Publications 1985-1999

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1999

V. Kumar and V. Krovi, “Design and Control of a Hybrid Mobility System,” ASME Trans. Journal of Mechanical Design, vol. 121, iss. 3, pp. 448-455, 1999.

V. Kumar, V. Krovi, G. K. Ananthasuresh, and J-M. Vezien, “Design and Virtual Prototyping of Rehabilitation Aids,” ASME Trans. Journal of Mechanical Design, vol. 121, iss. 3, pp. 456-458, 1999.

V. Kumar, C. Croke, and M. Zefran, “Metrics and Connections for Rigid Body Kinematics,” International Journal of Robotics Research, vol. 18, iss. 2, pp. 243-258, 1999.

V. Kumar and C. Chen, “Motion Planning for Walking Vehicles on Uneven Terrain,” Journal of Robotic Systems, vol. 16, iss. 10, pp. 527-545, 1999.

V. Kumar and J. Desai, “Motion Planning of Nonholonomic Cooperating Mobile Manipulators,” Journal of Robotic Systems, vol. 16, iss. 10, pp. 557-579, 1999.

1998

V. Kumar, H. Bruyninckx, and S. Demey, “A Generalized Measure for the Stability of Compliant Grasps,” in IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998.

V. Kumar, J. Desai, and J. Ostrowski, “Control of Formations for Multiple Robots,” in IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998.

V. Kumar and T. Sugar, “Decentralized Control of Cooperating Mobile Manipulators,” in IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998.

V. Kumar, C. Croke, and M. Zefran, “Generation of Smooth Three-Dimensional Rigid Body Motions,” IEEE Transactions on Robotics and Automation, vol. 14, iss. 4, pp. 576-589, 1998.

V. Kumar, M. Zefran, and J. Ostrowski, “Intelligent Motion Planning and Control,” in Handbook of Industrial Robotics, S. Nof, Ed., John Wiley and Sons, 1998.

V. Kumar and C. Chen, “Motion Planning for Walking Vehicles Using Ordinal Optimization,” IEEE Robotics and Automation Magazine, vol. 5, iss. 2, pp. 22-32, 1998.

H. Zhang, V. Kumar, and J. Ostrowski, “Motion Planning under Uncertainty,” in IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998.

V. Kumar, H. Zhang, and J. Ostrowski, “Motion Planning under Uncertainty,” in IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998.

V. Kumar, M. Zefran, and W. S. Howard, “On the 6×6 Stiffness Matrix for Three-Dimensional Motions,” Journal of Mechanism and Machine Theory, vol. 33, iss. 4, pp. 389-408, 1998.

V. Kumar and M. Zefran, “Rigid Body Motion Interpolation,” Computer Aided Design, vol. 30, iss. 3, pp. 179-189, 1998.

1997

V. Kumar and M. Zefran, “A variational calculus framework for motion planning,” in International Conference on Advanced Robotics, Monterey, CA, 1997.

V. Kumar, T. Rahman, and V. Krovi, “Assistive Devices for People with Motor Disabilities,” in Wiley Encyclopedia for Electrical and Electronics Engineers, J. Webster, Ed., Wiley, 1997.

V. Kumar and M. Zefran, “Choice of Affine Connection in Stiffness Analysis,” in IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, 1997.

V. Kumar, X. Yun, and N. Sarkar, “Control of Contact Interactions with Acatastatic Nonholonomic Constraints,” International Journal of Robotics Research, vol. 16, iss. 3, pp. 357-374, 1997.

V. Kumar, V. Krovi, P. Feehery, T. Heinrichs, and J. Ternus, “Design and Virtual Prototyping of Rehabilitation Aids,” in Proceedings of the 5th National Applied Mechanisms and Robotics Conference, 1997.

V. Kumar, X. Yun, and N. Sarkar, “Dynamic Control of 3-D Rolling Contacts in Two-Arm Manipulation,” IEEE Transactions on Robotics and Automation, vol. 13, iss. 3, pp. 364-376, 1997.

