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


Articles in journal or book chapters
  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.


Conference articles
  1. 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.


  2. 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.


  3. 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]


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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