Publications

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Books

Optimization of Dynamic Systems, Kluwer Academic Publishers, Dordrecht, Hardbound, ISBN 0-7923-5681-0, April 1999, 240 pp. Authors: Sunil K. Agrawal, University of Delaware & Prof. Brian C. Fabien, Mechanical Engineering, University of Washington, Seattle .
Differentially Flat Systems, Marcel Dekker (Control Engineering Series) (Hardbound, ISBN 0-8247-5470-0, June 2004; Pages: 467) Authors: Prof. Hebertt Sira-Ramirez, Department of Electrical Engineering, CINVESTAV-IPN, Mexico and Sunil K. Agrawal

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Journals / Conference Papers

Special Issue Journal Editorials

S. K. Agrawal, V. Krovi, and M. O’Malley, "Special Issue on Novel Robotics and Control – Guest Editorial", IEEE Transactions in Mechatronics, April 2006, Vol. 11, Number 2, 117-118,.

S. K. Agrawal and V. Krovi, "Guest Editorial – Introduction to the Focused Section on Biomimetics and Novel Aspects Robotics", ASME Journal of Dynamic Systems Measurement and Control, 2006, Vol. 28, 1-2..

S. K. Agrawal and A. G. Erdman, "Biomedical Assist Devices and New Biomimetic Machines – A Short Perspective", Journal of Mechanical Design, Transactions of the ASME, 2005, Vol. 127, 799-801.

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Cable Suspended Robots: Systems with Unilateral Inputs

So-Ryeok Oh, Sunil K. Agrawal, "Feasible Workspace of a Set Point Controller for a Cable Suspended Robot with Input Constraints and Disturbances", IEEE Transactions on Control System Technology, 2006, Vol.14, No.4, 735-742.

So-Ryeok Oh, Sunil K. Agrawal, "Computationally Efficient Feasible Set Points Generation and Control of a Cable Robot", IEEE Transactions on Robotics, 2006, Vol.22, No. 3, 551-558.

So-Ryeok Oh, Sunil K. Agrawal, "A Control Lyapunov Approach for Feedback Control of Cable-Suspended Robots", The 2006 Robotics: Science and System Conference, 2006, Under review.

So-Ryeok Oh, Sunil K. Agrawal, "A Control Lyapunov Based PD-Like Control of Cable-Suspended Robots", 2006 Asian Control Conference, 2006, under review.

S. R. Oh, K. K. Mankala, S. K. Agrawal, J. S. Albus, "Dynamic Modeling and Robust Controller Design of a Two-Stage Parallel Cable Robot", Multibody System Dynamics, 2005, Vol.14, No. 4, 385-399.

A. Fattah, S. K. Agrawal, " On the Design of Cable-Suspended Planar Parallel Robots", ASME Transactions, Journal of Mechanical Design, 2005, Vol. 127, No. 5, 1021-1028.

S. R. Oh, K. K. Mankala, S. K. Agrawal, J. S. Ablus, "A Dual Stage Planar Cable Robot : Dynamic Modeling and Design of A Robust Controller with Positive Inputs", Journal of Mechanical Design, Transactions of the ASME, 2005, Vol. 127, 612-620.

So-Ryeok Oh, Sunil K. Agrawal, "A Reference Governor Based Controller for a Cable Robot Under Input Constraints", IEEE Transactions on Control System Technology, 2005, Vol. 13, No. 4, pp. 639-645.

So-Ryeok Oh, Sunil K. Agrawal, "Cable Suspended Planar Robots with Redundant Cables: Controllers with Positive Tensions", IEEE Transactions on Robotics, 2005, Vol. 21, No. 3, pp. 457-464.

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Cable Suspended Robots from a Helicopter

So-Ryeok Oh, Ji-Chul Ryu, Sunil K. Agrawal, "Dynamics and Control of Helicopters with a Six-Cables Suspended Robot", ASME Transactions, Journal of Mechanical Design, 2006, Vol. 128, 1113-1121.

S. Oh, K. Pathak, S. K. Agrawal, H. R. Pota, and M. Garratt, "Autonomous Helicopter Landing on a Moving Platform Using a Tether", IEEE Transactions on Robotics, 2006, Vol.22, No.3, 536-544.

