PUBLICATIONS

Journal Publications
Refereed Conference Publications
Book Chapters
Full CV
Students Theses
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Journal Publications

  1. Kumar, R. V., Waldron, K.J. and Tsai, M.J., "Geometric Optimization of Serial Chain Manipulator Structures for Working Volume and Dexterity," International Journal of Robotics Research, Vol. 5, No. 2., 1986, pp. 91-103.

  2. Pandy, M.G., Kumar, V., Berme, N., and Waldron, K.J., "The Dynamics of Quadrupedal Locomotion," Journal of Biomechanical Engineering, Vol. 110, No. 3, 1988, pp. 230-237.

  3. Kumar, V. and Waldron, K.J., "Force Distribution in Closed Kinematic Chains," IEEE Journal on Robotics and Automation," Vol. 4, No. 6, December 1988, pp. 657-664.

  4. Kumar, V. and Waldron, K.J., "Adaptive Gait Control for a Walking Robot," Journal of Robotic Systems, Vol. 6, No. 1. February 1989, pp. 49-75.

  5. Kumar, V. and Waldron, K.J., "Actively Coordinated Mobility Systems," ASME Journal of Mechanisms, Transmissions and Automation in Design, Vol. 111, No. 2, 1989, pp. 223-231.

  6. Kumar, V. and Waldron, K.J., "Suboptimal Algorithms for Force Distribution in Multifingered Grippers," IEEE Journal on Robotics and Automation, Vol. 5, No. 4, 1989, pp. 491-498.

  7. Kumar, V. and Waldron, K.J., "Force Distribution in Walking Vehicles on Uneven Terrain," ASME Journal of Mechanisms, Transmissions and Automation in Design, Vol. 112, No. 1, 1990, pp. 90-99.
     
  8. Kumar, V. and Gardner, J.F., "Kinematics of Redundantly Actuated Kinematic Chains," IEEE Journal on Robotics and Automation, Vol. 6, No. 13, 1990, pp. 269-273.
     
  9. Kumar, V., "Instantaneous Kinematics of Parallel-Chain Robotic Mechanisms," ASME Journal of Mechanisms, Transmissions, Automation in Design, Vol. 114, No. 3, 1992, pp. 349-358.
     
  10. Kim, J-H. and Kumar, V., "Robot Kinematics via Line Transformations," Journal of Robotic Systems, Vol. 7, No. 4, August 1990, pp. 649-674.
     
  11. Yun, X. and Kumar, V., "An Approach to Simultaneous Control of Trajectory and Interaction Forces in Dual Arm Configurations," IEEE Journal of Robotics and Automation, Vol. 7, No. 5, October 1991, pp. 618-625.
     
  12. Kumar, V., "Characterization of Workspaces of Parallel Manipulators," ASME Journal of Mechanical Design, Vol. 114, No. 3, 1992, pp. 368-375.
     
  13. Kumar, V., "A Compact Inverse Velocity Solution for Redundant Robots," Int. Journal of Robotics Research, Vol. 12, No.1, February 1993, pp. 45-54.
     
  14. Wang, Y. and Kumar, V. , "Simulation of Mechanical Systems with Unilateral Constraints," Journal of Mechanical Design, June, 1994, pp. 571-580.
     
  15. Ouerfelli, M. and Kumar, V., "Optimization of a 5-R Linkage,"ASME Journal of Mechanical Design, Vol. 116, No. 1, March 1994, pp. 166-173.
     
  16. Sarkar, N., Yun, X. and Kumar, V., "Control of Mechanical Systems with Rolling Contacts: Applications to Mobile Robots," International Journal of Robotics Research, Vol. 13, No. 1, February 1994: 55-69.
     
  17. Pfreundschuh, G., Kumar, V. and Sugar, T.G., "Design and Control of a Three Degree of Freedom In-Parallel Actuated Manipulator," Journal of Robotic Systems, Vol. 11, No. 2, 1994, pp. 103-115.
     
  18. Paljug, E., Yun, X., and Kumar, V., "Control of Rolling Contacts in Two-Arm Manipulation," IEEE Transactions on Robotics and Automation," IEEE Journal of Robotics and Automation, Vol. 10, No. 4, August 1994, pp. 441-452.
     
  19. Chen, W. and Kumar, V., Workspaces of Mechanical Systems with Rolling Contacts, Journal of Advanced Robotics, The International Journal of the Robotics Society of Japan, Vol. 9, No. 5, 1995: 483-504.
     
  20. Wang, C. C., and Kumar, V., "Kinematics and Control of Mobile Manipulators," Journal of Applied Mechanisms and Robotics, 1995, pp. 1-9.
     
  21. Wellman, P., Krovi, V., Kumar, V. and Harwin, W.,"Design of a Wheelchair with Legs for Peop le with Motor Disabilities,"IEEE Transactions on Rehabilitation Engineering,Vol. 3,No. 4,Dec ember 1995, pp. 343-349. [ps 1.12 MB]
     
  22. Kumar, V., Bajcsy, R., Harwin, W. and Harker, P., "Rapid Design and Prototyping of Customized Rehabilitation Aids," Special Section on Computers in Manufacturing, Communications of the ACM, Vol. 39, No. 2., February, 1996: 55-61.
     
  23. Howard, W. S. and Kumar, V., "On the Stability of Grasped Objects,'' IEEE Transactions on Robotics and Automation, Vo. 12, No. 6, December 1996: 904-917.
     
  24. Sarkar, N., Yun, X. and Kumar, V., "Control of Contact Interactions with Acatastatic Nonholonomic Constraints," InternationalJournal of Robotics Research, Vol 16, No.3, June l997: 357-374.
     
  25. Garvin, G. J., Zefran, M., Henis, E. A., and Kumar, V. "Two Arm Trajectory Planning in a Manipulation Task," Journal of Biological Cybernetics, Vol. 76, 1997: 53-62. [ps 484 KB]
     
  26. Sarkar, N. and Kumar, V., "Velocity and Acceleration Analysis of Contact between Three-Dimensional Rigid Bodies," ASME Journal of Applied Mechanics, Vol. 63, Dec. 1996: 974-984. [ps 252 KB]
     
  27. Adams, J., et al. "Cooperative Material Handling by Human and Robotic Agents: Module Development and System Synthesis," Expert Systems with Applications, Pergamon, Vol. 11, No. 2, 1996: 89-97.
     
  28. Sarkar, N., Yun, X. and Kumar, V., "Dynamic Control of 3-D Rolling Contacts in Two-Arm Manipulation," IEEE Transactions on Robotics and Automation, Vol. 13, No. 3, pp. 364-376, 1997.
     
  29. Howard, W. S., Zefran, M., and Kumar, V., "On the 66 Stiffness Matrix for Three-Dimensional Motions," Journal of Mechanism and Machine Theory, Vol. 33, No. 4, May 1998: 389-408. [ps 1527 KB]
     
  30. Zefran, M., and Kumar, V., "Rigid Body Motion Interpolation," Computer Aided Design, Vol. 30, Issue 3, 1998: 179-189. [ps 920 KB]
     
  31. Zefran, M., Kumar, V. and Croke, C., "Generation of Smooth Three-Dimensional Rigid Body Motions," IEEE Transactions on Robotics and Automation, 1998 (in press). [ps 482 KB]
     
  32. Zefran, M., Kumar, V. and Croke, C., "Metrics and Connections for Rigid Body Kinematics," International Journal of Robotics Research, 1998 (in press). [ps 131 KB]
     
  33. Chen, C., and Kumar, V., "Motion Planning for Walking Vehicles Using Ordinal Optimization," IEEE Robotics and Automation Magazine, Vol. 5, No. 2, June 1998: 22-32.
     