V. Kumar and J. Desai, “Experimental investigation of planar two-arm friction assisted grasping tasks,” in Sixth Annual Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems, Dallas, 1997.

V. Kumar, P. Kraus, and A. Fredricsson, “Modeling of Frictional Contacts for Dynamic Simulation,” in International Conference on Intelligent Robot Systems (IROS’97), Grenoble, France, 1997.

V. Kumar and M. Zefran, “Motion planning for systems with changing dynamics,” in Slovene Electrotechnical and Computer Science Conference, 1997.

V. Kumar, M. Zefran, and J. Ostrowski, “Motion Planning in Humans and Robots,” in Proceedings of the 8th International Symposium on Robotics Research, Kanagawa, Japan, 1997.

V. Kumar and J. Desai, “Nonholonomic Motion Planning of Multiple Mobile Manipulators,” in IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, 1997.

V. Kumar, R. Bajcsy, D. Metaxas, W. Harwin, and R. Mahoney, “Rapid Prototyping of Rehabilitation Aids for the Physically Disabled,” in NSF Design and Manufacturing, Seattle, WA, 1997.

V. Kumar and P. Kraus, “Rigid Body Collisions,” in IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, 1997, pp. 1382-1387.

V. Kumar, V. Krovi, and G. K. Ananthasuresh, “Synthesis of Coupled Multi-Link Serial Chain Mechanisms,” in Proceedings of the 5th National Applied Mechanisms and Robotics Conference, 1997.

V. Kumar, M. Zefran, and J. Desai, “Two Arm Manipulation with Friction-Assisted Grasping,” in Proceedings of the Conference on Intelligent Robot Systems (IROS’97), Grenoble, France, 1997.

V. Kumar, E. A. Henis, M. Zefran, and G. J. Garvin, “Two Arm Trajectory Planning in a Manipulation Task,” Journal of Biological Cybernetics, vol. 76, pp. 53-62, 1997.

1996

V. Kumar, M. Zefran, and C. Croke, “Choice of Riemannian Metrics for Rigid Body Kinematics,” in ASME Design Technical Conference, Irvine, 1996.

M. Zefran, “Continuous methods for motion planning,” PhD Thesis, Philadelphia, PA, USA, 1996.

M. Zefran, J. Desai, and V. Kumar, “Continuous Motion Plans for Robotic Systems with Changing Dynamic Behavior,” in 2nd Int. Workshop on Algorithmic Foundations of Robotics, Toulouse, France, 1996.

J. Adams, “Cooperative Material Handling by Human and Robotic Agents: Module Development and System Synthesis,” Expert Systems with Applications, vol. 11, iss. 2, pp. 89-97, 1996.

V. Kumar and M. Zefran, “Coordinate-free formulation of the Cartesian Stiffness Matrix,” in 5th International Symposium on Advances in Robot Kinematics, Portoroz, Slovenia, 1996, pp. 119-128.

V. Kumar, J-M. Vezien, R. Bajcsy, W. Harwin, and R. Mahoney, “Design of Customized Rehabilitation Aids,” in International Workshop on Medical Robots, Vienna, 1996.

V. Kumar, J. Desai, C-C. Wang, and M. Zefran, “Motion planning of multiple mobile manipulators,” in IEEE International Conference on Robotics and Automation, Minneapolis, 1996.

V. Kumar and C. Chen, “Motion planning of walking vehicles,,” in IEEE International Conference on Robotics and Automation, Minneapolis, 1996, pp. 3277-3282.

V. Kumar and W. S. Howard, “On the Stability of Grasped Objects,” IEEE Transactions on Robotics and Automation, vol. 12, iss. 6, pp. 904-917, 1996.

V. Kumar and M. Zefran, “Planning smooth motions on SE(3),” in IEEE International Conference on Robotics and Automation, Minneapolis, 1996.