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Cable Transporter Systems: High-rise Elevators

Y. H. Zhang, S. K. Agrawal, "Lyapunov Controller Design for Transverse Vibration of a Cable Linked Transporter System", Multibody System Dynamics, April 2006, Vol. 15, No. 3, 287-304.

Y. H. Zhang, S. K. Agrawal, P. Hagedron, "Longitudinal Vibration Modeling and Control of Flexible Transporter System with Arbitrarily Varying Cable Lengths", Journal of Vibration and Control, March 2005, Vol. 11, No. 3, 431-456.

Yuhong Zhang, Sunil Agrawal, Hemanshu Pota, Ian Peterser, "Minimax Linear Quadratic Gaussian Control of Longitudinal Vibration for Cable Transporter Systems with Multiplicative Nonparametric Uncertainties", International Journal of Acoustics and Vibration, September 2005, Vol. 10, No. 3, 137-144.

H. R. Pota, S. K. Agrawal, Y. H. Zhang, "A Flatness Based Approach to Trajectory Modification of Residual Motion of Cable Transporter Systems", Journal of Vibration and Control, October 2004, Vol. 10, No. 10, 1441-1457.

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Tethered Satellite Systems: Deployment and Station Keeping

Kalyan K. Mankala, Sunil K. Agrawal, "Equilibrium-to-Equilibrium Maneuvers of Flexible Electrodynamic Tethers in Equatorial Orbits", Journal of Spacecraft and Rockets, May/June 2006, 651-658.

Kalyan K. Mankala, Sunil K. Agrawal, Stephen L. Canfield, Peddieson, J.,, "Dynamic model verification process for a rotating, elastic in-space tether ", ASME Design Engineering Technical Conference, Philadelphia, PA , 10-13 Sep 2006.

Kalyan K. Mankala, Sunil K. Agrawal, "A boundary controller based on linear infinite dimensional system for station keeping of a tethered satellite system", American Control Conference, Minneapolis, Minnesota., 14-16 June 2006.

Kalyan K. Mankala, Sunil K. Agrawal, "Dynamic Modeling of Satellite Tether Systems using Newton's laws and Hamiltons Principle", Submitted to Journal of Vibrations and Acoustics, 2006.

Kalyan K. Mankala, Sunil K. Agrawal, "Dynamic Modeling and Simulation of Satellite Tethered Systems", Journal of Vibration and Accoustics, Transactions of the ASME , April 2005, Vol. 127, No. 2, 144-156.

Kalyan K. Mankala, Sunil K. Agrawal, "Equilibrium to Equilibrium maneuvers of rigid electrodynamic tethers", Journal of Guidance, Control, and Dynamics, May/June 2005, Vol. 28, No. 3, 541-545.

Kalyan K. Mankala, Sunil K. Agrawal, "Dynamic Modeling and Simulation of Impact in Tether Net/Gripper systems", Multibody System Dynamics, April 2004, Vol. 11, 235-250.

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Space Robotics: Dynamics and Control

S. K. Agrawal, K. Pathak, J. Franch, R. Lampariello, G. Hirzinger, "Design of a Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joints and Two Momentum Wheels", Proceedings of IEEE Conference on Robotics and Automation, 2006.

S. K. Agrawal, G. Hirzinger, K. Landzettel, R. Schwertassek, "A New Laboratory Simulator for Study of Motion of Free-floating Robots Relative to Space Targets", IEEE Transactions on Robotics and Automation, 2000, Vol. 12, No. 4, 627-632.

Sunil Kumar Agrawal, Richard Schwertassek, "Efficient Simulation of a Tree-Structured Free-floating Multibody System Using Momentum Integrals", Mechanics of Structures and Machines, 1996, Vol. 24, No. 1, 89-103.

Sunil Kumar Agrawal, Shravan Shirumalla, "Planning Motions of a Dual-Arm Free-floating Manipulator Keeping the Base Inertially Fixed", Mechanism and Machine Theory, 1995, Vol. 30, No. 1, 59-70.