  34. Desai, J., Zefran, M., and Kumar, V., "Two Arm Manipulation with Friction-Assisted Grasping," International Journal of Advanced Robotics, Special Issue on "Selected Papers from IROS97" (accepted for publication). [ps 517 KB]
     
  35. Krovi, V., and Kumar, V., "Design and Control of a Hybrid Mobility System," ASME Trans. Journal of Mechanical Design, Vol. 121, No. 3, pp.  448-455, September 1999. [ps 822 KB] [pdf 503 KB]
     
  36. Krovi, V., Kumar, V., Ananthasuresh, G.K., and Vezien J-M., "Design and Virtual Prototyping of Rehabilitation Aids," In ASME Journal of Mechanical Design, Vol. 121, No. 3, pp. 456-458, September 1999. [ps 591 KB] [pdf 514 KB]
     
  37. Ouerfelli, M., Kumar, V., and W. S. Harwin, "Kinematic Modeling of Head-Neck Movements", IEEE Trans. Systems, Man, Cybernetics, Part A: Systems and Humans, Vol. 29, No. 6, 1999: 604-615.
     
  38. Zefran, M., and Kumar, V., "A Geometric Study of the Cartesian Stiffness Matrix," ASME Journal of Mechanical Design, 2000. [ps 458 KB]
     
  39. Desai, J., and Kumar, V., "Motion Planning of Nonholonomic Cooperating Mobile Manipulators," Journal of Robotic Systems, 1999. [ps 678 KB]
     
  40. Kumar, V., Kinzel, G., Wei, S., Bengu, G., and Zhou, J. "Multi-University Design Projects," ASEE Journal of Engineering Education, 1999. [doc 4652 KB]
     
  41. Ostrowski, J., Desai, J., and Kumar, V., "Optimal Gait Selection for Nonholonomic Locomotion Systems," International Journal of Robotics Research, 2000. [pdf 192 KB]
     
  42. Chen, C., and Kumar, V., "Motion Planning for Walking Vehicles on Uneven Terrain," Journal of Robotic Systems, 2000.
     
  43. Song, P., Kraus, P., Kumar, V., and Dupont, P., "Analysis of Rigid Body Dynamic Models for Simulation of Systems with Frictional Contacts," ASME Transactions Journal of Applied Mechanics, 2000. [ps 345 KB]
     
  44. Wang, C. C., and Kumar, V., "The Performance of Repeatable Control Schemes for Redundant Robots," Journal of Robotic Systems, Vol. 18, No. 4, 2001.
     
  45. Ouerfelli, M., Kumar, V., and Harwin, W.S. "Methods for kinematic modeling of biological and robotic systems," Medical Engineering and Physics, Elsevier Press, Vol. 22, 2000: 509-520.
     
  46. V. Krovi, G. K. Ananthasuresh, and V. Kumar, "Kinematic Synthesis of Spatial R-R Dyads for Path Following With Applications to Coupled Serial Chain Mechanisms," ASME Journal of Mechanical Design, July 2000. [ps 112 KB] [pdf 278 KB]
     
  47. Ansar, A., Rodrigues, D., Desai, J., Daniilidis, K., Kumar, V. and Campos, M. Visual and Haptic Collaborative Tele-presence, Computers & Graphics, Special Issue on Mixed Realities Beyond Conventions, Vol. 25, No. 5, October 2001. [pdf 552 KB]
     
  48. Desai, J., Ostrowski, J., and Kumar, V. "Modeling and Control of Formations of Nonholonomic Mobile Robots," IEEE Transactions on Robotics and Automation, Vol. 17(6), Dec. 2001: 905-908.
     
  49. Sugar, T.G. and Kumar,V.,"Control of Cooperating Mobile Manipulators," IEEE Transactions on Automatic Control,2001. [ps 6.45 MB]
     
  50. T. G. Sugar and V. Kumar, "Metrics for Analysis and Optimization of Grasps and Fixtures," International Journal of Robotics and Automation, Vol. 17, Issue 1, 2002 (Special Issue on Compliance and Compliant Mechanisms): pp. 28-37.
     
  51. T. G. Sugar and V. Kumar, "Design and Control of a Compliant Parallel Manipulator," ASME Journal of Mechanical Design, Vol. 124, No. 4, 2002: 676-683. [ps 2.86 MB]
     
  52. R. Alur, C. Belta, V. Kumar, M. Mintz, G. Pappas, H. Rubin, and J. Schug, "Modeling and Analyzing Biomolecular Networks, Computing in Science and Engineering", Special Issue in Biocomputation, Jan/Feb. 2002: 20-31.
     
  53. Belta, C. and Kumar, V., "Euclidean metrics for motion generation on SE(3)," Journal of Mechanical Engineering Science Part C, vol. 216, no. C1, pp. 47-61, 2002.
     
  54. Belta, C. and Kumar, V., "Computation of rigid body motion", Electronic Journal of Computational Kinematics, Vol 1, No. 1, http://www-sop.inria.fr/coprin/EJCK/EJCK.html.
     
  55. Krovi, V., Ananthasuresh, G.K., and Kumar, V., "Kinematic and Kinetostatic Synthesis of Planar Coupled Multi-Link Serial Chain Mechanisms," ASME Journal of Mechanical Design, Vol. 24 (2), June 2002:143-155.
     
  56. Belta, C. and Kumar, V., "A SVD-Based Projection method for interpolation on SE(3)", IEEE Transactions on Robotics and Automation, Vol. 18, No. 3, June 2002. [pdf 497 KB]
     
  57. A. Das, R. Fierro, V. Kumar, J. Ostrowski, J. Spletzer, and C. J. Taylor, "Vision Based Formation Control of Multiple Robots", Vol. 18, No. 5, IEEE Transactions on Robotics and Automation, October 2002: 813-825.
     
  58. R. Alur, T. Dang, J. Esposito, Y. Hur, F. Ivancic, V. Kumar, I. Lee, P. Mishra, G. Pappas, and O. Sokolsky, "Hierarchical Modeling and Analysis of Embedded Systems," Proceedings of the IEEE, (Volume 91, Number 1), January 2003.
     
  59. R. Fierro, A. Das, J. Spletzer, Y. Hur, R. Alur, J. Esposito, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall and C. J. Taylor, "A framework and architecture for multirobot coordination," International Journal of Robotics Research, 2003.
     
  60. Belta, C., and Kumar, V. "Motion generation for groups of robots," ASME Journal of Mechanical Design, 2003. [ps 434 KB]
     
  61. Chaimowicz, L., Kumar, V. and Campos, F. M., "A Paradigm for Dynamic Coordination of Multiple Robots," Autonomous Robots, Volume 17, Issue 1, July 2004: Pages 7 – 21. [pdf 636 KB]
     
  62. Tanner, H. G., Kumar, V. and G. J. Pappas, "Leader-to-Formation Stability," IEEE Transactions on Robotics and Automation, June, 2004. [pdf].
     
  63. P. Song, J.S. Pang, and V. Kumar, "A Semi-Implicit Time-Stepping Model for Frictional Compliant Contact Problems," International Journal for Numerical Methods in Engineering, Accepted for publication, 2004. [pdf 587 KB]
     
  64. J. Esposito and V. Kumar, "An Asynchronous Integration and Event Detection Algorithm for Simulating Multi-Agent Hybrid Systems," ACM Transactions on Modeling and Computer Simulation, Vol. 14, No. 4, Oct. 2004: 363-388 [pdf].

  65. Belta, C., and Kumar, V. "Abstractions and Control Policies for a Swarm of Robots," IEEE Transactions on Robotics, vol.20, no.5, 2004: 865-875. [pdf].

  66. G. A. S. Pereira, V. Kumar, and M. F. M. Campos, "Decentralized Algorithms for Multirobot Manipulation via Caging," International Journal of Robotics Research, Accepted for publication, 2004. [pdf].

  67. Belta, C., Esposito, J. M., Kim, J, and Kumar, V., "Computational techniques for analysis of genetic network dynamics," Int. Journal of Robotics Research, 2004 (in press) [pdf].

  68. E. Stump and V. Kumar, "Workspaces of Cable-Actuated Parallel Manipulators," ASME Journal of Mechanical Design, Vol. 128, January, 2006 (to be published). [pdf]

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Chapters in Books

  1. Kumar, R.V., Waldron, K.J. and Tsai, M.J., "Geometric Optimization of Serial Chain Manipulator Structures for Working Volume and Dexterity," in Kinematics of Robot Manipulators, Ed. J.M.McCarthy, MIT Press, Cambridge, Massachusetts, 1987, pp. 99-101.

  2. Kumar, V. and Waldron, K.J., "A Review of Research on Walking Vehicles," Robotics Review 1, Ed. T.Lozano-Perez and O. Khatib, MIT Press, Cambridge, Massachusetts, 1989, pp. 243-266.
     