V. Kumar, R. Bajcsy, W. Harwin, and P. Harker, “Rapid Design and Prototyping of Customized Rehabilitation Aids,” Special Section on Computers in Manufacturing, Communications of the ACM, vol. 39, iss. 2, pp. 55-61, 1996.

V. Kumar and N. Sarkar, “Velocity and Acceleration Analysis of Contact between Three-Dimensional Rigid Bodies,” ASME Journal of Applied Mechanics, vol. 63, pp. 974-984, 1996.

1995

V. Kumar, W. Harwin, V. Krovi, and P. Wellman, “A Wheelchair with Legs for People with Motor Disabilities,” IEEE Transactions on Rehabilitation Engineering, vol. 3, iss. 4, pp. 343-53, 1995.

V. Kumar and J. C. Gerdes, “An Impact Model for Mechanical Backlash for Control System Analysis,” in American Control Conference, Seatle, Washington, 1995.

V. Kumar, S. Jayanthi, W. Harwin, and M. Keefe, “Application of Stereolithography in the Fabrication of Rehabilitation Aids,” in Proceedings of the Solid Freeform Fabrication Symposium, Austin, 1995.

V. Kumar, R. Bajcsy, and W. Harwin, “Design of customized rehabilitation aids for people with disabilities,” in Proceedings of the 7th International Symposium on Robotics Research, Herrsching, Germany, 1995.

V. Kumar and C. Wang, “Kinematics and Control of Mobile Manipulators,” Journal of Applied Mechanisms and Robotics, pp. 1-9, 1995.

V. Kumar and S. Howard, “Modeling and Analysis of the Stability of Enveloping Grasps,” in IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995.

V. Kumar, S. Howard, and M. Zefran, “On the 6×6 Stiffness Matrix for Three Dimensional Motions,” in 9th World Congress on the Theory of Machines and Mechanisms, Milano, Italy, 1995.

V. Kumar and M. Zefran, “On the generation of smooth three-dimensional rigid body motions,” in Workshop on Computational Kinematics, Sophia-Antipolis, France, 1995.

V. Kumar and M. Zefran, “Optimal control of systems with unilateral constraints,” in IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995.

V. Kumar and V. Krovi, “Optimal traction control in a wheelchair with legs and wheels,” in Proceedings of the 4th National Applied Mechanisms and Robotics Conference, Cincinnati, OH, 1995.

V. Kumar, M. Zefran, J. Desai, and E. Henis, “Two-Arm Manipulation: What can we learn by studying humans?,” in Proceedings of the Conference on Intelligent Robot Systems (IROS’95), Pittsburgh, PA, 1995.

M. Salgonicoff, “Virtual Headstick Rehabilitation Robot System,” in IEEE International Conference on Systems, Man and Cybernetics, 1995.

M. Salgonicoff, “Virtual headstick-telemanipulator for people with disabilities,” in Intelligent Systems and Advanced Manufacturing, SPIE, Philadelphia, PA, 1995.

V. Kumar and W. Chen, “Workspaces of Mechanical Systems with Rolling Contacts,” Journal of Advanced Robotics, The International Journal of the Robotics Society of Japan, vol. 9, iss. 5, pp. 483-504, 1995.

1994

V. Kumar and P. Wellman, “A Hybrid Adaptive Mobility System,” in 23nd Biennial ASME Mechanisms Conference,, Minneapolis, 1994.

V. Kumar and S. Narasimhan, “A Second Order Analysis of Manipulator Kinematics in Singular Configurations,” in 23nd Biennial ASME Mechanisms Conference, Minneapolis, 1994.

V. Kumar, G. Garvin, M. Zefran, and E. Henis, “A Study on Optimality Criteria for Two Hand Reaching Tasks,” in 13th Southern Biomedical Engineering Conference, Washington, D.C, 1994.

