Miloš Žefran
Publications
Journals and book chapters
  1. M. Žefran and F. Bullo, Lagrangian dynamics. Robotics and Automation Handbook, (T. R. Kurfess, ed.), CRC Press, 2005.
  2. J. Kuželički, M. Žefran, H. Burger and T. Bajd, Synthesis of standing-up trajectories using dynamic optimization. Gait and Posture, vol. 21, no. 1, pp. 1-11, 2005.
  3. F. Bullo and M. Žefran, Modeling and controllability for a class of hybrid mechanical systems. IEEE Transactions on Robotics and Automation, vol. 18, no. 4, pp. 563-573, 2002.
  4. F. Bullo and M. Žefran, On mechanical control systems with nonholonomic constraints and symmetries. Systems & Control Letters, vol. 45, no. 2, pp. 133-143, 2002.
  5. B. Goodwine and M. Žefran, Feedback stabilization of a class of unstable nonholonomic systems. ASME Journal of Dynamic Systems, Measurement, and Control, vol. 124, no. 1, pp. 221-230, 2002.
  6. M. Žefran and V. Kumar, A geometrical approach to the study of the Cartesian stiffness matrix. ASME Journal of Mechanical Design, vol. 124, no. 1, pp. 30-38, 2002.
  7. M. Žefran, V. Kumar and C. Croke, Metrics and Connections for Rigid Body Kinematics. International Journal of Robotics Research, vol. 18, no. 2, pp. 243-258, 1999.
  8. J. Desai, M. Žefran, and V. Kumar, Two-arm manipulation tasks with friction-assisted grasping. Advanced Robotics, vol. 12, no. 5, pp. 485-507, 1999.
  9. M. Žefran, V. Kumar and C. Croke, On the generation of smooth three-dimensional rigid body motions. IEEE Transactions on Robotics and Automation, vol. 14, no. 4, pp. 576-589, 1998.
  10. G. J. Garvin, M. Žefran, E. A. Henis and V. Kumar, Two-Arm Trajectory Planning in a Manipulation Task. Biological Cybernetics, vol. 76, no. 1, pp. 53-62, 1997.
  11. M. Žefran, T. Bajd and A. Kralj, Kinematic Modeling of Four-Point Walking Patterns in Paraplegic Subjects. IEEE Transactions on Systems, Man, and Cybernetics Part A: Systems and Humans, vol. 26, no. 6, pp. 760-770, 1996.
Conferences
  1. S. Wei and M. Žefran, Smooth path planning and control for mobile robots. IEEE International Conference On Networking, Sensing and Control, Tucson, AZ, pp. 894-899, 2005.
  2. P. Tzanos, M. Žefran, and A. Nehorai, Information based distributed control for biochemical source detection and localization. IEEE Conf. on Robotics and Automation, Barcelona, Spain, 2005.
  3. C. H. Caicedo-N. and M. Žefran, Energy cost of coordination algorithms for wireless mobile sensor networks. IEEE International Conference On Networking, Sensing and Control, Tucson, AZ, pp. 419-424, 2005.
  4. G. Song and M. Žefran, A Computational Approach to Dynamic Bipedal Walking. IROS 2003, Las Vegas, NV, pp. 358-363, 2003.
  5. S. Mahapatra and M. Žefran, Stable Haptic Interaction with Switched Virtual Environments. IEEE Conference on Robotics and Automation, Taipei, TW, pp. 1241-1246, 2003.
  6. F. Bullo and M. Žefran, On mechanical control systems with nonholonomic constraints and symmetries. IEEE Conference on Robotics and Automation, Washington, DC, pp. 1741-1746, 2002.
  7. M. Žefran, A feedback strategy for dextrous manipulation. IEEE Conference on Robotics and Automation, Washington, DC, pp. 2479-2484, 2002.
  8. M. Žefran, Passivity of hybrid systems based on multiple storage functions. 2001 Allerton Conference, Monticello, IL, pp. 1244-1252, 2001.
  9. M. Žefran, F. Bullo and M. Stein, A notion of passivity for hybrid systems. IEEE Conference on Decision and Control, Orlando, FL, pp. 768-773, 2001.
