Selected Publications

[1] Geometric Search Based Inverse Kinematics for 7-DoF Redundant Manipulators with Multiple Joint Offests, IEEE International Conference on Robotics and Automation (ICRA), May 2019.

[2] Computing Robust Inverse Kinematics Under Uncertainty, ASME, International Design Engineering Technical Conference and Computer and Information Engineering (IDETC-CIE), August 2019.

[3] On Screw Linear Interpolation for Path Planning, IEEE International Conference on Intelligent Robots and Systems (IROS), October 2020.

[4] Robust Relative Hand Placement for Bi-Manual Tasks, ASME, International Design Engineering Technical Conference and Computer and Information Engineering (IDETC-CIE), August 2020

[4] Geometric Motion Planning in Task space with Complementarity Based Obstacle Avoidance, IEEE Transactions in Automation Science and Systems (TASE) (submitted).

[5] The Stability of a Precessing and Nutating Viscoelastic Beam with a Tip Mass, Procedia Engineering, 2016.

[6] A Precessing and Nutating Beam with a Tip Mass, Mechanics Research Communications, October 2013.