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@COMMENT{{BIBREFERENCES stdalphabetic}}

@INCOLLECTION{RoboticsHandbook08, AUTHOR = {J.C. Trinkle and D. Prattichizzo}, TITLE = {Grasping}, BOOKTITLE = {Handbook of Robotics}, PUBLISHER = {Springer-Verlag}, EDITOR = {B. Siciliano and O. Khatib}, YEAR = 2008, NOTE = {{in press}} }

@INCOLLECTION{EBTmirvo05, AUTHOR = {K.T. Egan and S. Berard and J.C. Trinkle}, TITLE = {Sensorless Acquisition of Multiple Contact Points between Planar Parts}, BOOKTITLE = {Tracts in Advanced Robotics: Multi-Point Interaction with Real and Virtual Objects}, PUBLISHER = {Springer-Verlag}, EDITOR = {B. Federico and J.K. Salisbury}, YEAR = 2005, MONTH = {October}, VOLUME = 18, PAGES = {113--130}, URL = {http://www.cs.rpi.edu/~trink/Papers/EBTmirvo05.pdf} }

@INCOLLECTION{LTMstar05, AUTHOR = {G.F. Liu and J.C. Trinkle and R.J. Milgram}, TITLE = {Toward Complete Path Planning for Planar 3R-Manipulators Among Point Obstacles}, BOOKTITLE = {Tracts in Advanced Robotics}, EDITOR = {M. Erdmann and D. Hsu and M. Overmars and F. van der Stappen}, PUBLISHER = {Springer-Verlag}, YEAR = 2005, MONTH = {October}, VOLUME = 17, PAGES = {329--344}, URL = {http://www.cs.rpi.edu/~trink/Papers/LTMwafr04.pdf} }

@INCOLLECTION{STsiam97, AUTHOR = {D.E. Stewart and J.C. Trinkle}, TITLE = {Dynamics, Friction, and Complementarity Problems}, BOOKTITLE = {Complementarity and Variational Problems}, EDITOR = {M.C. Ferris and J.S. Pang}, PUBLISHER = {SIAM}, YEAR = 1997, PAGES = {425--439}, URL = {http://www.cs.rpi.edu/~trink/Papers/STsiam97.pdf} }

@INCOLLECTION{FSTwafr94, AUTHOR = {A.O. Farahat and P.F. Stiller and J.C. Trinkle}, TITLE = {On the Algebraic Geometry of Contact Formation Cells for Systems of Polygons}, BOOKTITLE = {Proceedings, Workshop on Algorithmic Foundations of Robotics}, EDITOR = {K. Goldberg and D. Halperin and J.C. Latombe and R. Wilson}, YEAR = 1995, PAGES = {477--494}, PUBLISHER = {A.K. Peters, Boston, MA} }

@ARTICLE{MIThri07, AUTHOR = {E. Meisner and V.I. Isler and J.C. Trinkle}, JOURNAL = {Autonomous Robots: Special Issue on Socially Assistive Robotics}, TITLE = {Designing Controllers for Human-Robot Interaction}, NOTE = {in press} }

@ARTICLE{PKTijnme07, AUTHOR = {J.S. Pang and V. Kumar and J.C. Trinkle}, JOURNAL = {International Journal for Numerical Methods in Engineering}, TITLE = {On a Continuous-Time Quasistatic Frictional Contact Model with Local Compliance.}, NOTE = {under revision}, YEAR = 2007 }

@ARTICLE{SLSTijrr07, AUTHOR = {N. Shvalb and L.G. Liu and M. Shoham and J.C. Trinkle}, TITLE = {Motion Planning for a Class of Planar Closed-Chain Manipulators}, JOURNAL = {International Journal of Robotics Research}, VOLUME = 26, NUMBER = 5, PAGES = {457--474}, YEAR = 2007, MONTH = {May}, URL = {http://www.cs.rpi.edu/~trink/Papers/SLSTijrr07.pdf} }

