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Publications of Jaydev P. Desai
Articles in journal or book chapters
  1. 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).


  2. 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.


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. 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.


  3. 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.


  4. 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.


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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