems with hybrid state. In Runtime Verification, pages 276-293, 2012. Springer.


  4. A Prasad Sistla, Milos Zefran, and Yao Feng. Monitorability of stochastic dynamical systems. In Computer Aided Verification, pages 720-736, 2011. Springer.


  5. Barbara M Di Eugenio, Milos Zefran, Jezekiel Ben-Arie, Marquis Foreman, Lin Chen, Simone Franzini, Shankaranand Jagadeesan, Maria Javaid, and Kai Ma. Towards effective communication with robotic assistants for the elderly: Integrating speech, vision and haptics. In 2010 AAAI Fall Symposium Series, 2010.


  6. Carlos Caicedo and M. Zefran. Probabilistic guarantees for rendezvous under noisy measurements. In American Control Conference, pages 5180-5185, 2009.


  7. Ray DeCarlo, Steve Pekarek, and Milos Zefran. Optimal control of switching/hybrid systems with applications to hybrid electric vehicles, dc-dc converters, and autonomous mobile robots (M-2). In American Control Conference, 2009. ACC'09., pages 22-23, 2009. IEEE.


  8. M. Kolesnikov, M. Zefran, AD Steinberg, and PG Bashook. PerioSim: Haptic virtual reality simulator for sensorimotor skill acquisition in dentistry. In IEEE International Conference on Robotics and Automation, pages 689-694, 2009. [PDF]


  9. Carlos Caicedo and M. Zefran. A coverage algorithm for a class of non-convex regions. In IEEE Conference on Decision and Control, pages 4244-4249, 2008. [PDF]


  10. Carlos Caicedo and M. Zefran. Consensus-based rendezvous. In IEEE International Conference on Control Applications, pages 1031-1036, 2008. [PDF]


  11. Carlos Caicedo and M. Zefran. Performing coverage on nonconvex domains. In IEEE International Conference on Control Applications, pages 1019-1024, 2008. [PDF]


  12. K. Uthaichana, S. Bengea, R. A. DeCarlo, S. Pekarek, and M. Zefran. Hybrid model predictive control tracking of a sawtooth driving profile for an HEV. In American Control Conference, pages 967-974, 2008.


  13. Shangming Wei, Milos Zefran, and Raymond A. DeCarlo. Optimal control of robotic systems with logical constraints: Application to UAV path planning. In IEEE International Conference on Robotics and Automation, pages 176-181, May 2008. [doi:10.1109/ROBOT.2008.4543205]


  14. Carlos Caicedo and M. Zefran. A Distributed Control Algorithm for Task Assignment in Mobile Sensor Networks. In IEEE International Conference on Robotics and Automation, Rome, Italy, 2007. [PDF]


  15. Carlos Caicedo and M. Zefran. Balancing sensing and coverage in mobile sensor networks: a min-max approach. In IEEE Conference on Decision and Control, New Orleans, LA, USA, pages 6124-6129, 2007. IEEE. [PDF]
    Keyword(s): Wireless sensor networks, Algorithms, Autonomous agents, Computer simulation, Mobile computing, Mobile robots, Problem solving.


  16. M. Kolesnikov and M. Zefran. Energy-based 6-DOF penetration depth computation for penalty-based haptic rendering algorithms. In International Conference on Intelligent Robots and Systems, San Diego, CA, USA, pages 2120-2125, 2007. IEEE. [PDF]
    Keyword(s): haptic interfaces, rendering (computer graphics).


  17. Panos Tzanos and Milos Zefran. Locating a circular biochemical source: Modeling and control. In IEEE International Conference on Robotics and Automation, Rome, Italy, pages 523-528, 2007. IEEE. [PDF]
    Keyword(s): Biochemical engineering, Algorithms, Computer simulation, Fisher information matrix, Gradient methods, Maximum likelihood.


  18. Shangming Wei, Milos Zefran, Kasemsak Uthaichana, and Raymond A. DeCarlo. Hybrid model predictive control for stabilization of wheeled mobile robots subject to wheel slippage. In IEEE International Conference on Robotics and Automation, Rome, Italy, pages 2373-2378, 2007. [PDF]
    Keyword(s): Mobile robots, Algorithms, Computational complexity, Control systems, Numerical methods, Problem solving, Robust control, Wheels.


  19. Carlos Caicedo and Milos Zefran. Task switching in mobile wireless sensor networks. In IEEE International Conference On Networking, Sensing, and Control, Ft. Lauderdale, FL, USA, pages 12-17, 2006. IEEE. [PDF]
    Keyword(s): chemical sensors, mobile radio, telecommunication control, telecommunication switching, time-varying systems, wireless sensor networks.


  20. Matteo Corno and Milos Zefran. Haptic Playback: Modeling, Controller Design, and Stability Analysis. In Robotics: Science and Systems, 2006.


  21. Brian Moerdyk, Ray A. DeCarlo, Douglas Birdwell, Milos Zefran, and John Chiasson. Hybrid optimal control for load balancing in a cluster of computer nodes. In IEEE International Conference on Control Applications, Munich, Germany, pages 1713-1718, 2006. IEEE. [PDF]
    Keyword(s): Optimal control systems, Dynamic models, Dynamical systems, Nonlinear systems, Program processors, Resource allocation.