N. Batsios, M. Annapragada, Sunil Kumar Agrawal, "Quadri-directional Thrusters for Free-floating Robot Applications", Journal of Mechanical Design, Transactions of the ASME, 1995, Vol. 117, No. 4, 651-653.

Sunil Kumar Agrawal, R. Garimella, "Kinematics, Workspace, and Design of a Dual-Arm Spatial Robot in Zero Gravity", Journal of Mechanical Design, Transactions of the ASME, 1994, Vol. 116, No. 3, 901-907.

Sunil Kumar Agrawal, S. Shirumalla, "Kinematics, Motion Planning, and Design of a Free-floating Dual-Arm Manipulator", Mechanism and Machine Theory, 1993, Vol. 29, No. 5, 691-700.

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Free-floating Ground Robots

Madhu Annapragada, Sunil K. Agrawal, "Design and Experiments on a Free-Floating Planar Robot for Optimal Chase and Capture Operations in Space", Robotics and Autonomous Systems, 1999, Vol. 26, No. 4, 281-297.

Saurabh Pandey, Sunil K. Agrawal, "Free-floating Prismatic-Jointed Manipulator Planning and Control", Multibody Systems Dynamics, 1997, Vol. 1, No. 1, 127-140.

S. K. Agrawal, Lingchen Sun, "Regional Structures of Free-floating Robots A Comparative Study of the Workspace", International Journal of Robotics and Automation, 1997, Vol. 12, No. 2, 58-64.

S. K. Agrawal, R. Garimella, G. Desmier, "Free-floating Closed-Chain Planar Robots Kinematics and Path Planning", Nonlinear Dynamics, 1996, Vol. 9, 1-19.

S. K. Agrawal, M. Y. Chen, M. Annapragada, "Modeling and Simulation of Assembly in a Free-floating Work Environment by a Free-floating Robot", Journal of Mechanical Design, Transactions of the ASME, 1996, Vol. 118, No. 1, 115-120.

Sunil Kumar Agrawal, Rao Garimella, "Workspace Boundaries of Free-floating Open and Closed-Chain Planar Manipulators", Journal of Mechanical Design, Transactions of the ASME, 1994, Vol. 116, No. 1, 105-110.

Sunil Kumar Agrawal, Michael P. Shelly, "Dynamic Simulation and Choice of Generalized Coordinates for a Free-floating Closed-Chain Manipulator", Mechanism and Machine Theory, 1993, Vol. 28, No. 5, 615-624.

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Planning and Control of Indoor/Outdoor Mobile Robots

Ji-Chul Ryu, Sunil K. Agrawal, and Jaume Franch, "Motion Planning and Control of a Tractor with a Steerable Trailer Using Differential Flatness", ASME Transactions, Journal of Computational and Nonlinear Dynamics , 2008, (in press), Received MSC Simulation Software Award in ASME IDETC 2007.

James C. (Cole) Galloway, Ji-Chul Ryu, Sunil K. Agrawal, "Babies driving robots: Self-generated mobility in very young infants", Journal of Intelligent Service Robotics, 2008, (in press).

Ji-Chul Ryu, Vivek Sangwan, Sunil K. Agrawal, "Differentially Flat Designs of Mobile Vehicles with Under-actuated Manipulator Arms", ASME IMECE 2007, Nov. 2007, IMECE2007-43526.

Kaustubh Pathak, Sunil K. Agrawal, "An Integrated Spatial Path-planning and Controller Design Approach for a Hover-mode Helicopter Model", IEEE Int. Conf. on Robotics and Automation, Barcelona, Spain, 2005.

Jayantha Katupitiya, Kaustubh Pathak Sunil K. Agrawal, "Autonomous Navigation of a Mobile Robot From an Unknown Location to a Doorway", IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, CA, 2005.

Kaustubh Pathak, Sunil K. Agrawal, "An Integrated Path-Planning and Control Approach for Nonholonomic Unicycles using Switched Local Potentials", IEEE Transactions on Robotics, 2005, Vol. 21, No. 6, 1201-1208, December.

