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Publications of year 1998
Articles in journal or book chapters
  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.


Conference articles
  1. 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.


  2. 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.


  3. 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.


  4. 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.


  5. 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.


  6. 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.


  7. 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.


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



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