  22. Guobiao Song and M. Zefran. Stabilization of hybrid periodic orbits with application to bipedal walking. In American Control Conference, Minneapolis, MN, USA, pages 2504-2509, 2006. IEEE.
    Keyword(s): control system synthesis, legged locomotion, linear matrix inequalities, robot dynamics, robust control, transforms.


  23. Guobiao Song and Milos Zefran. Underactuated dynamic three-dimensional bipedal walking. In IEEE International Conference on Robotics and Automation, Orlando, FL, USA, pages 854-859, 2006. IEEE.
    Keyword(s): Biped locomotion, Mobile robots, Problem solving, Control equipment, Actuators, Robustness (control systems).


  24. Panos Tzanos and Milos Zefran. Stability analysis of information based control for biochemical source localization. In IEEE International Conference on Robotics and Automation, Orlando, FL, USA, pages 3116-3121, 2006. IEEE. [PDF]
    Keyword(s): Motion control, Biochemistry, System stability, Matrix algebra, Algorithms, Sensors, Computer simulation.


  25. Shangming Wei and Milos Zefran. Towards a formal design of behaviors for autonomous robots. In IEEE International Conference On Networking, Sensing, and Control, Ft. Lauderdale, FL, USA, pages 66-71, 2006. IEEE. [PDF]
    Keyword(s): Robots, Product design, Robotic assembly.


  26. Carlos Caicedo and Milos Zefran. Energy cost of coordination algorithms for wireless mobile sensor networks. In IEEE International Conference On Networking, Sensing, and Control, Tucson, AZ, USA, pages 419-424, 2005. IEEE. [PDF]
    Keyword(s): Mobile telecommunication systems, Wireless telecommunication systems, Sensors, Electric batteries, Energy utilization, Energy efficiency, Robot applications, Multicasting, Mathematical models.


  27. Steve Pekarek, Kasemsak Uthaichana, Sorin Bengea, Raymond A. DeCarlo, and Milos Zefran. Modeling of an electric drive for a HEV supervisory level power flow control problem. In IEEE Vehicle Power and Propulsion Conference, volume 2005, Chicago, IL, USA, pages 396-401, 2005. IEEE.


  28. Panos Tzanos, Milos Zefran, and Arye Nehorai. Information based distributed control for biochemical source detection and localization. In IEEE International Conference on Robotics and Automation, volume 2005, Barcelona, Spain, pages 4457-4462, 2005. Institute of Electrical and Electronics Engineers Inc., Piscataway, NJ 08855-1331, United States. [PDF]
    Keyword(s): Distributed computer systems, Algorithms, Computer simulation, Numerical methods, Sensors, Tracking (position).


  29. Shangming Wei and Milos Zefran. Smooth path planning and control for mobile robots. In IEEE International Conference On Networking, Sensing, and Control, volume 2005, Tucson, AZ, USA, pages 894-899, 2005. IEEE. [PDF]
    Keyword(s): Robotics, Mobile robots, Motion planning, Control systems, Sensors, Algorithms.


  30. Saurabh Mahapatra and Milos Zefran. Stable haptic interaction with switched virtual environments. In IEEE International Conference on Robotics and Automation, volume 1, Taipei, Taiwan, pages 1241-1246, 2003. Institute of Electrical and Electronics Engineers Inc.. [PDF]
    Keyword(s): Haptic interfaces, Virtual reality, Asymptotic stability, Human computer interaction, Functions, Numerical methods.


  31. Guobiao Song and Milos Zefran. A Computational Approach to Dynamic Bipedal Walking. In International Conference on Intelligent Robots and Systems, volume 1, Las Vegas, NV, United States, pages 358-363, 2003. IEEE. [PDF]
    Keyword(s): Mobile robots, Biped locomotion, Control systems, Trajectories, Orbits, Nonlinear systems, Problem solving, Stabilization, Computer simulation.


  32. Francesco Bullo and Milos Zefran. On mechanical control systems with nonholonomic constraints and symmetries. In IEEE International Conference on Robotics and Automation, volume 2, Washington, DC, USA, pages 1741-1746, 2002. IEEE. [PDF]
    Keyword(s): Mechanical variables control, Constraint theory, Computational methods, Equations of motion, Lagrange multipliers, Robotics, Controllability, Manipulators, Theorem proving, Kinematics.


  33. M. Stein and M. Zefran. Hybrid systems for telepresence: experimental platform design. In Proceedings SPIE, Newton, MA, pages 16-24, 2002. SPIE.


  34. Milos Zefran. A feedback strategy for dextrous manipulation. In IEEE International Conference on Robotics and Automation, volume 3, Washington, DC, USA, pages 2479-2484, 2002. IEEE. [PDF]
    Keyword(s): Manipulators, Motion planning, Feedback control, End effectors, Kinematics, Vectors.