Kaustubh Pathak, Sunil K. Agrawal, "Planning and Control of a Nonholonomic Unicycle using Ring Shaped Local Potential Fields", American Control Conference, Boston, MA (adjudged best presentation in session. Presentation with Animations. ), 2004.

R.T. Sleight, S. K. Agrawal, "Dynamic Model of a Four-Wheel-Drive HMMWV", ASME Design Engineering Technical Conferences. Salt Lake City., 2004.

Y. Hao, B. Laxton, E. Benson, S. K. Agrawal, "Differential Flatness-Based Formation Following of a Simulated Autonomous Small Grain Harvesting System", Transactions of the ASAE , 2004, Vol. 47, No. 3, 933-941.

Kaustubh Pathak, Sunil K. Agrawal, Elena Messina, "A Computationally Efficient Scheme for Hierarchical Predictive Control", Performance Metrics for Intelligent Systems PerMIS, Gaithersburg, MD. , 2003.

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Unmanned Ground Robots in Groups

Y. Hao and S. K. Agrawal, "Planning and Control of UGV Formations in a Dynamic Environment: A Practical Framework with Experiments", Robotics and Autonomous Systems, 2005, Vol. 51, 101-110.

Y. Hao and S. K. Agrawal, "Formation Planning and Control of UGVs with Trailers", Autonomous Robots, 2005, Vol. 19, No. 3, 257-270.

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Wheeled Inverted Pendulum (Segway Robots)

Kaustubh Pathak, Sunil K. Agrawal, "Band-limited Trajectory Planning and Tracking for Certain Dynamically Stabilized Mobile Systems", ASME Journal of Dynamic Systems, Measurement and Control, 2006, Vol. 28, 106-111.

Kaustubh Pathak, Jaume Franch, Sunil K. Agrawal, "Velocity and Position Control of a Wheeled Inverted Pendulum by Partial Feedback Linearization", IEEE Transactions on Robotics, 2005, Vol. 21, No. 3, 505-513.

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Spherical Ball-like Robots

Shourov Bhattacharya, Sunil K. Agrawal, "Design, Experiments, and Motion Planning of a Spherical Rolling Robots", IEEE Transactions of Robotics and Automation, 2000, Vol. 16, No. 6, 835-838.

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Multi-Segmented Robots

Sunil Kumar Agrawal, Song Chang, "Trajectory Following by a Multi-Segment Wheeled Robotic Vehicle", Mechanics of Structures and Machines, 1996, Vol. 24, No. 3, 389-404.

S. K. Agrawal, Glen Desmier, Siyan Li, "Fabrication and Analysis of a Novel 3-dof Parallel Wrist Mechanism", Journal of Mechanical Design, Transactions of the ASME, 1995, Vol. 117, 343-345.

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Parallel Actuated Robots

J. Pusey, A. Fattah, S. K. Agrawal, E. Messina, "Design and Workspace Analysis of a 6-6 Cable-Suspended Parallel Robot", Mechanism and Machine Theory, 2004, Vol. 39, No.7, pp.761-778.

D. Zlatanov, S. K. Agrawal, and C. Gosselin, "Convex Cones in Screw Spaces", Mechanisms and Machine Theory, 2004, Vol. 40, 710-727.

S. K. Agrawal, "Workspace Boundaries of In-parallel Manipulator Systems", International Journal of Robotics and Automation, 1992, Vol. 7, No. 2, 94-99.

S. K. Agrawal, B. Roth, "Statics of In-parallel Manipulators", Journal of Mechanical Design, Transactions of the ASME, 1992, Vol. 114, No. 4, 564-568.

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Bipeds and Locomotion

Vivek Sangwan, Sunil K. Agrawal, "Leg-Like Motion With an Under-Actuated Two DOF Linkage Using Differential Flatness", Proceedings of the 2006 American Control Conference, 2006, 1790-1795.

Vivek Sangwan, Sunil K. Agrawal, "Generation of Leg-Like motion and Limit Cycles with an Underactuated Two DOF Linkage", Proceedings of The first IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006.

Sunil K. Agrawal, Vivek Sangwan, "Design of Under-Actuated Open-Chain Planar Robots for Repetitive Cyclic Motions", Proceedings of IDETC/CIE 2006 ASME 2006 International Design Engineering Technical Conferences, 2006.