V. Kumar, V. Krovi, P. Wellman, and W. Harwin, “A Walking Wheelchair for the Motor Disabled,” in Fourth International Conference on Rehabilitation Robotics, Wilmington, DE, 1994.

V. Kumar, P. Wellman, and V. Krovi, “An Adaptive Mobility System for the Disabled,” in IEEE International Conference on Robotics and Automation, San Diego, 1994.

V. Kumar, N. Sarkar, and Y. Yun, “Control of a Single Robot in a Decentralized Multi-Robot System,” in IEEE International Conference on Robotics and Automation, San Diego, 1994.

V. Kumar, X. Yun, and N. Sarkar, “Control of Mechanical Systems with Rolling Contacts: Applications to Mobile Robots,” International Journal of Robotics Research, vol. 13, iss. 1, pp. 55-69, 1994.

V. Kumar, X. Yun, and E. Paljug, “Control of Rolling Contacts in Two-Arm Manipulation,” IEEE Journal of Robotics and Automation, vol. 10, iss. 4, pp. 441-452, 1994.

V. Kumar, T. G. Sugar, and G. Pfreundschuh, “Design and Control of a Three Degree of Freedom In-Parallel Actuated Manipulator,” Journal of Robotic Systems, vol. 11, iss. 2, pp. 103-115, 1994.

V. Kumar, M. Ouerfelli, and W. Harwin, “Identification of Kinematic Chains for the Design of Head-Control Interfaces,” in Fourth International Conference on Rehabilitation Robotics, Wilmington, DE, 1994.

V. Kumar, M. Ouerfelli, and W. Harwin, “Identification of Kinematic Chains with Applications to Biomechanics,” in 13th Southern Biomedical Engineering Conference, Washington, D.C, 1994.

V. Kumar and W. S. Howard, “Kinematics and Stability of Grasps with Compliant Contacts,” in IEEE International Conference on Robotics and Automation, San Diego, 1994.

V. Kumar, M. Zefran, and X. Yun, “Optimal Trajectories and Force Distribution for Cooperative Manipulation Tasks,” in IEEE International Conference on Robotics and Automation, San Diego, 1994.

V. Kumar and M. Ouerfelli, “Optimization of a 5-R Linkage,” ASME Journal of Mechanical Design, vol. 116, iss. 1, pp. 166-173, 1994.

Y. Wang and V. Kumar, “Simulation of Mechanical Systems with Unilateral Constraints,” Journal of Mechanical Design, pp. 571-580, 1994.

V. Kumar, W. Howard, and J. Donoghue, “Stable Workpiece Fixturing,” in 23nd Biennial ASME Mechanisms Conference, Minneapolis, 1994.

1993

V. Kumar, “A Compact Inverse Velocity Solution for Redundant Robots,” Int. Journal of Robotics Research, vol. 12, iss. 1, pp. 45-54, 1993.

V. Kumar and W. S. Howard, “A Minimum Principle for the Dynamic Analysis of Systems with Frictional Contacts,” in IEEE International Conference on Robotics and Automation, Atlanta, 1993, pp. 437-442.

V. Kumar, M. Ouerfelli, and W. Harwin, “An Inexpensive Pneumatic Manipulator for Rehabiliation Applications,” in IEEE International Conference on Robotics and Automation, Atlanta, 1993.

V. Kumar, N. Sarkar, and X. Yun, “Control of Rolling Contacts in Two-Arm Manipulation,” in IEEE International Conference on Robotics and Automation, Atlanta, 1993.

V. Kumar, “Coordination of Multi-Degree-of-Freedom Mechanisms,” in The First Forty Years of Modern Kinematics: A Tribute to Ferdinand Freudenstein, A. Erdman, Ed., Wiley-Interscience Series in Design Engineering, John Wiley and Sons,, 1993.

V. Kumar, N. Sarkar, and X. Yun, “Dynamic Control of a Robot in a Multiagent Framework,” in IEEE International Conference on Robots and Intelligent Systems, Tokyo, 1993.