@ARTICLE{PAGTijnme05, AUTHOR = {F.R. Potra and M. Anitescu and B. Gavrea and J.C. Trinkle}, TITLE = {Linearly implicit trapezoidal method for integrating stiff multibody dynamics with contact, joints, and friction}, JOURNAL = {International Journal for Numerical Methods in Engineering}, VOLUME = 66, NUMBER = 7, PAGES = {1079--1124}, YEAR = 2005, MONTH = {December}, URL = {http://www.cs.rpi.edu/~trink/Papers/PAGTijnme05.pdf} }

@ARTICLE{JKTjm04, AUTHOR = {J.F. Jones and D.M. Kozlowski and J.C. Trinkle}, TITLE = {Microscale Force-Fit Insertion}, JOURNAL = {Journal of Mechatronics}, PAGES = {185--200}, VOLUME = 2, NUMBER = {2--3}, YEAR = 2004, URL = {http://www.cs.rpi.edu/~trink/Papers/JKTjm04.pdf} }

@ARTICLE{SKATsmc04, AUTHOR = {W. Son and K. Kim and N.M. Amato and J.C. Trinkle}, TITLE = {A Generalized Framework for Interactive Dynamic Simulation for Multi-rigid-Bodies}, JOURNAL = {IEEE Transactions on Systems, Man, and Cybernetics}, MONTH = {April}, YEAR = 2004, PAGES = {912--924}, VOLUME = 34, NUMBER = 2, URL = {http://www.cs.rpi.edu/~trink/Papers/SKATsmc04.pdf} }

@ARTICLE{MThha04, AUTHOR = {R.J. Milgram and J.C. Trinkle}, TITLE = {The Geometry of Configuration Spaces of Closed Chains in Two and Three Dimensions}, JOURNAL = {Homology, Homotopy, and Applications}, PUBLISHER = {International Press}, VOLUME = 6, NUMBER = 1, PAGES = {237--267}, YEAR = 2004, URL = {http://www.cs.rpi.edu/~trink/Papers/MThha04.pdf} }

@ARTICLE{BTijrr02, AUTHOR = {D. Balkcom and J.C. Trinkle}, TITLE = {Computing Wrench Cones for Planar Rigid Body Contact Tasks}, JOURNAL = {International Journal of Robotics Research}, VOLUME = {21}, NUMBER = 12, PAGES = {1053--1066}, YEAR = 2002, URL = {http://www.cs.rpi.edu/~trink/Papers/BTijrr02.pdf} }

@ARTICLE{TMijrr02, AUTHOR = {J.C. Trinkle and R.J. Milgram}, TITLE = {Complete Path Planning for Closed Kinematic Chains with Spherical Joints}, JOURNAL = {International Journal of Robotics Research}, VOLUME = 21, NUMBER = 9, PAGES = {773--789}, YEAR = 2002, URL = {http://www.cs.rpi.edu/~trink/Papers/TMijrr02.pdf} }

@ARTICLE{TTPrs01, AUTHOR = {J.C. Trinkle and J.A. Tzitzouris and J.S. Pang}, TITLE = {Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts: Theory and Examples}, PUBLISHER = {The Royal Society}, JOURNAL = {Philosophical Transactions: Mathematical, Physical, and Engineering Sciences}, MONTH = {December}, SERIES = {A}, VOLUME = 359, NUMBER = 1789, PAGES = {2575--2593}, YEAR = 2001, URL = {http://www.cs.rpi.edu/~trink/Papers/TTPrs01.pdf} }

@ARTICLE{HTLtra00, AUTHOR = {L. Han and J.C. Trinkle and Z. Li}, TITLE = {Grasp Analysis as Linear Matrix Inequality Problems}, JOURNAL = {IEEE Transactions on Robotics and Automation}, VOLUME = 16, NUMBER = 6, PAGES = {663--674}, YEAR = 2000, URL = {http://www.cs.rpi.edu/~trink/Papers/HTLtra00.pdf} }

@ARTICLE{PTzamm00, AUTHOR = {J.S. Pang and J.C. Trinkle}, TITLE = {Stability Characterizations of Rigid Body Contact Problems with Coulomb Friction}, JOURNAL = {Zeitschrift f{\"u}r Angewandte Mathematik und Mechanik}, VOLUME = 80, YEAR = 2000, NUMBER = 10, PAGES = {643--663}, URL = {http://www.cs.rpi.edu/~trink/Papers/PTzamm00.pdf} }