S. K. Agrawal and A. Fattah, "Motion Control of a Novel Planar Biped with Nearly Linear Dynamics", IEEE Transactions in Mechatronics, 2006, Vol. 11, No. 2, 162-168.

A. Agrawal, S. K. Agrawal, "An Energy Efficient Maniuplator Design Approach: Application To A Leg In Swing Phase", To appear in ASME Journal of Mechanical Design, 2006.

A. Agrawal, S. K. Agrawal, "An Approach to Identify Joint Motions for Dynamically Stable Walking", Journal of Mechanical Design, Transactions of ASME, May 2006, Vol. 128, 649-653.

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Flapping Wing MAV

Zaeem A. Khan, Sunil K. Agrawal, "Design and Optimization of a Biologically Inspired Flapping Mechanism for Flapping Wing Micro Air Vehicles ", IEEE International Conference on Robotics and Automation 10-14 April 2007, Rome, Italy, April 2007.

Zaeem A. Khan, Sunil K. Agrawal, "Control of Longitudinal Flight Dynamics of a Flapping-Wing Micro Air Vehicle Using Time-Averaged Model and Differential Flatness Based Controller", American Control Conference, New York City, USA July 11-13, 2007., July 2007.

Zaeem A. Khan, Sunil K. Agrawal, "Design of Flapping Mechanisms Based on Transverse Bending Phenomena in Insects", IEEE International Conference on Robotics and Automation, Orlando, Florida, 2006.

Sean H. McIntosh, Zaeem A. Khan, Sunil K. Agrawal , "Design of a Mechanism for Biaxial Rotation of a Wing for a Hovering Vehicle", IEEE/ASME TRANSACTIONS ON MECHATRONICS, 2006, VOL. 11, NO. 2.

Zaeem A. Khan, Sunil K. Agrawal, "Force And Moment Characterization Of Flapping Wings For Micro Air Vehicle Application", American Controls Conference, Portland, Oregon, 2005.

Zaeem A. Khan, Sunil K. Agrawal , "Modeling And Simulation Of Flapping Wing Micro Air Vehicles ", ASME International Design Engineering Technical Conferences, Long Beach, California, USA,, 2005.

S. K. Banala, S. K. Agrawal, "Design and Optimization of a Mechanism for Out of Plane Insect Wing Like Motion With Twist", Journal of Mechanical Design, Transactions of the ASME, August 2005, Vol. 127, No. 4, 841-844.

Rajkiran Madangopal, Zaeem A Khan, Sunil K Agrawal, "Energetics based design of small flapping wing air vehicles", International Conference for Robotics and Automation, 2004, VOL. 11, NO. 4,.

Rajkiran Madangopal, Zaeem A Khan, Sunil K Agrawal, "Biologically inspired design of small flapping wing air vehicles using Four bar mechanisms and Quasi steady aerodynamics", Journal of Mechanical Design, 2004, Vol. 127.

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Novel Design of Man-Machine Systems

Ji-Chul Ryu, Kaustubh Pathak, Sunil K. Agrawal, "Control of a Passive Mobility Assistive Robot", ASME Transactions, Journal of Medical Devices, 2008, (Accepted).

Sunil K. Agrawal, Ji-Chul Ryu, "Design of Dissipative and Stable Assist Robots", ASME Transactions, Journal of Mechanical Design, 2007, Vol. 129, No. 12, 1251-1255.

S. K. Agrawal, S. K. Banala, A. Fattah, V. Krishnamoorthy, W. L. Hsu, J. P. Scholz, "A Gravity Balancing Passive Exoskeleton for the Human Leg", to appear in Robotic Systems and Science, 2006.

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Rehabilitation Robotics

Sai K. Banala, Alexander Kulpe, Sunil K. Agrawal, "A Powered Leg Orthosis for Gait Rehabilitation of Motor-Impaired Patients", IEEE International Conference of Robotics and Automation 2007, April 2007.

Kalyan K. Mankala, Sai K. Banala, Sunil K. Agrawal, "Passive Swing Assistive Exoskeletons for Motor-Incomplete Spinal Cord Injury Patients", IEEE International Conference on Robotics and Automation 2007, April 2007.

