Publications of Sunil Kumar Agrawal

Ji-Chul Ryu, Vivek Sangwan, Sunil K. Agrawal, "Differentially Flat Designs of Under-Actuated Mobile Manipulators", ASME Journal of Dynamic Systems Measurement and Control, 2010, In Press (Accepted).

Jaume Franch, Sunil K. Agrawal, Vivek Sangwan, "Differential Flatness of a Class of Planar n-DOF Robot Manipulators Driven by 1 or 2 Actuators", IEEE Transactions on Automatic Control., 2010, In Press (Accepted).

Zaeem A. Khan, Kyle Steelman, Sunil K. Agrawal, "Development of Insect Thorax Based Flapping Mechanism.", IEEE International Conference on Robotics and Automation, Kobe, Japan, May 2009.

Vivek Sangwan, Sunil K. Agrawal, "Differentially Flat Designs of Bipeds Ensuring Limit Cycles", IEEE/ASME Transactions on Mechatronics, Dec. 2009, Vol. 14, No. 6, 647-657.

Sunil K. Agrawal, Venketesh N. Dubey, John Gangloff, Elizabeth Brackbill, Vivek Sangwan, "Design and Optimization of a Cable Driven Upper Arm Exoskeleton", ASME Journal of Medical Devices, Sept. 2009, Vol. 3, No. 3, 031004(10p.

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.

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

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).

S. K. Banala, S. H. Kim, S. K. Agrawal, J. P. Scholz, "Robot Assisted Gait Training with Active Leg Exoskeleton (ALEX)", IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2008, Vol. 17, No. 1, 2-8.

Vivek Sangwan, Helge Kuebler, Sunil K. Agrawal, "Differentially Flat Design of Under-Actuated Planar Robots: Experimental Results", Proceedings of IEEE International Conference on Robotics and Automation, May 2008, 2423-2428.

Sunil K. Agrawal, Vivek Sangwan, "Differentially Flat Designs of Underactuated Open-Chain Planar Robots", IEEE Transactions on Robotics, Dec 2008, Vol. 24, No. 6, 1445-1451.

Vijaya Krishnamoorthy, Wei-Li Hsu, Trisha M. Kesar, Daniel Benoit, Sai K. Banala, Ramu Perumal, Vivek Sangwan, Stuart A. Binder- Macleod, Sunil K. Agrawal, John P. Scholz, "Gait Training After Stroke: A Pilot Study Combining a Gravity-Balanced Orthosis, Functional Electrical Stimulation, and Visual Feedback", Journal of Neurological Physical Therapy, Dec. 2008, Vol. 32, No. 4, 192-202.

Vijaya Krishnamoorthy, Wei-Li Hsu, Trisha M. Kesar, Daniel Benoit, Sai K. Banala, Ramu Perumal, Vivek Sangwan, Stuart A. Binder- Macleod, Sunil K. Agrawal, John P. Scholz, "Gait Training Following Stroke: A Pilot Study Combining a Gravity-Balanced Orthosis Device, Functional Electrical Stimulation and Visual Feedback", Proceedings of Combined Sections Meeting of the American Physical Therapy Association, Feb. 2008.

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.

Abhishek Agrawal, Vivek Sangwan, Sai K. Banala, Sunil K. Agrawal, Stuart A. Binder-Macleod, "Design of a Novel Two Degree-of-Freedom Ankle-Foot Orthosis", ASME Journal of Mechanical Design, Nov. 2007, Vol. 129, No. 11, 1137-1143.

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.

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

Sunil K. Agrawal, Sai K. Banala, Abbas Fattah, Vivek Sangwan, Vijaya Krishnamoorthy, John P. Scholz and Wei-Li Hsu, "Assessment of Motion of a Swing Leg and Gait Rehabilitation with a Gravity Balancing Exoskeleton", IEEE Transactions on Neural Systems and Rehabilitation Engineering, Sept. 2007, Vol. 15, No. 3, 410-420.

Ji-Chul Ryu, Vivek Sangwan, Sunil K. Agrawal, "Differentially Flat Designs of Mobile Vehicles with Under-actuated Manipulator Arms", Proceedings of ASME International Mechanical Engineering Congress and Exposition, Nov. 2007, 1439-1445.

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.

Vivek Sangwan, Sunil K. Agrawal, "Differentially Flat Design of Bipeds Ensuring Limit-Cycles", Proceedings of IEEE International Conference on Robotics and Automation, April 2007, 3585-3590.

Sunil K. Agrawal, Sai K. Banala, Kalyan K. Mankala, Vivek Sangwan, John P. Scholz, Vijaya Krishnamoorthy, Wei-Li Hsu, "Exoskeletons for Gait Assistance and Training of the Motor-Impaired", Proceedings of IEEE International Conference on Rehabilitation Robotics, June 2007, 1108-1113.

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.

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

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.

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, 684-689.

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.

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.

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, 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.

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.

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.

Sunil K. Agrawal, Vivek Sangwan, "Design of Under-Actuated Open-Chain Planar Robots for Repetitive Cyclic Motions", Proceedings of ASME International Design Engineering Technical Conferences, 2006, 10 Pages.

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.

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.

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,.

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.

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.

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.

Vivek Sangwan, Sunil K. Agrawal, "Differentially Flat Designs of Bipeds Ensuring Limit Cycles", Conference on Dynamic Walking, May 2006, 23.

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.

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.

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.

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.

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, 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.

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.

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.

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.

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

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.

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.

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.

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.

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.

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.

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.

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.

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

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.

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.

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.

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.

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

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

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..

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.

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.

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.

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.

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.

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.

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.

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, 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.

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.

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.

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.

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..

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.

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.

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.

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.

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.

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.

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.

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.

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.

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

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.

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.

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, 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, 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.

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.

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.

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.

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

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