V. Kumar, N. Sarkar, and X. Yun, “Dynamic Path Following: A New Control Algorithm for Mobile Robots,” in 32nd IEEE International Conference on Decision and Control, San Antonio, Texas, 1993.

V. Kumar and C-C. Wang, “Kinematics and Control of Mobile Manipulators,” in 3rd National Applied Mechanisms and Robotics Conference, Cincinnati, 1993.

V. Kumar and C-C. Wang, “Velocity Control of Mobile Manipulators,” in IEEE International Conference on Robotics and Automation, Atlanta, 1993.

1992

V. Kumar, “A Compact Inverse Velocity Solution for Redundant Robots,,” in IEEE International Conference on Robotics and Automation, Nice, France, 1992, pp. 482-487.

V. Kumar, R. Bajcsy, M. Mintz, R. Paul, and X. Yun, “A Multiagent Robotic System for Intelligent Material Handling,” in Workshop on Intelligent Robotic Systems: Design and Applications, SPIE’s Intelligent Robotics Symposium, Boston, 1992.

V. Kumar, M. Ouerfelli, and W. Harwin, “A Pneumatic Actuation System for a Wheelchair-Mounted Robot Arm,” in 15th RESNA International Conference, Toronto, 1992.

V. Kumar, T. G. Sugar, and G. Pfreundschuh, “A Three Degree of Freedom In-Parallel Actuated Manipulator,” in Proceedings of the 9th CISM-IFToMM Symposium on Theory and Practice of Manipulators, Udine, Italy, 1992.

V. Kumar, “Characterization of Workspaces of Parallel Manipulators,” ASME Journal of Mechanical Design, vol. 114, iss. 3, pp. 368-375, 1992.

V. Kumar, X. Yun, N. Sarkar, and E. Paljug, “Control of Multiple Arm Systems with Rolling Constraints,” in IEEE International Conference on Robotics and Automation, Nice, France, 1992, pp. 2193-2198.

V. Kumar, Y. Wang, and J. Abel, “Dynamics of Rigid bodies Undergoing Multiple Frictional Contacts,” in IEEE International Conference on Robotics and Automation, Nice, France, 1992, pp. 2764-2769.

E. Paljug, T. Sugar, V. Kumar, and X. Yun, “Important Considerations in Force Control with Applications to Multi-Arm Manipulation,” in IEEE International Conference on Robotics and Automation, Nice, France, 1992, pp. 1270-1275.

V. Kumar, “Instantaneous Kinematics of Parallel-Chain Robotic Mechanisms,” ASME Journal of Mechanisms, Transmissions, Automation in Design, vol. 114, iss. 3, pp. 349-358, 1992.

V. Kumar, M. Campos, and R. Bajcsy, “Kinematic Identification of Linkages,” in Proceedings of the 3rd International Conference on Advances in Robot Kinematics, Ferrara, Italy, 1992.

V. Kumar, R. Bajcsy, V. Koivunen, and J-M. Vezien, “Rapid Prototyping from Physical Models,” in Proceedings of the Darpa Workshop on Information Technology for Manufacturing Automation and Concurrent Engineering, Palo Alto, CA, 1992, pp. 721-724.

V. Kumar, C-C. Wang, and N. Sarkar, “Rate Kinematics of Mobile Manipulators,” in Robotics, Spatial Mechanisms, and Mechanical Systems, Phoenix, 1992, pp. 225-232.

V. Kumar and Y. Wang, “Simulation of Mechanical Systems with Unilateral Constraints,” in Mechanism Design and Synthesis, Phoenix, 1992, pp. 129-134.

1991

V. Kumar and J-H. Kim, “A Kinestatic Analysis of Cooperating Robot Systems,” in Proceedings of the 5th International Conference on Advanced Robotics, Pisa, 1991, pp. 603-608.