@ARTICLE{TPSLzamm97, AUTHOR = {J.C. Trinkle and J.S. Pang and S. Sudarsky and G. Lo}, TITLE = {On Dynamic Multi-Rigid-Body Contact Problems with Coulomb Friction}, JOURNAL = {Zeitschrift f{\"u}r Angewandte Mathematik und Mechanik}, VOLUME = 77, NUMBER = 4, PAGES = {267--279}, YEAR = {1997}, URL = {http://www.cs.rpi.edu/~trink/Papers/TPSLzamm97.pdf} }

@ARTICLE{PTLcoap96, AUTHOR = {J.S. Pang and J.C. Trinkle and G. Lo}, JOURNAL = {Journal of Computational Optimization and Applications}, TITLE = {A Complementarity Approach to a Quasistatic Rigid Body Motion Problem}, PAGES = {139--154}, MONTH = {March}, YEAR = 1996, VOLUME = 5, NUMBER = 2, URL = {http://www.cs.rpi.edu/~trink/Papers/PTLcoap96.pdf} }

@ARTICLE{PTmp96, AUTHOR = {J.S. Pang and J.C. Trinkle}, JOURNAL = {Mathematical Programming}, TITLE = {Complementarity Formulations and Existence of Solutions of Dynamic Multi-Rigid-Body Contact Problems with Coulomb Friction}, VOLUME = 73, PAGES = {199--226}, YEAR = {1996}, URL = {http://www.cs.rpi.edu/~trink/Papers/PTmp96.pdf} }

@ARTICLE{STijnme96, AUTHOR = {D.E. Stewart and J.C. Trinkle}, TITLE = {An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Inelastic Collisions and Coulomb Friction}, JOURNAL = {International Journal of Numerical Methods in Engineering}, PAGES = {2673--2691}, VOLUME = 39, YEAR = {1996}, URL = {http://www.cs.rpi.edu/~trink/Papers/STijnme96.pdf} }

@ARTICLE{TFStra95, AUTHOR = {J.C. Trinkle and A.O. Farahat and P.F. Stiller}, TITLE = {First-Order Stability Cells of Active Multi-Rigid-Body Systems}, JOURNAL = {IEEE Transactions on Robotics and Automation}, VOLUME = 11, NUMBER = 4, PAGES = {545--557}, YEAR = 1995, MONTH = {August}, URL = {http://www.cs.rpi.edu/~trink/Papers/TFStra95.pdf} }

@ARTICLE{TZtra95, AUTHOR = {J.C. Trinkle and D.C. Zeng}, TITLE = {Prediction of the Quasistatic Planar Motion of a Contacted Rigid Body}, JOURNAL = {IEEE Transactions on Robotics and Automation}, MONTH = {April}, YEAR = 1995, VOLUME = 11, NUMBER = 2, PAGES = {229--246}, URL = {http://www.cs.rpi.edu/~trink/Papers/TZtra95.pdf} }

@ARTICLE{FSTtra95, AUTHOR = {A.O. Farahat and P.F. Stiller and J.C. Trinkle}, TITLE = {On the Geometry of Contact Formation Cells for Systems of Polygons}, JOURNAL = {IEEE Transactions on Robotics and Automation}, MONTH = {August}, YEAR = {1995}, VOLUME = {11}, NUMBER = {4}, PAGES = {522--536}, URL = {http://www.cs.rpi.edu/~trink/Papers/FSTtra95.pdf} }

@ARTICLE{KVJTTPtra93, AUTHOR = {G. V. Kondraske and R. A. Volz and D. H. Johnson and D. Tesar and J.C. Trinkle and C. R. Price}, TITLE = {Network-Based Infrastructure for Distributed Remote Operations and Robotics Research}, JOURNAL = {IEEE Transactions on Robotics and Automation}, VOLUME = 9, NUMBER = 5, PAGES = {702--704}, MONTH = {October}, YEAR = 1993, URL = {http://www.cs.rpi.edu/~trink/Papers/KVJTTPtra93.pdf} }