Sunil K. Agrawal, Sai K. Banala, Abbas Fattah, Vivek Sangwan, Vijaya Krishnamoorthy, John P. Scholz, Wei-Li Hsu, "Assessment of Motion of a Swing Leg and Gait Rehabilitation with a Gravity Balancing Exoskeleton", The IEEE Transactions on Neural systems and Rehabilitation Engineering, 2007.

Sai K. Banala, Sunil K. Agrawal, Abbas Fattah, John Scholz, Vijaya Krishnamoorthy, Katherine Rudolph, Wei-Li Hsu, "Gravity Balancing Leg Orthosis And Its Performance Evaluation", IEEE Transactions on Robotics, December 2006, Vol. 22, No. 6.

A. Agrawal, V. Sangwan, S. K. Banala, S. K. Agrawal, S.Binder-Macleod, "Design of a Two Degree-of-Freedom Ankle-Foot Orthosis for Robotic Rehabilitation", accepted for publication in ASME Journal of Mechanical Design, 2006.

A. Fattah and S. K. Agrawal, "Prototype of a Gravity-Balanced Assist Device for Sit-to-stand Tasks", ASME Journal of Mechanical Design, Sept 2006, Vol. 128, 1122-1129..

A. Fattah, S. K. Agrawal, "On the Design of a Passive Orthosis to Gravity Balance Human Legs", Journal of Mechanical Design, Transactions of the ASME, 2005, Vol. 127, No. 4, 802-808.

S. K. Banala, S. K. Agrawal, "Gait Rehabilitation With An Active Leg Orthosis", In Proceedings ASME Mechanisms and Robotics Conference, 2005.

A. Agrawal and S. K. Agrawal, "Design of Gravity Balancing Leg Orthosis Using Non-Zero Free Length Springs", Mechanisms and Machine Theory, 2005, Vol. 40, Issue 6, 693-709.

S. Agrawal, A. Fattah, "Theory and Design of an Orthotic Device for Full or Partial Gravity-Balancing of a Human Leg During Motion", The IEEE Transactions on Neural systems and Rehabilitation Engineering, 2004, Vol. 12, No. 2, pp.157-165.

A. Fattah, S. K. Agrawal, J. Fitzgibbons, "Design of a Gravity-Balanced Assistive Device for Sit-to-Stand Tasks", ASME Design Engineering Technical Conferences, 28th Biennial Mechanisms and Robotics Conference, The 4th Symposium on Medical Devices and systems, 2004, Sept. 28-Oct. 2, Salt Lake City, Utah, DETC04/57434.

S. K. Agrawal, A. Fattah, "Design of an Orthotic Device for Full or Partial Gravity-Balancing of a Human Upper Arm during Motion", IEEE/RSJ International Conference on Intelligent Robotics and Systems, 2003, October 27-31, pp.2841-2846..

A. Fattah, S. K. Agrawal, J. Fitzgibbons, "Design of a Passive Leg Orthosis for Gait Correction of Human Subjects", Bioengineering Division of 2003 ASME International Mechanical Engineering Congress and R&D Expo, 2003, November 15-21, IMECE 2003-43156..

Rahul Rao, Sunil K. Agrawal, John P. Scholz, "A Robot Test-bed for Assistance and Assessment in Physical Therapy ", Advanced Robotics , 2000, Vol. 14, No. 7, 565-578.

Stephen Pledgie, Kenneth E. Barner, Sunil K. Agrawal, and Tariq Rahman, "Tremor Suppression Through Impedance Control", IEEE Transactions on Rehabilitation Engineering, 2000, Vol. 8, No. 1, 53-59..

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Design of Reactionless Robots

A. Fattah, S. K. Agrawal, "Design and Simulation of a Class of Spatial Reactionless Manipulators", Robotica, 2005, Vol. 23, No. 1, 75-81.

A. Fattah and S. K. Agrawal, "On the Design of Planar 3-DOF Reactionless Parallel Mechanisms", Mechanisms and Machine Theory, 2005, Vol. 41, No. 1, 70-82.

