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Publications about 'Geometry'
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. 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.


  3. 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.


  4. 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).


  5. 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.


Conference articles
  1. 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.



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