@ARTICLE{Ttra92, AUTHOR = {J.C. Trinkle}, TITLE = {On the Stability and Instantaneous Velocity of Grasped Frictionless Objects}, JOURNAL = {IEEE Transactions on Robotics and Automation}, MONTH = {October}, YEAR = {1992}, VOLUME = {8}, NUMBER = {5}, PAGES = {560-572}, URL = {http://www.cs.rpi.edu/~trink/Papers/Ttra92.pdf} }

@ARTICLE{TPijrr90, AUTHOR = {J.C. Trinkle and R. P. Paul}, TITLE = {Planning for Dextrous Manipulation with Sliding Contacts}, JOURNAL = {International Journal of Robotics Research}, VOLUME = 9, NUMBER = 3, PAGES = {24--48}, MONTH = {June}, YEAR = 1990, URL = {http://www.cs.rpi.edu/~trink/Papers/TPijrr90.pdf} }

@ARTICLE{TPtra89, AUTHOR = {J.C. Trinkle and R. P. Paul}, TITLE = {The Initial Grasp Liftability Chart}, JOURNAL = {IEEE Transactions on Robotics and Automation}, MONTH = {October}, YEAR = {1989}, VOLUME = {5}, NUMBER = {1}, PAGES = {47--52}, URL = {http://www.cs.rpi.edu/~trink/Papers/TPtra89.pdf} }

@ARTICLE{TAPijrr88, AUTHOR = {J.C. Trinkle and J. M. Abel and R. P. Paul}, TITLE = {An Investigation of Frictionless Enveloping Grasping in the Plane}, JOURNAL = {International Journal of Robotics Research}, VOLUME = 7, NUMBER = 3, PAGES = {33--51}, MONTH = {June}, YEAR = 1988, URL = {http://www.cs.rpi.edu/~trink/Papers/TAPijrr88.pdf} }

@ARTICLE{HTjam85, AUTHOR = {M. Hubbard and J.C. Trinkle}, TITLE = {Clearing Maximum Height with Constrained Kinetic Energy}, JOURNAL = {Journal of Applied Mechanics}, YEAR = 1985, PAGES = {702--704}, VOLUME = 52, NUMBER = 1, MONTH = {March}, URL = {http://www.cs.rpi.edu/~trink/Papers/HTjam85.pdf} }

@INPROCEEDINGS{CBATrss07, AUTHOR = {N. Chakraborty and S. Berard and S. Akella and J.C. Trinkle}, BOOKTITLE = {Robotics: Science and Systems}, TITLE = {A Fully Implicit Time-Stepping Method for Multibody Systems with Intermittent Contact}, YEAR = {2007}, MONTH = {June}, NOTE = {in press}, URL = {http://www.cs.rpi.edu/~trink/Papers/CBATrss07.pdf} }

@INPROCEEDINGS{CBATidetc07, AUTHOR = {N. Chakraborty and S. Berard and S. Akella and J.C. Trinkle}, BOOKTITLE = {Proceedings, ASME International Design Engineering Technical Conferences}, TITLE = {A Fully Implicit Compliant Model for Multibody Systems with Frictional Intermittent Contact}, YEAR = {2007}, NUMBER = {Paper DETC2007-35526}, MONTH = {October}, URL = {http://www.cs.rpi.edu/~trink/Papers/CBATidetc07.pdf} }

@INPROCEEDINGS{BNRTFKicra07, AUTHOR = {Stephen Berard and J.C. Trinkle and Binh Nguyen and Benjamin Roghani and Vijay Kumar and Jonathan Fink}, TITLE = {da{V}inci Code: A Multi-Model Simulation and Analysis Tool for Multi-Body Systems}, BOOKTITLE = {IEEE International Conference on Robotics and Automation}, PAGES = {2588--2593}, YEAR = {2007}, MONTH = {April}, LOCATION = {Rome, Italy}, URL = {http://www.cs.rpi.edu/~trink/Papers/BNRTFKicra07.pdf} }

@INPROCEEDINGS{LTSicra06, AUTHOR = {G.F. Liu and J.C. Trinkle and N. Shvalb}, TITLE = {Motion Planning for a Class of Planar Closed-Chain Manipulators}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, YEAR = 2006, PAGES = {133--138}, URL = {http://www.cs.rpi.edu/~trink/Papers/LTSicra06.pdf} }

