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Publications


Forthcoming publications

Zarrouk, D., I. Sharf and M. Shoham, “Analysis of Worm-like Robotic Locomotion on Compliant Surfaces,” to appear in IEEE Transactions on Biomedical Engineering, 2011.


Journal articles

Sharf, I., A. Wolf and MB Rubin, “Arithmetic and Geometric Solutions for Average Rigid-body Rotation,” Mechanism and Machine Theory, Vol. 45, No. 9, pp. 1239-1251, 2010.

Smith, J.A., I. Poulakakis, M. Trentini and I. Sharf, “Bounding with Active Wheels and Liftoff Angle Velocity Adjustment,” International Journal of Robotics Research, Vol. 29, No. 4, pp. 414-427, 2010.

Verscheure, D., I. Sharf, H. Bruyninckx, J. Swevers and J. De Schutter, “Identification of Contact Dynamics Parameters from Stiff Multi-point Contact Robotic Operations,” International Journal of Robotics Research, Vol. 29, No. 4, pp. 367-385, 2010.

Zhang, Y. and I. Sharf, “Validation of Nonlinear Viscoelastic Contact Force Models for Low Speed Impact,” ASME Journal of Applied Mechanics, Vol. 76, No. 5, p. 051002 (12 pp.), 2009.

Sharf, I. and Y. Zhang, “A Contact Force Solution for Non-colliding Contact Dynamics Simulation,” Multibody System Dynamics Journal, Vol. 16, No. 3, pp. 263-290, 2006.

Weber, M., K. Patel, O. Ma and I. Sharf, “Identification of Contact Dynamics Model Parameters from Constrained Robotic Operations,” ASME Journal of Dynamic Systems, Measurement and Control, Vol. 128, No. 2, pp. 307-318, 2006.

Erickson, D., M. Weber and I. Sharf, "Contact Stiffness and Damping Estimation for Robotic Systems," IEEE Transactions on Robotics and Automation, Vol. 2, No. 1, pp. 41-57, 2003.

G. Gilardi and I. Sharf. "Literature Survey of Contact Dynamics Modelling." To appear in Mechanism and Machine Theory, 2001.

Van Vliet, J., I. Sharf and O. Ma. "Experimental Validation of Contact Dynamics Simulation of Constrained Robotic Tasks." International Journal of Robotics Research, Vol. 19, No. 12, pp. 1203-1217, 2000.

Sharf, I. "Active Damping of a Large Flexible Manipulator with a Short-Reach Robot." ASME Journal of Dynamic Systems Measurement and Control, Vol. 118, pp. 704-713, 1996.

Damaren, C., and I. Sharf. "Simulation of Flexible-Link Manipulators with Inertial and Geometric Nonlinearities." ASME Journal of Dynamic Systems Measurement and Control, Vol. 117, pp. 74-87, 1995.


Conference presentations/papers

Sharf, I., B. Laumonier, M. Persson, J. Robert, “Control of a Fully-actuated Airship for Satellite Emulation,” Video Proceedings of IEEE International Conference on Robotics and Automation, ICRA2008, Pasadena, CA, May 19-23, 2008.

Zhang, Y. and I. Sharf, "Compliant Force Modeling for Impact Analysis," Proc. ASME Design Engineering Technical Conferences, DETC2002/MECH-34357, Best Paper Award Competition Finalist, pp. 1-10, Salt Lake City, Utah, September 28 - October 2, 2004.

Sharf, I. and D. Crymble, "Robot/Airship Facility for Autonomous Robotic Grasping of Objects in Space," poster presentation and paper at 16th IFAC Symposium on Automatic Control in Aerospace, Saint-Petersburg, Russia, June 14-18, 2004.

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