V. Kumar, R. Bajscy, R. Paul, and X. Yun, “A Multiagent System for Intelligent Material Handling,” in Proceedings of the 5th International Conference on Advanced Robotics, Pisa, 1991, pp. 18-23.

V. Kumar and K. J. Waldron, “A Review of Research on Walking Vehicles,” in Autonomous Mobile Robots, A. Elfes and S. S. Iyengar, Eds., IEEE Computer Society Press, 1991, vol. 1, pp. 503-526.

V. Kumar and X. Yun, “An Approach to Simultaneous Control of Trajectory and Interaction Forces in Dual Arm Configurations,” IEEE Journal of Robotics and Automation, vol. 7, iss. 5, pp. 618-625, 1991.

V. Kumar, X. Yun, and E. Paljug, “Control of Contact Conditions for Manipulation with Multiple Robotic Systems,” in Proceedings of the IEEE International Conference on Robotics and Automation, 1991, pp. 170-175.

V. Kumar, M. Campos, and R. Bajcsy, “Exploratory Procedures for Material Properties: The Temperature Perception,” in Proceedings of the 5th International Conference on Advanced Robotics, Pisa, 1991, pp. 205-210.

V. Kumar and N. Ulrich, “Mechanical Design Methods of Improving Manipulator Performance,” in Advances in Design Automation, Miami, Fla, 1991, pp. 545-550.

V. Kumar, L. Johnson, and J. Gardner, “Optimization of Contact Forces in Multifingered Grippers and Walking Vehicles,” in Proceedings of the 2nd National Conference on Applied Mechanisms and Robotics, Cincinnati, 1991.

V. Kumar and N. Ulrich, “Passive Gravity Compensation for Robot Manipulators,” in Proceedings of the IEEE International Conference on Robotics and Automation, 1991, pp. 1536-1541.

E. Paljug, X. Yun, and V. Kumar, “Two Arm Manipulation via Controlled Rolling,” in Proceedings of the 5th International Conference on Advanced Robotics, Pisa, 1991, pp. 591-596.

1990

V. Kumar, K. J. Waldron, and J. H. Kim, “Force Distribution Algorithms for Multifingered Grippers,” in Advances in Control Systems and Dynamics, C. T. Leondes, Ed., Academic Press, 1990, vol. 38, pp. 289-315.

V. Kumar and K. J. Waldron, “Force Distribution in Walking Vehicles on Uneven Terrain,” SME Journal of Mechanisms, Transmissions and Automation in Design, vol. 112, iss. 1, pp. 90-99, 1990.

V. Kumar, N. Ulrich, R. P. Paul, and R. Bajscy, “Grasping through Mechanical Intelligence,” in Proceedings of the 8th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Cracow, Poland, 1990.

V. Kumar, “Instantaneous Kinematics of Parallel Systems,” in Mechanism Synthesis and Analysis, Chicago, 1990.

V. Kumar and J. F. Gardner, “Kinematics of Redundantly Actuated Kinematic Chains,” IEEE Journal on Robotics and Automation, vol. 6, iss. 13, pp. 269-273, 1990.

V. Kumar and J-H. Kim, “Robot Kinematics via Line Transformations,” Journal of Robotic Systems, vol. 7, iss. 4, pp. 649-674, 1990.

V. Kumar, “Workspaces and Geometric Dexterity of Parallel Manipulators,” in Mechanism Synthesis and Analysis, Chicago, 1990.

1989

V. Kumar, X. Yun, R. King, and I. Lee, “A Two-Arm Exploratory System for Identifying Movable and Removable Parts,” in Robotics Research – 1989, December, 1989, pp. 125-130.

V. Kumar and K. J. Waldron, “Actively Coordinated Mobility Systems,” ASME Journal of Mechanisms, Transmissions and Automation in Design, vol. 111, iss. 2, pp. 223-231, 1989.