  3. Kim, J.H., Kumar, V. and Waldron, K.J., "Force Distribution Algorithms for Multifingered Grippers," Advances in Control Systems and Dynamics, Ed. C.T. Leondes, Academic Press, Vol. 38, 1990, pp. 289-315.
     
  4. Kumar, V., "Coordination of Multi-Degree-of-Freedom Mechanisms," The First Forty Years of Modern Kinematics: A Tribute to Ferdinand Freudenstein, Ed. A. Erdman, Wiley-Interscience Series in Design Engineering, John Wiley and Sons, 1993.
     
  5. Kumar, V. and Waldron, K.J., "A Review of Research on Walking Vehicles," Autonomous Mobile Robots, Vol. 1, Ed. A. Elfes and S. S. Iyengar, IEEE Computer Society Press, 1991, pp. 503-526.
     
  6. Kumar, V., Rahman, T., and Krovi, V., "Assistive Devices for People with Motor Disabilities," Wiley Encyclopedia for Electrical and Electronics Engineers, Ed. J. Webster, 1998. [ps 1406 KB] [pdf 1.21 MB]
     
  7. Kumar, V. and Krovi, V., "Customized Assistive Devices for People with Motor Disabilities," Encylopedia of Microcomputers, Ed. J. Williams, 1999. [ps 775 KB] [pdf 387 KB]
     
  8. Kumar, V., Zefran, M., and Ostrowski, J., "Intelligent Motion Planning and Control," Handbook of Industrial Robotics, John Wiley and Sons, Ed. S. Nof, 1999. [ps 862 KB]
     
  9. Bicchi, A. and Kumar, V., "Robotic Grasping and Manipulation," Ramsete: Articulated and Mobile Robots for Services and Technology, Eds. Siciliano, Bicchi, Nicosia, and Valigi, Lecture Notes in Control and Information Series (LNCIS), Vol. 270, Springer Verlag, 2001. [ps 287 KB]
     
  10. Krovi, V. and Kumar, V., "Rapid Design and Prototyping of Customized Rehabilitation Aids," Encylopedia of Library and Information Science, Ed. A. Kent, 200. [pdf 386 KB]   

    11.
  11. R. Fierro, P. Song, A. Das, and V. Kumar, "Cooperative Control of Robot Formations," Cooperative Control and Optimization: Series on Applied Optimization, Ed. R. Murphey and P. Paradalos, Kluwer Academic Press, 2002: 79-93.
     
  12. Zhang, F., Grocholsky, B., Kumar, V., and M. Mintz, "Cooperative Control for Localization of Mobile Sensor Networks,"Cooperative Control, Lecture Notes in Control and Information Sciences, Vol. 309, Eds: V. Kumar, N. Leonard, and A. S. Morse, Springer Verlag, 2004. [pdf]
     
  13. Kumar, V., Leonard, N., and A. S. Morse, Editors, Cooperative Control, Lecture Notes in Control and Information Sciences, Vol. 309, Springer Verlag, 2004 [pdf].

  14. R. Fierro, L. Chaimowicz, and V. Kumar, "Multi-Robot Cooperation," Autonomous Mobile Robots: Sensing, Control, Decision Making and Applications, S. S. Ge and F. L. Lewis (eds.), CRC Press - Taylor & Francis Group, Chapter 11, 2005. [pdf]

  15. C. Belta and V. Kumar, "Geometric Methods for Multirobot Optimal Motion Planning," Handbook of Geometric Computing, E. B. Corrochano, Springer-Verlag, 2005. [pdf]

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Refereed Papers in Conference Proceedings and Books

  1. Kumar, V., Tsai, M.J., and Waldron, K.J., "Geometric Optimization of Manipulator Structures for Working Volume and Dexterity," Proceedings of the IEEE International Conference on Robotics and Automation, St. Louis, Missouri, 1985, pp. 228-236.
  2. Kumar, V. and Waldron, K.J., "Suboptimal Algorithms for Force Distribution in Multifingered Grippers," Proceedings of theIEEE International Conference on Robotics and Automation, Raleigh, North Carolina, 1987, pp. 252-257.
  3. Pandy, M.G., Kumar, V., Berme, N., and Waldron, K.J., "The Dynamics of Quadrupedal Locomotion," in 1987 Biomechanics Symposium, AMD-Vol. 84, Ed. D.L. Butler and P.A. Torzilli, Proceedings of the ASME Conference on Applied Mechanics, Bioengineering and Fluids Engineering, Cincinnati, Ohio, 1987, pp. 365-368.
  4. Waldron, K.J., Kumar, V. and Burkat, A., "An Actively Coordinated Mobility System for a Planetary Rover," Proceedings of the 3rd International Conference on Advanced Robotics, Versailles, France, October 12-15, 1987, pp. 77-86.
  5. Kumar, V. and Waldron, K.J., "Actively Coordinated Vehicle Systems," Trends in Vehicle Design Research, ASME pub. DE-Vol. 11, Ed. S.A. Velinsky, Proceedings of the 1987 ASME Winter Annual Meeting, Boston, December 13-18, pp. 1-10.
  6. Kumar, V. and Waldron, K.J., "Force Distribution in Closed Kinematic Chains," Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, April 1988, pp. 114-119.
  7. Kumar, V. and Waldron, K.J., "Analysis of Omnidirectional Gaits for Walking Machines for Operation on Uneven Terrain," Proceedings of the 7th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Udine, Italy, September 12-15, 1988, pp. 37-62.
     
  8. Kumar, V. and Waldron, K.J., "Force Distribution in Walking Vehicles on Uneven Terrain," in Trends and Developments in Mechanisms, Machines and Robotics, Ed. A. Midha, ASME pub. DE-Vol. 15-3, Proceedings of the 1988 ASME Mechanisms Conference, Kissimmee, Florida, 1988, pp. 473-480.
     
  9. Ulrich, N. and Kumar, V., "Grasping Using Fingers with Coupled Joints," in Trends and Developments in Mechanisms, Machines and Robotics, Ed. A. Midha, ASME pub. DE-Vol. 15-3, Proceedings of the 1988 ASME Mechanisms Conference, Kissimmee, Florida, 1988, pp. 201-208.
     
  10. Gardner, J.F., Kumar, V. and Ho, J.H., "Kinematics and Control of Redundantly Actuated Closed Chains," Proceedings of the IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, May 1989, pp. 418-424.
     
  11. Kumar, V. and Gardner, J.F., "Kinematics of Redundantly Actuated Kinematic Chains," Advanced Robotics 1989, Ed. K. J. Waldron, Proceedings of the 4th International Conference on Advanced Robotics, Columbus, June 1989, pp. 488-512.
     
  12. Yun, X., and Kumar, V., "An Approach to Simultaneous Control of Trajectory and Interaction Forces in Dual Arm Configurations," Advanced Robotics 1989, Ed. K. J. Waldron, Proceedings of the 4th International Conference on Advanced Robotics, Columbus, June 1989, pp. 278-298.
     
  13. Kumar, V., Yun, X., and Bajcsy, R., "Exploration of Unknown Mechanical Assemblies through Manipulation," Advances in Intelligent Robotics Systems Symposium, SPIE, Philadelphia, November 5 -10, 1989.
     
  14. Kumar, V., Meyer, B.P., and Ulrich, N., "Mechanics and Design of a Planar Parallel Manipulator," Proceedings of the 1st National Conference on Applied Mechanisms and Robotics, Cincinnati, November 5-8, 1989.
     
  15. J-H. Kim, and Kumar, V., "Robot Kinematics via Line Transformations," Proceedings of the 1st National Conference on Applied Mechanisms and Robotics, Cincinnati, November 5-8, 1989.
     
  16. Chen, W., and Kumar, V., "Inertial Characteristics of Redundant Robotic Systems," in Robotics Research - 1989, Ed. K. Youcef-Toumi and H. Kazerooni, Proceedings of the 1989 ASME Winter Annual Meeting, December 11-15, 1989, pp. 131-142.
     