@INPROCEEDINGS{CFMKTicra06, AUTHOR = {D. Cappelleri and J. Fink and B. Munkundakrisnam and V. Kumar and J.C. Trinkle}, TITLE = {Designing Open-Loop Plans for Planar Micro-Manipulation}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, YEAR = 2006, PAGES = {637--642}, URL = {http://www.cs.rpi.edu/~trink/Papers/CFMKTicra06.pdf} }

@INPROCEEDINGS{LTrss05, AUTHOR = {G.F. Liu and J.C. Trinkle}, TITLE = {Complete Path Planning for Planar Closed Chains Among Point Obstacles}, BOOKTITLE = {Robotics: Science and Systems}, PUBLISHER = {MIT Press}, YEAR = 2005, PAGES = {33--40}, URL = {http://www.cs.rpi.edu/~trink/Papers/LTrss05.pdf} }

@INPROCEEDINGS{MKSTPidetc05, AUTHOR = {B. Mukundakrishnan and V. Kumar and P. Song and J.C. Trinkle and J.S. Pang}, TITLE = {A Hierarchical Approach for Design and Assembly of Mechanisms}, BOOKTITLE = {Proceedings, ASME International Design Engineering Technical Conferences}, MONTH = {September}, YEAR = 2005, CITY = {Long Beach, CA}, URL = {http://www.cs.rpi.edu/~trink/Papers/MKSTPidetc05.pdf} }

@INPROCEEDINGS{TBPisatp05, AUTHOR = {J.C. Trinkle and S. Berard and J.S. Pang}, TITLE = {A Time-Stepping Scheme for Quasistatic Multibody Systems}, BOOKTITLE = {Proceedings, IEEE International Symposuim on Assembly and Task Planning}, PAGES = {174--181}, MONTH = {July}, YEAR = 2005, CITY = {Montreal}, URL = {http://www.cs.rpi.edu/~trink/Papers/TBPisatp05.pdf} }

@INPROCEEDINGS{SKTPisatp05, AUTHOR = {P. Song and V. Kumar and J.C. Trinkle and J.S. Pang}, TITLE = {A Family of Models for Manipulation Planning}, BOOKTITLE = {Proceedings, IEEE International Symposuim on Assembly and Task Planning}, MONTH = {July}, PAGES = {236--241}, YEAR = 2005, CITY = {Montreal}, URL = {http://www.cs.rpi.edu/~trink/Papers/SKTPisatp05.pdf} }

@INPROCEEDINGS{TBPidetc05, AUTHOR = {J.C. Trinkle and S. Berard and J.S. Pang}, TITLE = {A Time-Stepping Scheme for Quasistatic Multibody Systems}, BOOKTITLE = {Proceedings, ASME International Design Engineering Technical Conferences}, MONTH = {September}, YEAR = 2005, CITY = {Long Beach, CA}, NOTE = {submitted by invitation. This paper is identical to paper submitted to ISATP 2005, but this fact was made known to the organizers.}, URL = {http://www.cs.rpi.edu/~trink/Papers/TBPidetc05.pdf} }

@INPROCEEDINGS{BETicra04, AUTHOR = {S. Berard and K.T. Egan and J.C. Trinkle}, TITLE = {Contact Modes and Complementary Cones}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, YEAR = 2004, MONTH = {April}, CITY = {New Orleans, LA}, URL = {http://www.cs.rpi.edu/~trink/Papers/BETicra04.pdf} }

@INPROCEEDINGS{LTMicra04, AUTHOR = {G.F. Liu and J.C. Trinkle and R.J. Milgram}, TITLE = {Complete Path Planning for a Planar 2R-Manipulator with Point Obstacles}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, YEAR = 2004, PAGS = {3263--3269}, MONTH = {April}, CITY = {New Orleans, LA}, URL = {http://www.cs.rpi.edu/~trink/Papers/LTMicra04.pdf} }