V. Kumar and K. J. Waldron, “Adaptive Gait Control for a Walking Robot,” Journal of Robotic Systems, vol. 6, iss. 1, pp. 49-75, 1989.

V. Kumar, X. Yun, and R. Bajscy, “Exploration of Unknown Mechanical Assemblies through Manipulation,” in Advances in Intelligent Robotics Systems Symposium, Philadelphia, 1989.

V. Kumar and W. Chen, “Inertial Characteristics of Redundant Robotic Systems,” in Robotics Research – 1989, 1989, pp. 131-142.

V. Kumar, J. F. Gardner, and J. H. Ho, “Kinematics and Control of Redundantly Actuated Closed Chains,” in Proceedings of the IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, 1989, pp. 418-424.

V. Kumar, B. P. Meyer, and N. Ulrich, “Mechanics and Design of a Planar Parallel Manipulator,” in Proceedings of the 1st National Conference on Applied Mechanisms and Robotics, Cincinnati, 1989.

V. Kumar and K. J. Waldron, “Suboptimal Algorithms for Force Distribution in Multifingered Grippers,” IEEE Journal on Robotics and Automation, vol. 5, iss. 4, pp. 491-498, 1989.

1988

V. Kumar and K. J. Waldron, “Force Distribution in Walking Vehicles on Uneven Terrain,” in Trends and Developments in Mechanisms, Machines and Robotics, Kissimmee, Florida, 1988, pp. 473-480.

V. Kumar and K. J. Waldron, “Analysis of Omnidirectional Gaits for Walking Machines for Operation on Uneven Terrain,” in Proceedings of the 7th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Udine, Italy, 1988, pp. 37-62.

V. Kumar and K. J. Waldron, “Force Distribution in Closed Kinematic Chains,” IEEE Journal on Robotics and Automation, vol. 4, iss. 6, pp. 657-664, 1988.

N. Ulrich and V. Kumar, “Grasping Using Fingers with Coupled Joints,” in Trends and Developments in Mechanisms, Machines and Robotics, Kissimmee, Florida, 1988, pp. 201-208.

M. G. Pandy, V. Kumar, N. Berme, and K. J. Waldron, “The Dynamics of Quadrupedal Locomotion,” Journal of Biomechanical Engineering, vol. 110, iss. 3, pp. 230-237, 1988.

1987

V. Kumar and K. J. Waldron, “Suboptimal Algorithms for Force Distribution in Multifingered Grippers,” in Proceedings of the IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, 1987, pp. 252-257.

V. Kumar, M. G. Pandy, K. J. Waldron, and N. Berme, “1987 Biomechanics Symposium,” in Biomechanics Symposium, Cincinnati, Ohio, 1987, pp. 365-368.

V. Kumar and K. J. Waldron, “Actively Coordinated Vehicle Systems,” in Trends in Vehicle Design Research, Boston, 1987, pp. 1-10.

V. Kumar, K. J. Waldron, and A. Burkat, “An Actively Coordinated Mobility System for a Planetary Rover,” in Proceedings of the 3rd International Conference on Advanced Robotics, Versailles, France, 1987, pp. 77-86.

V. Kumar, M. J. Tsai, and K. J. Waldron, “Geometric Optimization of Manipulator Structures for Working Volume and Dexterity,” in Proceedings of the IEEE International Conference on Robotics and Automation, St. Louis, Missouri, 1985, pp. 228-236.

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

1986

V. Kumar, K. J. Waldron, and M. J. Tsai, “Geometric Optimization of Serial Chain Manipulator Structures for Working Volume and Dexterity,” International Journal of Robotics Research, vol. 5, iss. 2, pp. 91-103, 1986.

1985

V. Kumar, M. J. Tsai, and K. J. Waldron, “Geometric Optimization of Manipulator Structures for Working Volume and Dexterity,” in Proceedings of the IEEE International Conference on Robotics and Automation, St. Louis, Missouri, 1985, pp. 228-236.

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