  17. Yun, X., King, R., Lee, I., and Kumar, V., "A Two-Arm Exploratory System for Identifying Movable and Removable Parts," in Robotics Research - 1989, Ed. K. Youcef-Toumi and H. Kazerooni, Proceedings of the 1989 ASME Winter Annual Meeting, December 11-15, 1989, pp. 125-130.
     
  18. Ulrich, N., Kumar, V. Paul, R.P. and Bajcsy, R., "Grasping through Mechanical Intelligence," Proceedings of the 8th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Cracow, Poland, 1990.
     
  19. Kumar, V., "Workspaces and Geometric Dexterity of Parallel Manipulators," in Mechanism Synthesis and Analysis, Ed. M. McCarthy, S. Derby, and A. Pisano, ASME Publication No. DE-Vol. 25, Proceedings of the 21st Biennial Mechanisms Conference, Chicago, September 15-19, 1990.
     
  20. Kumar, V., "Instantaneous Kinematics of Parallel Systems," in Mechanism Synthesis and Analysis, Ed. M. McCarthy, S. Derby, and A. Pisano, ASME Publication No. DE-Vol. 25, Proceedings of the 21st Biennial Mechanisms Conference, Chicago, September 15-19, 1990.
     
  21. Pfreundschuh, G., Kumar, V. and Sugar, T.G., "Design and Control of a Three Degree of Freedom In-Parallel Actuated Manipulator," Proceedings of the IEEE International Conference on Robotics and Automation, April 7-11, 1991, pp. 1659-1665.
     
  22. Kumar, V., Yun, X., Paljug, E., and Sarkar, N., "Control of Contact Conditions for Manipulation with Multiple Robotic Systems," Proceedings of the IEEE International Conference on Robotics and Automation, April 7-11, 1991, pp. 170-175.
     
  23. Ulrich, N. and Kumar, V., "Passive Gravity Compensation for Robot Manipulators,"Proceedings of the IEEE International Conference on Robotics and Automation, April 7-11, 1991, pp. 1536-1541.
     
  24. Ulrich, N. and Kumar, V., "Mechanical Design Methods of Improving Manipulator Performance,"Proceedings of the 5th International Conference on Advanced Robotics, Pisa, June 1991, pp. 515-520.
     
  25. J-H. Kim, and Kumar, V., "A Kinestatic Analysis of Cooperating Robot Systems," Proceedings of the 5th International Conference on Advanced Robotics, Pisa, June 1991, pp. 603-608.
     
  26. E. Paljug, Yun, X., and Kumar, V., "Two Arm Manipulation via Controlled Rolling," Proceedings of the 5th International Conference on Advanced Robotics, Pisa, June 1991, 591-596.
     
  27. Campos, M., Bajcsy, R. and Kumar, V., "Exploratory Procedures for Material Properties: The Temperature Perception," Proceedings of the 5th International Conference on Advanced Robotics, Pisa, June 1991, pp. 205-210.
     
  28. Bajcsy, R., Kumar, V., Paul, R., and Yun, X., "A Multiagent System for Intelligent Material Handling," Proceedings of the 5th International Conference on Advanced Robotics, Pisa, June 1991, pp. 18-23.
     
  29. Ulrich, N. and Kumar, V., "Mechanical Design Methods of Improving Manipulator Performance," Advances in Design Automation, Vol. 1, Ed. G. Gabriele, ASME Pub. DE-Vol. 32-1, Proceedings of the Design Automation Conference, Miami, Fla, September 1991, pp. 545-550.
     
  30. Ouerfelli, M. and Kumar, V., "Optimization of a 5-R Linkage," Advances in Design Automation, Vol. 1, Ed. G. Gabriele, ASME Pub. DE-Vol. 32-1, Proceedings of the Design Automation Conference, Miami, Fla, September 1991, pp. 545-550.
     
  31. Johnson, L., Kumar, V. and Gardener, J., "Optimization of Contact Forces in Multifingered Grippers and Walking Vehicles," Proceedings of the 2nd National Conference on Applied Mechanisms and Robotics, Cincinnati, November 4-5, 1991.
     
  32. Wang, Y., Kumar, V. and Abel, J. , "Dynamics of Rigid bodies Undergoing Multiple Frictional Contacts," IEEE International Conference on Robotics and Automation, Nice, France, May 10-15, 1992, pp. 2764-2769.
     
  33. Yun, X., Kumar, V., Sarkar, N., and Paljug, E. , "Control of Multiple Arm Systems with Rolling Constraints," IEEE International Conference on Robotics and Automation, Nice, France, May 10-15, 1992, pp. 2193-2198.
     
  34. Paljug, E., Sugar, T., Kumar, V. and Yun, X., "Important Considerations in Force Control with Applications to Multi-Arm Manipulation," IEEE International Conference on Robotics and Automation, Nice, France, May 10-15, 1992, pp. 1270-1275.
     
  35. Kumar, V., "A Compact Inverse Velocity Solution for Redundant Robots,"IEEE International Conference on Robotics and Automation, Nice, France, May 10-15, 1992, pp. 482-487.
     
  36. Ouerfelli, M., Harwin, W., and Kumar, V., "A Pneumatic Actuation System for a Wheelchair-Mounted Robot Arm," 15th RESNA International Conference, Toronto, June 6-11, 1992.
     
  37. Bajcsy, R., Koivunen, V., Kumar, V., and Vezien, J-M., "Rapid Prototyping from Physical Models," Proceedings of the Darpa Workshop on Information Technology for Manufacturing Automation and Concurrent Engineering, Palo Alto, CA, June 16-18, 1992, pp. 721-724.
     
  38. Kumar, V., Sugar, T.G. and Pfreundschuh, G. "A Three Degree of Freedom In-Parallel Actuated Manipulator," Proceedings of the 9th CISM-IFToMM Symposium on Theory and Practice of Manipulators, September 1-4, Udine, Italy, 1992.
     
  39. Wang, Y. and Kumar, V. , "Simulation of Mechanical Systems with Unilateral Constraints," Mechanism Design and Synthesis, ASME Pub. no. DE-Vol. 46, Eds. Kinzel et al. Proceedings of the 22nd Biennial ASME Mechanisms Conference, Phoenix, Sept., 1992, pp. 129-134.
     
  40. Wang, C-C., Sarkar, N. and Kumar, V. , "Rate Kinematics of Mobile Manipulators," Robotics, Spatial Mechanisms, and Mechanical Systems, ASME Pub. no. DE-Vol. 46, Eds. Kinzel et al. Proceedings of the 22nd Biennial ASME Mechanisms Conference, Phoenix, Sep., 1992, pp. 225-232.
     
  41. Campos, M., Kumar, V. and Bajcsy, R., "Kinematic Identification of Linkages," Proceedings of the 3rd International Conference on Advances in Robot Kinematics, Ferrara, Italy, Sep. 7-9, 1992.
     
  42. Ruzena Bajcsy, Vijay Kumar, Max Mintz, Richard Paul, and Xiaoping Yun, "A Multiagent Robotic System for Intelligent Material Handling,'' Workshop on Intelligent Robotic Systems: Design and Applications, SPIE's Intelligent Robotics Symposium, Boston, November 16, 1992.
     
  43. Sarkar, N., Yun, X. and Kumar, V., "Control of Rolling Contacts in Two-Arm Manipulation," IEEE International Conference on Robotics and Automation, Atlanta, May 2-7, 1993.
     
  44. Wang, C-C. and Kumar, V., "Velocity Control of Mobile Manipulators," IEEE International Conference on Robotics and Automation, Atlanta, May 2-7, 1993.
     
  45. Howard, W.S. and Kumar, V., "A Minimum Principle for the Dynamic Analysis of Systems with Frictional Contacts," IEEE International Conference on Robotics and Automation, Atlanta, May 2-7, 1993, pp. 437-442.
     
  46. Ouerfelli, M., Harwin, W., and Kumar, V., "An Inexpensive Pneumatic Manipulator for Rehabiliation Applications," IEEE International Conference on Robotics and Automation, Atlanta, May 2-7, 1993.
     
  47. Sarkar, N., Yun, X. and Kumar, V., "Dynamic Control of a Robot in a Multiagent Framework," IEEE International Conference on Robots and Intelligent Systems, Tokyo, June, 1993.
     