@INPROCEEDINGS{STKPicra04, AUTHOR = {P. Song and J.C. Trinkle and V. Kumar and J.-S. Pang}, TITLE = {Design of Part Feeding and Assembly Processes with Dynamics}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, YEAR = 2004, MONTH = {April}, NOTE = {{\bf Kayamori Best Automation Paper Award (one of seven awards out of about 1600 submissions).}}, CITY = {New Orleans, LA}, URL = {http://www.cs.rpi.edu/~trink/Papers/STKPicra04.pdf} }

@INPROCEEDINGS{Tidetc03, AUTHOR = {J.C. Trinkle}, TITLE = {Formulations of Multibody Dynamics as Complementarity Problems}, BOOKTITLE = {Proceedings, ASME International Design Engineering Technical Conferences}, MONTH = {September}, YEAR = 2003, NOTE = {VIB-48342 (no page numbers in CD proceedings)}, CITY = {Chicago, IL}, URL = {http://www.cs.rpi.edu/~trink/Papers/Tidetc03.pdf} }

@INPROCEEDINGS{JKTiwmf02, AUTHOR = {J.F. Jones and D.M. Kozlowski and J.C. Trinkle}, TITLE = {Microscale Force-Fit Insertion}, BOOKTITLE = {Third International Workshop on Microfactories}, CITY = {Minneapolis, MN}, MONTH = {September}, YEAR = 2002, PAGES = {29-32}, URL = {http://www.cs.rpi.edu/~trink/Papers/JKTiwmf02.pdf} }

@INPROCEEDINGS{BGTicra02, AUTHOR = {D. Balkcom and E.J. Gottlieb and J.C. Trinkle}, TITLE = {A Sensorless Insertion Strategy for Rigid Planar Parts}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, PAGES = {882--887}, YEAR = 2002, CITY = {Washington, DC}, URL = {http://www.cs.rpi.edu/~trink/Papers/BGTicra02.pdf} }

@INPROCEEDINGS{BTGicra02, AUTHOR = {D. Balkcom and J.C. Trinkle and E.J. Gottlieb}, TITLE = {Computing Wrench Cones for Planar Contact Tasks}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, PAGES = {869--875}, YEAR = 2002, CITY = {Washington, DC}, URL = {http://www.cs.rpi.edu/~trink/Papers/BTGicra02.pdf} }

@INPROCEEDINGS{TMiros01, AUTHOR = {J.C. Trinkle and R.J. Milgram}, TITLE = {Motion Planning for Planar $n$-Bar Mechanisms with Revolute Joints}, BOOKTITLE = {Proceedings, IEEE International Conference on Intelligent Robots and Systems}, YEAR = 2001, PAGES = {1602--1608}, CITY = {Maui, HI}, URL = {http://www.cs.rpi.edu/~trink/Papers/TMiros01.pdf} }

@INPROCEEDINGS{STAicra01, AUTHOR = {W. Son and J.C. Trinkle and N.M. Amato}, TITLE = {Hybrid Dynamic Simulation of Rigid-Body Contact with Coulomb Friction}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, MONTH = {May}, PAGES = {1376-1381}, YEAR = 2001, CITY = {Seoul, Korea}, URL = {http://www.cs.rpi.edu/~trink/Papers/STAicra01.pdf} }

@INPROCEEDINGS{SKATiros00, AUTHOR = {W. Son and K. Kim and N.M. Amato and J.C. Trinkle}, TITLE = {Interactive Dynamic Simulation using Haptic Interaction}, BOOKTITLE = {Proceedings, IEEE International Conference on Intelligent Robots and Systems}, MONTH = {November}, YEAR = 2000, URL = {http://www.cs.rpi.edu/~trink/Papers/SKATiros00.pdf} }

@INPROCEEDINGS{STicra00, AUTHOR = {D.E. Stewart and J.C. Trinkle}, TITLE = {An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Coulomb Friction}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, PAGES = {162--169}, YEAR = {2000}, URL = {http://www.cs.rpi.edu/~trink/Papers/STicra00.pdf} }

@INPROCEEDINGS{HLTQJicra00, AUTHOR = {L. Han and Z. Li and J.C. Trinkle and Z. Qin and S. Jiang}, TITLE = {The Planning and Control of Robot Dexterous Manipulation}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, PAGES = {263-269}, YEAR = {2000}, URL = {http://www.cs.rpi.edu/~trink/Papers/HLTQJicra00.pdf} }