S. Agrawal, A. Fattah, "Reactionless Space and Ground Robots: Novel Designs and Concepts Studies", Mechanism and Machine Theory, 2004, Vol. 39, No.1, pp.25-40.

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Gravity Balancing of Robots and Machines

Abbas Fattah, Sunil K. Agrawal, "Gravity Balancing of a Human Leg using an External Orthosis", IEEE International Conference on Robotics and Automation, April 2007.

A. Fattah and S. K. Agrawal, "Gravity-Balancing of Classes of Industrial Robots", IEEE Conference on Robotics and Automation, 2006, 2872-2877.

S. Agrawal, A. Fattah, "Gravity-Balancing of Spatial Robotic Manipulators", Mechanism and Machine Theory, 2004, Vol.39, No.12, pp.1331-1344.

S. K. Agrawal, A. Fattah, S. K. Banala, "Design and Prototype of a Gravity-Balanced Leg Orthosis", International Journal of Human-Friendly Welfare Robotic Systems, 2003, Vol. 4, No. 3, 13-16.

Sunil Kumar Agrawal, Glenn Gardner, Stephen Pledgie, "Design and Fabrication of an Active Gravity Balanced Planar Mechanism Using Auxiliary Parallelograms", Journal of Mechanical Design, Transactions of the ASME, 2001, Vol. 123, No. 4, 525-528.

Gokce, S. K. Agrawal, "Mass Center of Planar Mechanisms Using Auxiliary Parallelograms", Journal of Mechanical Design, Transactions of ASME, 1999, Vol. 121, No. 1, 166-168.

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Robotics for Art and Museums

Sunil K. Agrawal, Saravana Kumar, Mark Yim, "Single Degree-of-freedom Polyhedral Expanding Structures", Journal of Mechanical Design, Transactions of the ASME, 2002, Vol. 124, No. 2, 473-478.

F. M. J. Pfister, S. K. Agrawal, "Analytical Dynamics of Unrooted Multibody Systems with Symmetries", Journal of Mechanical Design, Transactions of the ASME, 1999, Vol. 121, No. 3, 440-447.

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Optimization of Dynamic Systems

Tawiwat Veeraklaew, Sunil K. Agrawal, "Neighboring Optimal Feedback Law for Higher-Order Dynamic Systems", Journal of Dynamic Systems Measurement and Control, Transactions of the ASME, 2002, Vol. 124, No. 3, 492-497.

Jaume Franch, Sunil K. Agrawal, "Optimal Control of Bolza and Transformed Mayer Problems with Feedback Linearized State Equations", accepted for publication in AIAA Journal of Guidance, Control, and Dynamics, 2001.

M. Schlemmer and S. K. Agrawal, "A Real-time Computational Approach for Time-Optimal Planning of Linear Systems: Applications to High-rise Elevators", IEEE Transactions on Control Systems Technology, 2001, Vol. 10, No. 1, 105-111.

S. K. Agrawal, X. Xu, N. Faiz, "Optimization of Bilinear Systems Using Higher-Order Variational Method", Journal of Optimization Theory and Applications, 2000, Vol. 105, No. 1, 55-72.

X. Xu, S. K. Agrawal, "Finite-Time Optimal Control of Polynomial Systems Using Successive Approximation", Journal of Optimization Theory and Applications, 2000, Vol. 105, No. 2, 477-489.

Xiaochun Xu, Sunil K. Agrawal, "Linear Time-Varying Dynamic Systems Optimization Via Higher-Order Method A Sub-Domain Approach", Journal of Vibration and Acoustics, Transactions of the ASME, 2000, Vol. 122, No. 1, 31-35.

S. K. Agrawal, T. Veeraklaew, "A Higher-Order Method for Dynamic Optimization of a Class of Linear Systems", Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, 2000, Vol. 118, 786-791.

Xiaochun Xu, Sunil K. Agrawal, "Linear Time-Varying Dynamic Systems Optimization Via Higher-Order Method Using Shifted Chebyshevs Polynomials", Journal of Vibration and Acoustics, Transactions of the ASME, April 1999, Vol. 121, No. 2, 258-261.