  48. Chen, W. and Kumar, V., Workspaces of Mechanical Systems with Rolling Contacts, Proceedings of the 6th International Conference on Advanced Robotics, Tokyo, November 1993, pp. 205-210.
     
  49. Sarkar, N., Yun, X. and Kumar, V., "Dynamic Path Following: A New Control Algorithm for Mobile Robots,'' 32nd IEEE International Conference on Decision and Control, San Antonio, Texas, December 15-17, 1993.
     
  50. Wang, C-C. and Kumar, V., "Kinematics and Control of Mobile Manipulators," 3rd National Applied Mechanisms and Robotics Conference, Cincinnati, November 7-10, 1993.
     
  51. Sarkar, N., Yun, Y. and Kumar, V., "Control of a Single Robot in a Decentralized Multi-Robot System,'' IEEE International Conference on Robotics and Automation, May 8-13, 1994, San Diego.
     
  52. Wellman, P., Krovi, V. and Kumar, V., "An Adaptive Mobility System for the Disabled,'' IEEE International Conference on Robotics and Automation, May 8-13, 1994, San Diego.
     
  53. Howard, W. S. and Kumar, V., "Kinematics and Stability of Grasps with Compliant Contacts,'' IEEE International Conference on Robotics and Automation, May 8-13, 1994, San Diego.
     
  54. Zefran, M., Kumar, V. and Yun, X., "Optimal Trajectories and Force Distribution for Cooperative Manipulation Tasks,'' IEEE International Conference on Robotics and Automation, May 8-13, 1994, San Diego. [ps 181 KB]
     
  55. Garvin, G., Zefran, M., Henis, E. and Kumar, V., "A Study on Optimality Criteria for Two Hand Reaching Tasks," 13th Southern Biomedical Engineering Conference, April 16-17, 1994, Washington, D.C. [ps 367 KB]
     
  56. Ouerfelli, M., Kumar, V., and Harwin, W., "Identification of Kinematic Chains with Applications to Biomechanics," 13th Southern Biomedical Engineering Conference, April 16-17, 1994, Washington, D.C. [ps 367 KB]
     
  57. Krovi, V., Wellman, P., Kumar, V., and Harwin, W., "A Walking Wheelchair for the Motor Disabled," Fourth International Conference on Rehabilitation Robotics, June 15-16, 1994, Wilmington, DE. [ps 112 KB] [pdf 112 KB]
     
  58. Ouerfelli, M., Kumar, V., and Harwin, W., "Identification of Kinematic Chains for the Design of Head-Control Interfaces," Fourth International Conference on Rehabilitation Robotics, June 15-16, 1994, Wilmington, DE.
     
  59. Wellman, P. and Kumar, V., "A Hybrid Adaptive Mobility System," 23nd Biennial ASME Mechanisms Conference, Minneapolis, Sept 12-14, ASME Publication Mechanism Synthesis and Analysis, 1994.
     
  60. Narasimhan, S. and Kumar, V., "A Second Order Analysis of Manipulator Kinematics in Singular Configurations," 23nd Biennial ASME Mechanisms Conference, Minneapolis, Sept 12-14, ASME Publication Mechanism Synthesis and Analysis, 1994.[ps 175 KB]
     
  61. Sarkar, N. and Kumar, V., "Velocity and Acceleration Analysis of Contact between Three-Dimensional Rigid Bodies," 23nd Biennial ASME Mechanisms Conference, Minneapolis, Sept 12-14, ASME Publication Mechanism Synthesis and Analysis, DE-Vol. 70, 1994, pp. 433-440. [ps 252 KB]
     
  62. Donoghue, J., Howard, W. and Kumar, V., "Stable Workpiece Fixturing," 23nd Biennial ASME Mechanisms Conference, Minneapolis, Sept 12-14, 1994.
     
  63. Gerdes, J. C., and Kumar, V., "An Impact Model for Mechanical Backlash for Control System Analysis," American Control Conference, Seatle, Washington, June 21-23, 1995.
     
  64. Zefran, M. and Kumar, V., "Optimal control of systems with unilateral constraints," IEEE International Conference on Robotics and Automation, Nagoya, Japa, May 1995. [ps 195 KB]
     
  65. Wang, C. C., and Kumar, V., "The Performance of Repeatable Control Schemes for Redundant Robots," IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 1995.
     
  66. Howard, S., and Kumar, V., "Modeling and Analysis of the Stability of Enveloping Grasps," IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 1995. [doc 943 KB]
     
  67. Adams, J., et al. "Cooperative Material Handling by Human and Robotic Agents: Module Development and System Synthesis," Proceedings of the Conference on Intelligent Robot Systems (IROS'95), Pittsburgh, PA, 1995. (Tech report, [ps])
     
  68. Zefran, M., Kumar, V., Desai, J. and Henis, E., "Two-Arm Manipulation: What can we learn by studying humans?'' Proceedings of the Conference on Intelligent Robot Systems (IROS'95), Pittsburgh, PA, 1995. [ps 253 KB]
     
  69. Jayanthi, S., Harwin, W., Kumar, V. and Keefe, M. "Application of Stereolithography in the Fabrication of Rehabilitation Aids," Proceedings of the Solid Freeform Fabrication Symposium, Austin, Aug. 7-19, 1995.
     
  70. Howard, S., Zefran, M., and Kumar, V., "On the 6x6 Stiffness Matrix for Three Dimensional Motions," 9th World Congress on the Theory of Machines and Mechanisms, Milano, Italy, Aug 30 - Sept 2, 1995. [ps 1.49 MB]
     
  71. Zefran, M., and Kumar, V., "On the generation of smooth three-dimensional rigid body motions," Workshop on Computational Kinematics, Sophia-Antipolis, France, Sept 4-7, 1995. [ps 470 KB]
     
  72. Salgonicoff, M., et al. "Virtual Headstick Rehabilitation Robot System," IEEE International Conference on Systems, Man and Cybernetics, October 20-23, 1995.
     
  73. Salgonicoff, M., et al. "Virtual headstick-telemanipulator for people with disabilities," Intelligent Systems and Advanced Manufacturing, SPIE, Philadelphia, PA, October 23-26, 1995.
     
  74. Kumar, V., Bajcsy, R. and Harwin, W., "Design of customized rehabilitation aids for people with disabilities," Proceedings of the 7th International Symposium on Robotics Research, Springer Verlag, Eds. G. Giralt and G. Herzinger, Herrsching, Germany, October 21-24, 1995. [ps 469 KB]
     
  75. Krovi, V. and Kumar, V., "Optimal traction control in a wheelchair with legs and wheels," Proceedings of the 4th National Applied Mechanisms and Robotics Conference, Cincinnati, OH, Dec 10-13, 1995, Paper No. AMR95-030. [ps 260 KB] [pdf 406 KB]
     
  76. Zefran, M., and Kumar, V., "Planning smooth motions on SE(3)," IEEE International Conference on Robotics and Automation, Minneapolis, April 23-27, 1996. [ps 313 KB]
     
  77. Desai, J., Wang, C-C., Zefran, M., and Kumar, V., "Motion planning of multiple mobile manipulators," IEEE International Conference on Robotics and Automation, Minneapolis, April 23-27, 1996. [ps 818 KB]
     
  78. Chen, C., and Kumar, V., "Motion planning of walking vehicles," IEEE International Conference on Robotics and Automation, Minneapolis, April 23-27, 1996, pp. 3277-3282.
     
  79. Zefran, M., and Kumar, V., "Coordinate-free formulation of the Cartesian Stiffness Matrix," 5th International Symposium on Advances in Robot Kinematics, Portoroz, Slovenia, June 22-26, 1996, pp. 119-128. [ps 192 KB]
     
  80. Zefran, M., Desai, J. and Kumar, V., " Continuous Motion Plans for Robotic Systems with Changing Dynamic Behavior," 2nd Int. Workshop on Algorithmic Foundations of Robotics, Toulouse, France, July 2-5, 1996. [ps 1930 KB]
     
  81. Zefran, M., Kumar, V. and Croke, C., "Choice of Riemannian Metrics for Rigid Body Kinematics," ASME Design Technical Conference - 24th Biennial ASME Mechanisms Conference, Irvine, Aug 18-21, 1996 (on CD-ROM). [ps 194 KB]
     
  82. Vezien, J.-M., Kumar, V., Bajcsy, Harwin, W. and Mahoney, R., "Design of Customized Rehabilitation Aids,'' International Workshop on Medical Robots, Vienna, Oct. 1-3, 1996.
     
