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.

  1. 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.

  1. 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.

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

  3. 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.

  1. 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.

  2. 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]

  3. 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.

  1. 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]

  1. 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.

  2. 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]

  1. 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]

  2. 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.

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  1. 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.

  2. 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).

  3. 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.

  1. 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]

  2. 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.

  3. 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).

  4. 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.

  1. 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.

  2. 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.

  1. 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]

  2. 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.

  1. 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.



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