  35. Matthew Stein and Milos Zefran. Hybrid systems for telepresence: Experimental platform design. In Proceedings of SPIE - The International Society for Optical Engineering, volume 4570, Newton, MA, United States, pages 16-24, 2001. The International Society for Optical Engineering.
    Keyword(s): Haptic interfaces, Remote consoles, World Wide Web, Online systems, Data processing, Codes (symbols), Manipulators, Human computer interaction, Communication channels (information theory).


  36. M. Zefran. Passivity of Hybrid Systems Based on Multiple Storage Functions. In Allerton Conference on Communication Control and Computing, Monticello, IL, pages 1244-1252, 2001. [PDF]


  37. Milos Zefran, Francesco Bullo, and Matthew Stein. A notion of passivity for hybrid systems. In IEEE Conference on Decision and Control, volume 1, Orlando, FL, USA, pages 768-773, 2001. IEEE. [PDF]
    Keyword(s): Computer control systems, Passivation, Haptic interfaces, Lyapunov methods, Communication channels (information theory), Problem solving.


  38. M. Zefran, F. Bullo, and J. Radford. An investigation into non-smooth locomotion. In IEEE International Conference on Robotics and Automation, volume 3, Detroit, MI, USA, pages 2038-2043, 1999. IEEE. [PDF]
    Keyword(s): controllability, mobile robots, path planning.


  39. Francesco Bullo and Milos Zefran. On modeling and locomotion of hybrid mechanical systems with impacts. In IEEE Conference on Decision and Control, volume 3, Tampa, FL, USA, pages 2633-2638, 1998. IEEE. [PDF]
    Keyword(s): controllability, discrete event systems, impact (mechanical), legged locomotion, nonlinear control systems, robot dynamics.


  40. 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.


  41. 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.


  42. Milos Zefran and Joel W. Burdick. Design of switching controllers for systems with changing dynamics. In IEEE Conference on Decision and Control, volume 2, Tampa, FL, USA, pages 2113-2118, 1998. IEEE. [PDF]
    Keyword(s): continuous time systems, control system synthesis, discrete time systems, hierarchical systems, mobile robots, robot dynamics, stability.


  43. M. Zefran and J.W. Burdick. Stabilization of systems with changing dynamics. In Mathematical Theory of Networks and Systems (MTNS), A. Beghi, L. Finesso, and G. Picci, editors, Padua, Italy, pages 965-968, 1998. Il poligrafo.


  44. Milos Zefran and Joel W. Burdick. Stabilization of systems with changing dynamics by means of switching. In IEEE International Conference on Robotics and Automation, volume 2, Leuven, Belgium, pages 1090-1095, 1998. IEEE. [PDF]
    Keyword(s): Robotics, Kinematics, Motion planning, System stability, Control system synthesis, Control system analysis, Hierarchical systems.


  45. 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.


  46. 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.


  47. 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.


  48. 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.


  49. 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.


  50. 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.


  51. 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]


  52. Tadej Bajd, Milos Zefran, and Alojz Kralj. Timing and kinematics of quadrupedal walking pattern. In International Conference on Intelligent Robots and Systems, volume 3, Pittsburgh, PA, USA, pages 303-307, 1995. IEEE, Piscataway, NJ, USA.
    Keyword(s): Functional electric stimulation, Kinematics, Gait analysis, Functional assessment, Mathematical models, Handicapped persons.


  53. 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]


  54. 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.


  55. 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.


  56. 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]


  57. 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.


  58. M. Zefran, T. Bajd, and A. Kralj. Analysis of paraplegic subject's walking patterns through parallel structure kinematic model. In International Symposium on Advances in Robot Kinematics, Ferrara, Italy, 1992.


  59. M. Zefran, T. Bajd, and A. Kralj. Kinematic analysis of walking with crutches. In 7th International Conference on Mechanics in Medicine and Biology, Ljubljana, Slovenia, 1991.


  60. M. Zefran, T. Bajd, and A. Kralj. Parallel structure model of paraplegic patient's gait. In Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Orlando, FL, USA, pages 924-925, 1991. IEEE.
    Keyword(s): Human Rehabilitation Engineering -- Functional Electric Stimulation, Biomechanics - Gait Analysis, Kinematics, Computer Simulation.


  61. M. Zefran and T. Bajd. Kinematic model of a robot hand and computation of grasp matrix using screw systems. In Symposium on Advances in Robot Kinematics, Linz, Austria, pages 108, 1990. Springer Verlag.


Internal reports
  1. M. Zefran and J. W. Burdick. Switching control on embedded manifolds. Technical report, Caltech, 1997.


Miscellaneous
  1. M. Cesana and M. Zefran. Sensorless calibration of a dual-manipulator system. Note: In preparation., 2004.


  2. J. Solomon and M. Zefran. A unified model for phototransduction of rods and cones. Note: In preparation., 2004.


  3. S. Mahapatra and M. Zefran. Stabilization of haptic systems with switches. Note: In preparation., 2002.


  4. M. Zefran and J. W. Burdick. Stabilization of systems with changing dynamics. Note: Submitted, 1998. [PDF]


  5. 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]


  6. M. Zefran. Numerical methods for computing optimal trajectories of robots. Master's thesis, University of Pennsylvania, Philadelphia, PA, 1995.



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