  83. Kumar, V., Bajcsy, R., Metaxas, D., Harwin, W. and Mahoney, R., "Rapid Prototyping of Rehabilitation Aids for the Physically Disabled,'' NSF Design and Manufacturing Grantees Conference, Seattle, WA, January 7-10, 1997. [ps 194 KB]
     
  84. Zefran, M. and Kumar, V., "Affine Connections for the Cartesian Stiffness Analysis," IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April 20-24, 1997. [ps 200 KB]
     
  85. Desai, J., and Kumar, V., "Nonholonomic Motion Planning of Multiple Mobile Manipulators," IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April 20-24, 1997. [ps 624 KB]
     
  86. Kraus, P. and Kumar, V., "Rigid Body Collisions," IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April 20-24, 1997, pp. 1382-1387.
     
  87. Ostrowski, J., Desai, J., and Kumar, V., "Optimal Gait Selection for Nonholonomic Locomotion Systems," IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April 20-24, 1997. [ps 698 KB]
     
  88. Desai, J., Zefran, M., and Kumar, V., "Two Arm Manipulation with Friction-Assisted Grasping," Proceedings of the Conference on Intelligent Robot Systems (IROS'97), Grenoble, France, Sept 8-11, 1997. [ps 1327 KB]
     
  89. Zefran, M. and Kumar, V., "A variational calculus framework for motion planning," International Conference on Advanced Robotics, Monterey, CA, July 7-9, 1997. [ps 254 KB]
     
  90. Zefran, M. and Kumar, V., "Motion planning for systems with changing dynamics," Slovene Electrotechnical and Computer Science Conference, 1997.
  91. Kraus, P., Fredricsson, A., and Kumar, V., "Modeling of Frictional Contacts for Dynamic Simulation," International Conference on Intelligent Robot Systems (IROS'97), Grenoble, France, Sep 8-11, 1997. [ps 375 KB]
     
  92. Desai, J. and Kumar, V., "Experimental investigation of planar two-arm friction assisted grasping tasks," Sixth Annual Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems, ASME Winter Annual Meeting, Dallas, Nov 15-21, 1997. [ps 671 KB]
  93. Krovi, V., Kumar, V., Ananthasuresh, G.K., and Vezien J-M."Design and Virtual Prototyping of Rehabilitation Aids, " Proceedings of the 1997 ASME Design Engineering Technical Conferences, Vol. DETC97/DFM-4361, Sacramento, California, September 14-17, 1997 (on CD-ROM). [ps 1755 KB] [pdf 496 KB]
     
  94. Kumar, V., Zefran, M., and Ostrowski, J., "Motion Planning in Humans and Robots," Proceedings of the 8th International Symposium on Robotics Research, Springer Verlag, Kanagawa, Japan, October 3-7, 1997. [ps 548 KB]
     
  95. Krovi, V., Ananthasuresh, G.K., and Kumar, V., "Synthesis of Coupled Multi-Link Serial Chain Mechanisms, " Proceedings of the 5th National Applied Mechanisms and Robotics Conference, Oct. 12-15, 1997 (on CD-ROM). [ps 107 KB] [pdf 280 KB]
     
  96. Krovi, V., Feehery, P., Heinrichs, T., Ternus, J., and Kumar, V. "Design and Virtual Prototyping of a Head Controlled Feeder, " Proceedings of the 5th National Applied Mechanisms and Robotics Conference, Oct. 12-15, 1997, AMR97-027. [ps 1082 KB] [pdf 289 KB]
     
  97. Zhang, H., Kumar, V., and Ostrowski, J., "Motion Planning under Uncertainty," IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-21, 1998.
     
  98. Desai, J., Ostrowski, J., and Kumar, V., "Control of Formations for Multiple Robots," IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-21, 1998. [ps 381 KB]
     
  99. Sugar, T., and Kumar, V., "Decentralized Control of Cooperating Mobile Manipulators," IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-21, 1998.
     
  100. Bruyninckx, H., Demey, S., and Kumar, V., "A Generalized Measure for the Stability of Compliant Grasps," IEEE International Conference on Robotics and Automation, (Leuven, Belgium), May 16-21, 1998. [ps 186 KB]
     
  101. Zefran, M., and Kumar, V., "Rigid Body Motion Interpolation," IEEE International Conference on Robotics and Automation, (Leuven, Belgiu), May 16-21, 1998. [ps 898 KB]
     
  102. Kraus, P., Kumar, V., and Dupont, P., "Contact Models for Dynamic Simulation," IEEE International Conference on Robotics and Automation, (Leuven, Belgium), May 16-21, 1998.
     
  103. Desai, J., Zefran, M., and Kumar, V., "A Geometric Approach to Second Order Kinematic Analysis of Manipulators," 6th International Symposium on Advances in Robot Kinematics, (Portoroz, Slovenia), June 22-26, 1998. [ps 201 KB]
     
  104. Sugar, T., and Kumar, V., "Design and Control of a Compliant In-Parallel Arm for Mobile Manipulators," 25th ASME Biennial Mechanisms Conference, (Atlanta, Georgia), September 13-16, 1998.
     
  105. Krovi, V., Ananthasuresh, G. K., and Kumar, V., "Spatial Synthesis of Coupled Serial Chains," ASME Biennial Mechanisms Conference, (Atlanta, Georgia), September 13-16, 1998. [pdf 263 KB]
     
  106. Krovi, V., Anantasuresh, G. K., and Kumar, V., "Kinetostatic Synthesis of C oupled Serial Chains ," 25th ASME Biennial Mechanisms Conference, (Atlanta, Georgia), September 13-16, 1998. [ps 258 KB] [pdf 258 KB]
     
  107. Sugar, T., and Kumar, V., "Multiple Cooperating Mobile Manipulators," IEEE International Conference on Robotics and Automation, (Detroit), May 10-15, 1999.
     
  108. Desai, J., Kumar, V., and Ostrowski, J., "Transitions and formation control for multiple mobile robots," IEEE International Conference on Robotics and Automation, (Detroit), May 10-15, 1999. [ps 1632 KB]
     
  109. Alur, R., Esposito, J., Kim, M.-J., Kumar, V., and Lee, I., "Formal modeling and analysis of hybrid systems: A case study in multirobot coordination", FM '99: Proceedings of the World Congress on Formal Methods, (Springer Verlag), 1999. [ps 575 KB]
     
  110. Sugar, T., and Kumar, V., "Control and Coordination of Multiple Mobile Robots in Manipulation and Material Handling Tasks," International Symposium on Experimental Robotics, (Sydney, Australia), March 1999. [ps 3044 KB]
     
  111. Solomon, D., Jewell, J. and Kumar, V., "Yaw head orientation during whole body gaze shifts," 9th Annual Meeting of the Society for the Neural Control of Movement, April 16-19, 1999.
     