  10. M. Žefran, Motion planning for a class of hybrid locomotion systems. 2000 Allerton Conference, Monticello, IL, 2000.
  11. M. Žefran, F. Bullo and J. Radford, An investigation into non-smooth locomotion. IEEE Conference on Robotics and Automation, Detroit, MI, pp. 2038-2043, 1999.
  12. F. Bullo and M. Žefran, On modeling and locomotion of hybrid mechanical systems with impacts. IEEE Conference on Decision and Control, Tampa, FL, pp. 2633-2638, 1998.
  13. M. Žefran and J. W. Burdick, Design of switching controllers for systems with changing dynamics. IEEE Conference on Decision and Control, Tampa, FL, pp. 2113-2118, 1998.
  14. M. Žefran and J. W. Burdick, Stabilization of systems with changing dynamics. Hybrid systems: Computation and control, Berkeley, CA, 1998.
  15. M. Žefran and J. W. Burdick, Stabilization of systems with changing dynamics by means of switching. IEEE Conference on Robotics and Automation, Leuven, Belgium, pp. 1090-1095, 1998.
  16. M. Žefran and V. Kumar, Two methods for interpolating rigid body motions. IEEE Conference on Robotics and Automation, Leuven, Belgium, pp. 2922-2927, 1998.
  17. M. Žefran and V. Kumar, A variational calculus framework for motion planning. IEEE Conference on Advanced Robotics, Monterey, CA, pp. 415-420, 1997.
  18. M. Žefran and V. Kumar, Affine Connections for the Cartesian Stiffness Matrix. IEEE Conference on Robotics and Automation, Albuquerque, NM, pp. 1376-1381, 1997.
  19. M. Žefran, V. Kumar and C. Croke, Choice of Riemannian Metrics for Rigid Body Kinematics. ASME 24th Biennial Mechanisms Conference, Irvine, CA, 1996.
  20. M. Žefran, J. P. Desai and V. Kumar, Continuous Motion Plans for Robotic Systems with Changing Dynamic Behavior. 2nd Int. Workshop on Algorithmic Foundations of Robotics, Toulouse, France, pp. 113-128, 1996.
  21. M. Žefran and V. Kumar, Coordinate-Free Formulation of the Cartesian Stiffness Matrix. 5th International Symposium on Advances in Robot Kinematics, Portoroz, Slovenia, pp. 119-128, 1996.
  22. M. Žefran and V. Kumar, Planning of smooth motions on SE(3). IEEE Conference on Robotics and Automation, Minneapolis, MN, pp. 121-126, 1996.
  23. J. Desai, C.-C. Wang, M. Žefran and V. Kumar, Motion Planning for Multiple Mobile Manipulators. IEEE Conference on Robotics and Automation, Minneapolis, MN, pp. 2073-2078, 1996.
  24. M. Žefran, V. Kumar, J. Desai and E. A. Henis, Two-arm manipulation: What can we learn by studying humans? IROS'95, Pittsburgh, PA, pp. 303-307, 1995.
  25. W. S. Howard, M. Žefran and V. Kumar, On the 6x6 stiffness matrix for three dimensional motions. 9th World Congress of the IFToMM, Milano, Italy, pp. 1575-1579, 1995.
  26. M. Žefran and V. Kumar, Optimal control of systems with unilateral constraints. IEEE Conference on Robotics and Automation, Nagoya, Japan, pp. 2695-2700, 1995.
  27. M. Žefran, V. Kumar and X. Yun, Optimal Trajectories and Force Distribution for Cooperating Arms. IEEE International Conference on Robotics and Automation, San Diego, CA, pp. 874-879, 1994.
  28. G. J. Garvin, M. Žefran, E. A. Henis and V. Kumar, A study on optimality criteria for two-hand reaching tasks. 13th Southern Biomedical Engineering Conference, Rockwille, MD, April 1994.
  29. M. Žefran, Review of the Literature on Time-Optimal Control of Robotic Manipulators. Technical Report MS-CIS-94-30, University of Pennsylvania, Philadelphia, PA, May 1994.

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