S. K. Agrawal, T. Veeraklaew, B. C. Fabien, "Direct and Indirect Optimization of Linear Time-Invariant Dynamic Systems Using Transformations", Optimal Control Applications and Methods, 1998, Vol. 19, 393-410.

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Differential Flatness: Planning and Optimal Control

Radhakrishna Mahadevan, Sunil K. Agrawal, Francis J. Doyle III, "Differential Flatness Based Nonlinear Predictive Control of Fed-batch Bioreactors", Control Engineering Practice, 2001, Vol. 9, 889-899.

Nadeem Faiz, Sunil K. Agrawal, Richard M. Murray, "Trajectory Planning of Differentially Flat Systems with Dynamics and Inequalities", AIAA Journal of Guidance, Control, and Dynamics, 2001, Vol. 24, No. 2, 219-227.

Tawiwat Veeraklaew, Sunil K. Agrawal, "A New Computation Framework for Optimization of Higher-Order Dynamic Systems", AIAA Journal of Guidance, Control, and Dynamics, 2001, Vol. 24, No. 2, 228-236.

M. Schlemmer, S. K. Agrawal, "Globally Feedback Linearizable Time-Invariant Systems Optimal Solution Using Mayer’s Cost", Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, 2000, Vol. 120, No. 2, 343-347.

Sunil K. Agrawal, Tawiwat Veeraklaew, "Designing Robots for Optimal Performance During Repetitive Motion", IEEE Transactions on Robotics and Automation, 2000, Vol. 14, No. 5, 771-777.

S. K. Agrawal, N. Faiz, "A New Efficient Method for Optimization of a Class of Nonlinear Systems Without Lagrange Multipliers", Journal of Optimization Theory and Applications, 1998, Vol. 97, No. 1, 11-28.

Sunil K. Agrawal, Pana Claewplodtook, Brian C. Fabien, "Optimal Trajectories of Open-Chain Mechanical Systems A New Solution Without Lagrange Multipliers", Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, 1998, Vol. 120, No. 1, 134-136.

S. K. Agrawal, X. Xu, "New Procedure for Optimization of a Class of Linear Time-Varying Dynamic Systems", Journal of Vibrations and Control, 1997, Vol. 3, No. 4, 379-396.

Sunil K. Agrawal, Shi Li, Brian C. Fabien, "Optimal Trajectories of Open-Chain Mechanical Systems Explicit Optimality Equations with Multiple Shooting Solution", Mechanics of Structures and Machines, 1997, Vol. 25, No. 2, 163-177.

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Piezo-actuators Embedded Plates

Daqun Tong, Robert L. Williams II, Sunil K. Agrawal, "Optimal Shape Control of Composite Thin Plates with Piezoelectric Actuators", Journal of Intelligent Material Systems and Structures, 1998, Vol. 9, 458-467.

Sunil Kumar Agrawal, Daqun Tong, K. Nagaraja, "Modeling and Control of Piezoelectric Embedded Elastic Plates", Journal of Intelligent Material Systems and Structures, 1994, Vol. 5, No. 4, 514-521.

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Interval Methods in Robotics

R. Rao, A. Asaithambi, S. K. Agrawal, "Inverse Kinematic Solution of Robot Manipulators Using Interval Analysis", Journal of Mechanical Design, Transactions of the ASME, 1998, Vol. 120, No. 1, 147-150.

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Aspects of Dynamics of Robots

S. K. Agrawal, "Series-Chain Planar Manipulator Inertial Singularities", Journal of Mechanical Design, Transactions of the ASME, 2000, Vol. 115, No. 4, 941-945.

Sunil K. Agrawal, "Inertia Matrix Singularities of Series-Chain Spatial Manipulators with Point Masses", Journal of Dynamic Systems Measurement and Control, Transactions of the ASME, 2000, Vol. 115, No. 4, 723-725.

S. K. Agrawal, "Multi-Rigid Body Dynamics A Formulation Using Kane’s Method and Dual Vectors", Journal of Mechanical Design, Transactions of the ASME, 1993, Vol. 115, No. 4, 833-838.

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Other

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