  112. Song, P., Krovi, V., Kumar, V., and Mahoney, R., "Design and Virtual Prototyping of Human-Worn Manipulation Devices," ASME DETC 19th International Computers & Information in Engineering Conference, (Las Vegas, Nevada), Sept. 12-15 1999. [ps 412 KB] [pdf 412 KB]
     
  113. Krovi, V., Ananthasuresh, G. K. and Kumar, V., "Synthesis of Spatial Mechanisms," ASME DETC 19th International Computers & Information in Engineering Conference, (Las Vegas, Nevada), Sept. 12-15 1999. [ps 112 KB] [pdf 278 KB]
     
  114. Song, P., Krovi, V., Kumar, V., and Mahoney, R., "Design Of Human-Worn Assistive Device For People With Disabilities," International Conference on Rehabilitation Robotics, (Stanford, California), 1999. [pdf 82.8 KB]
     
  115. Alur, R., Grosu, R., Hur, Y., Kumar, V., and Lee, I. "Modular specifications of hybrid systems in CHARON", Proceedings of Third Intl. Workshop on Hybrid Systems: Computation and Control, LNCS 1790, pp. 6--19, 2000. [ps 541 KB]
     
  116. Esposito, J. and Kumar, V., "Robust closed-loop motion plans for mobile robots", IEEE International Conference on Robotics and Automation, San Francisco, 2000, April 24-28. [ps 431 KB], [ps 4864 KB]
     
  117. Song, P., Yashima, M., and Kumar, V., "Dynamic simulation and grasping for whole-arm manipulation", IEEE International Conference on Robotics and Automation, (San Francisco), April 24-28 2000. [ps 2057 KB]
     
  118. Bicchi, A. and Kumar, V., "Robotic Grasping and Contact", IEEE International Conference on Robotics and Automation, San Francisco, 2000, April 24-28 (invited paper). [ps 299 KB]
     
  119. Sugar, T., and Kumar, V., "Metrics for Analysis and Optimization of Grasps and Fixtures", IEEE International Conference on Robotics and Automation, San Francisco, 2000, April 24-28. [ps 494 KB]
     
  120. Belta, C., and Kumar, V., "New Metrics for Rigid Body Motion Interpolation", Ball 2000 - A Symposium commemorating the works and life of Sir Robert Stawell Ball on the occasion of the 100th Anniversary of "A Treatise on the Theory of Screws, (Cambridge, UK), July 9-12, 2000.
     
  121. Belta, C., and Kumar, V., "An efficient approach to geometric rigid body interpolation", 26th ASME Biennial Mechanisms Conference, (Baltimore, MD), September 2000. [ps 419 KB]
     
  122. Esposito, J., Kumar, V., and Pappas, G., "Accurate Event Detection for Simulation of Hybrid Systems," Submitted to the Hybrid Systems 2000 Conference.
     
  123. Esposito, J., and Kumar, V., "Efficient Dynamic Simulation of Hierarchical Systems," Submitted to the International Conference on Robotics and Automation.
     
  124. Belta, C. and Kumar, V., "Motion generation for formations of robots: A geometric approach," Submitted to the International Conference on Robotics and Automation. [ps 468 KB]
     
  125. Alur, R., Das, A., Esposito, J., Fierro, R., Grudic, G., Hur, Y., Kumar, V., Lee, I., Ostrowski, J., Pappas, G., Southall, B., Spletzer, J. and Taylor, C.J., "A Framework and Architecture for Multirobot Coordination", The 2000 International Symposium on Experimental Robotics, (Waikiki, Hawaii), December 10 - 13. [pdf 468 KB]
     
  126. Rajeev Alur, Calin Belta, Franjo Ivancic, Vijay Kumar, Max Mintz, George Pappas, Harvey Rubin and Jonathan Schug, "Hybrid Modelling and Simulation of Biomolecular Networks," 4th International Workshop on Hybrid Systems: Computation and Control, (Rome, Italy), March 28-30, 2001. [ps 147 KB]
     
  127. Chaimowicz, L., Sugar, T., Kumar, V., and Campos, M. "An Architecture for Tightly Coupled Multi-Robot Cooperation", 2001 IEEE International Conference on Robotics and Automation, (Seoul, Korea), May 21-26, 2001. [ps 470 KB]
     
  128. Fierro, R., Das, A., and Kumar, V., "Hybrid Control of Formations of Robots," 2001 IEEE International Conference on Robotics and Automation, (Seoul, Korea), May 21-26, 2001. [pdf 616 KB]
     
  129. A. Das, R. Fierro, V. Kumar, J. Southall, J. Spletzer, and C. Taylor, "Real-time vision based control of a nonholonomic mobile robot," 2001 IEEE International Conference on Robotics and Automation, (Seoul, Korea), May 21-26, 2001, pp. 1714-1719. [ps 2278 KB]
     
  130. J. Spletzer, A. K. Das, R. Fierro, C. J. Taylor, V. Kumar, and J. P. Ostrowski, "Cooperative Localization and Control for Multi-Robot Manipulation", Proceedings of the Conference on Intelligent Robot Systems (IROS' 01), (Maui, Hawaii), October 29- Nov. 3, 2001. [pdf 200 KB]
     
  131. Alur, R., Dang, T., Esposito, J., Fierro, R., Hur, Y., Ivancic, F., Kumar, V., Lee, I., Mishra, P., Pappas, G., and Sokolsky, O. "Hierarchical Hybrid Modeling of Embedded Systems", EMSOFT'01: First Workshop on Embedded Software, (Lake Tahoe, CA), October 8th - 10th, 2001. [pdf 316 KB]
     
  132. J.M. Esposito, V. Kumar, and G. Pappas, "Multi-Agent Hybrid System Simulation," IEEE Conference on Decision and Control, (Orlando, FL), Dec 2001.
     
  133. R. Fierro, C. Belta, J. Desai, and V. Kumar, "On controlling aircraft formations," Proc. IEEE Conference on Decision and Control, (Orlando, FL), Dec. 2001, pp. 1065-1070. [pdf 278 KB]
     
  134. C. Belta, J. Schug, V. Kumar, H. Rubin, P. Dunlap and G. Pappas, "Reachability Analysis with Application to Biomolecular Networks," Proc. IEEE Conference on Decision and Control, (Orlando, FL), Dec. 2001.
     
  135. R. S. Rao, S. H. Jung, V. Kumar, J. Ostrowski, S. Patel, C. J. Taylor, "Virtual Interface Development and Sensor Based Door Navigation for Nonholonomic Vehicles", International Cambridge Workshop on Universal Access and Assitive Technologies (CWUAAT), (Cambridge, UK), March 2002. [pdf 1.0 MB]
     
  136. J.M Esposito and V .Kumar, "A method for modifying closed loop motion plans to satisfy unpredictable dynamic constraints at runtime", Proc. IEEE Intl. Conf. On Robotics and Automation, (Washington D.C.), May 2002. Best Conference Paper Award Finalist. [pdf 245 KB]
     
  137. C. Belta and V. Kumar, "Trajectory design for formations of robots by kinetic energy shaping," Proc. IEEE Intl. Conf. On Robotics and Automation, (Washington D.C.), May 2002. [ps 242 KB]
     
  138. P. Song and V. Kumar, "A Potential Field Based Approach to Multi-Robot Manipulation," Proc. IEEE Intl. Conf. On Robotics and Automation, (Washington D.C.), May 2002. [pdf 523 KB]
     
  139. Z. Wang and V. Kumar, "Object Closure and Manipulation by Multiple Cooper ating Mobile Robots", Sixth International Symposium on Distributed Autonomous Robotic Systems, DARS 2002, (Fukuoka, Japan), June 25-27, 2002 . [pdf 547 KB]
     
  140. Herbert G. Tanner, Vijay Kumar and George J. Pappas, "The effect of Feedback and Feedforward on Formation ISS," 2002 IEEE International Conference on Robotics and Automation, May 11-15, (Washington D.C.), pp 3448-3453. [ps 58.6 KB]
     
  141. Chaimowicz, L., Campos, M. F. M., and Kumar, V., "Dynamic Role Assignment for Cooperative Robots," Proceedings of the 2002 IEEE International Conference on Robotics and Automation, (Washington), May 2002.
     
  142. R. S. Rao, K. Conn, S. H. Jung, J. Katupitiya, T. Kientz, V. Kumar, J. Ostrowski, S. Patel, C. J. Taylor, "Human Robot Interaction: Application to Smart Wheelchairs", IEEE International Conference on Robotics and Automation (ICRA) 2002, Washington, D.C. [pdf 980 KB]
     
  143. G. Pereira, V. Kumar, and M. Campos, "Cooperative transport of planar objects by multiple mobile robots using object closure," 8th International Symposium on Experimental Robotics (ISER '02), Sant'Angelo d'Ischia, Italy
  144. , 8-11 July 2002.
     
  145. Herbert G. Tanner, Vijay Kumar and George J. Pappas, "Stability Properties of Interconnected Vehicles," 15th International Symposium on Mathematical Theory of Networks and Systems, South Bend, IN, Aug 12-16, 2002. [pdf 126 KB]
     
  146. Chin, K. W., Breslawski, R., Kientz, T., and Kumar, V., "A Mobile Robot for Uneven Terrain," Proceedings of the Design, 27th Biennial Mechanisms and Robotics Conference, Design Engineering Technical Conferences, September 29 - October 2, 2002. [pdf 357 KB]
     
  147. Belta, C. and Kumar, V., "Motion generation for formations of robots: a centralized, geometric approach," 27th Biennial Mechanisms and Robotics Conference, Design Engineering Technical Conferences, September 29 - October 2, 2002. [ps 467 KB]
     
  148. Calin Belta, Luc Habets, and Vijay Kumar, "Control of multi-affine systems on rectangles with applications to hybrid biomolecular networks," IEEE Conference on Decision and Control, Las Vegas, 2002. [ps 174 KB]
     
  149. A. Das, J. Spletzer, V. Kumar and C. J. Taylor, "Ad Hoc Networks for Localization and Control," IEEE Conference on Decision and Control, Las Vegas, 2002. [pdf 714 KB]
     
  150. Calin Belta and Vijay Kumar, "Towards abstraction and control for large groups of robots," 2nd International Workshop on Control Problems in Robotics and Automation, Las Vegas, NV, Dec 2002.
     
  151. G. A. S. Pereira, V. Kumar, and M. F. M. Campos, "Decentralized Algorithms for Multirobot Manipulation via Caging," Proceedings of the Fifth International Workshop on Algorithmic Foundations of Robotics (WAFR'02), pp. 242-258, (Nice, France
  152. ), December 2002. [pdf 315 KB]
     
  153. R. Alur, C. Belta, F. Ivancic, V. Kumar, H. Rubin, J. Schug, O. Sokolsky and J. Webb, "Visual programming for modeling and simulation of bioregulatory networks," International Conference on High Performance Computing, (Bangalore, India), Dec. 2002.
     
  154. G. A. S. Pereira, V. Kumar, and M. F. M. Campos, "Localization and Tracking in Robot Networks," Proceedings of the 11th International Conference on Advanced Robotics (ICAR'03), (Coimbra, Portugal
  155. ), June 30 - July 3, 2003. [pdf 333 KB]
     
  156. G. A. S. Pereira, A. K. Das, V. Kumar, and M. F. M. Campos, "Decentralized Motion Planning for Multiple Robots subject to sensing and communication constraints," Proceedings of the Second Multi-Robot Systems Workshop, pp. 267-278, (Washington, DC, USA), March 2003.
     
  157. Calin Belta and Vijay Kumar, "Abstraction and control for groups of fully-actuated planar robots," Proceedings of the 2003 IEEE International Conference on Robotics and Automation, (Taipei, Taiwan
  158. ), September 2003. [pdf 240 KB] [ps 511 KB]
     
  159. G. A. S. Pereira, V. Kumar, and M. F. M. Campos, "Formation Control with Configuration Space Constraints," Proceedings of the International Conference on Intelligent Robots and Systems, October 27 - 31, 2003. [pdf 251 KB]
     
  160. S. Chitta and V. Kumar, "Dynamics and Generation of Gaits for a Planar Rollerblading Robot," Proceedings of the International Conference on Intelligent Robots and Systems, October 27 - 31, 2003. [pdf 270 KB]
     
  161. S. Parikh, R. Rao, S. Jung, V. Kumar, J. Ostrowski, and C. Taylor, "Human Robot Interaction and Usability Studies for a Smart Wheelchair," Proceedings of the International Conference on Intelligent Robots and Systems, October 27 - 31, 2003. [pdf 182 KB]
     
  162. J. W. Kim, J. F. Keller, and V. Kumar, "Design and Verification of Controllers for Airships," Proceedings of the International Conference on Intelligent Robots and Systems, October 27 - 31, 2003. [pdf 632 KB]
     
  163. R. Rao, V. Kumar, and C. Taylor, "Visual Servoing of a UGV from a UAV using Differential Flatness," Proceedings of the International Conference on Intelligent Robots and Systems, October 27 - 31, 2003. [pdf 272 KB]
     
  164. G. A. S. Pereira, A. K. Das, V. Kumar, and M. F. M. Campos, "Formation Control with Configuration Space Constraints," Proceedings of the International Conference on Intelligent Robots and Systems, October 27 - 31, 2003. [pdf 251 KB]
     
  165. S. G. Loizou, H. G. Tanner, V. Kumar and K. J. Kyriakopoulos, "Closed Loop Navigation for Mobile Agents in Dynamic Environments," Proceedings of the International Conference on Intelligent Robots and Systems, October 27 - 31, 2003. [pdf 377 KB]
     
  166. G. Grudic, V. Kumar and L. Ungar, "Using Policy Gradient Reinforcement Learning on Autonomous Robot Controllers," Proceedings of the International Conference on Intelligent Robots and Systems, October 27 - 31, 2003. [pdf 275 KB]
  167. Belta, C. and V. Kumar, "Abstraction and control policies for large groups of robots," 11th International Symposium of Robotics Research, October 19-22, 2003, Siena, Italy. [pdf 377 KB]
  168. Belta, C., Finin, P., Habets, L.C., Halasz, A., Imielinski, M., Kumar, V., and Rubin, H. Understanding the Bacterial Stringent Response Using Reachability Analysis of Hybrid Systems. 7th International Workshop on Hybrid Systems: Computation and Control. Lecture Notes in Computer Science 2993. R. Alur and G. J. Pappas (Eds.) 111-125, 2004. [pdf]
  169. S. P. Parikh, V. Grassi Jr., V. Kumar, and J. Okamoto Jr., "Incorporating User Inputs in Motion Planning for a Smart Wheelchair," IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004. [pdf]
  170. L. Chaimowicz, B. Grocholsky, J. F. Keller, V. Kumar and C. J. Taylor, "Experiments in Multirobot Air-Ground Coordination," IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004. [pdf]
  171. Z. Fan, B. Grocholsky, and V. Kumar, "Formations for Localization of Robot Networks," IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004. [pdf]
  172. M. A. Hsieh, V. Kumar, and C. J. Taylor, "Constructing Radio Signal Strength Maps with Multiple Robots," IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004. [pdf]
  173. Chitta, C., Heger, F., and V. Kumar, "Design and Gait Control of a Roller Blading Robot," IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004. [pdf]
  174. P. Song, J. Trinkle, V. Kumar, and J. Pang, "Design of Part Feeding and Assembly Processes with Dynamics," IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004 . [pdf]
  175. R. Rao, C. J. Taylor, and V. Kumar, "Experiments in Robot Control from Uncalibrated Overhead Imagery," Proceedings of the 9th International Symposium of Experimental Robotics, Singapore, June 2004. [pdf]

  176. B. Grocholsky, S. Bayraktar, V. Kumar, C. J. Taylor, and G. Pappas, "Synergies in Feature Localization by Air-Ground Teams," Proceedings of the 9th International Symposium of Experimental Robotics, Singapore, June 2004. [pdf 1.43 MB]

  177. R. Rao, C. J. Taylor, and V. Kumar, "Calibrating an Air-Ground Control System from Motion Correspondences," Proceedings of the IEEE International Conf. on Computer Vision and Pattern Recognition, Washington D.C., June 2004. [pdf]

  178. L. Chaimowicz and V. Kumar, "Aerial Shepherds: Coordination among UAVs and Swarms of Robots," 7th International Symposium on Distributed Autonomous Robotic Systems, Toulouse, France
  179. , June 23-25, 2004. [pdf]

  180.    J. Esposito, J. W. Kim, and V. Kumar, "Adaptive RRT’s for Validating Hybrid Robotic Control Systems," 6th International Workshop on Algorithmic Foundations of Robotics, Utrecht, Netherlands, July 11-13, 2004 [pdf].

  181.     Zhang, F., Pereira, G., and V. Kumar, "Necessary and Sufficient Conditions for Localization of Robot Networks," ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Salt Lake City, 2004 [pdf].

  182.    Stump, E. and V. Kumar, "Workspace Delineation of Cable-Actuated Parallel Manipulators," ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Salt Lake City, 2004. [pdf]

  183.    Chitta, C., Heger, F., and V. Kumar, "Design, Analysis, Simulation and Experimental Results for a Rollerblading Robot," ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Salt Lake City, 2004. [pdf]
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Vijay Kumar :: kumar(at)grasp.upenn.edu
Created March 1, 1998
Last modified December 31, 2005