@INPROCEEDINGS{PTicra00, AUTHOR = {J.S. Pang and J.C. Trinkle}, TITLE = {Stability Characterizations of Fixtured Rigid Bodies with Coulomb Friction}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, PAGES = {361--368}, YEAR = {2000}, URL = {http://www.cs.rpi.edu/~trink/Papers/PTicra00.pdf} }

@INPROCEEDINGS{HTLicra99, AUTHOR = {L. Han and J.C. Trinkle and Z. Li}, TITLE = {Grasp Analysis as Linear Matrix Inequality Problems}, PAGES = {1261--1268}, YEAR = {1999}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, URL = {http://www.cs.rpi.edu/~trink/Papers/HTLicra99.pdf} }

@INPROCEEDINGS{HTicra98, AUTHOR = {L. Han and J.C. Trinkle}, TITLE = {Dextrous Manipulation by Rolling and Finger Gaiting}, PAGES = {730--735}, YEAR = {1998}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, URL = {http://www.cs.rpi.edu/~trink/Papers/HTicra98.pdf} }

@INPROCEEDINGS{HTicra98b, AUTHOR = {L. Han and J.C. Trinkle}, TITLE = {The Instantaneous Kinematics of Manipulation}, PAGES = {1944--1949}, YEAR = {1998}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, URL = {http://www.cs.rpi.edu/~trink/Papers/HTicra98b.pdf} }

@INPROCEEDINGS{HTLisatp97, AUTHOR = {L. Han and J.C. Trinkle and Z.X. Li }, TITLE = { The Instantaneous Kinematics and Planning of Dextrous Manipulation}, YEAR = {1997}, BOOKTITLE = {Proc. of 1997 IEEE International Sysmposium on Assembly and Task Planning}, PAGES = {60--65}, URL = {http://www.cs.rpi.edu/~trink/Papers/HTLisatp97.pdf} }

@INPROCEEDINGS{HGLSTicra97, AUTHOR = {L. Han and Y.S. Guan and Z.X. Li and Q. Shi and J.C. Trinkle}, TITLE = {Dexterous Manipulation with Rolling Contacts}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, MONTH = {April}, YEAR = 1997, PAGES = {992--997}, URL = {http://www.cs.rpi.edu/~trink/Papers/HGLSTicra97.pdf} }

@INPROCEEDINGS{TPicra97, AUTHOR = {J.C. Trinkle and J.S. Pang}, TITLE = {Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, MONTH = {April}, YEAR = 1997, PAGES = {2276--2281}, URL = {http://www.cs.rpi.edu/~trink/Papers/TPicra97.pdf} }

@INPROCEEDINGS{TYHicra96, AUTHOR = {J.C. Trinkle and S.L. Yeap and L. Han}, TITLE = {When Quasistatic Jamming is Impossible}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, MONTH = {April}, PAGES = {3401--3406}, YEAR = {1996}, URL = {http://www.cs.rpi.edu/~trink/Papers/TYHicra96.pdf} }

@INPROCEEDINGS{TPsive95, AUTHOR = {J.C. Trinkle and J.S. Pang}, TITLE = {Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts}, BOOKTITLE = {First Workshop on Simulation and Interaction in Virtual Environments}, MONTH = {July}, YEAR = {1995}, URL = {http://www.cs.rpi.edu/~trink/Papers/TPsive95.pdf} }

@INPROCEEDINGS{LSTiros95, AUTHOR = {W.W. Lau and P.F. Stiller and J.C. Trinkle}, TITLE = {Some Remarks on the Geometry of Contact Formation Cells}, BOOKTITLE = {Proceedings, IEEE International Conference on Intelligent Robots and Systems}, YEAR = {1995}, MONTH = {August}, PAGES = {419--426}, VOLUME = 3, URL = {http://www.cs.rpi.edu/~trink/Papers/LSTiros95.pdf} }

@INPROCEEDINGS{FGTiros95, AUTHOR = {A.O. Farahat and S.B. Graves and J.C. Trinkle}, TITLE = {Identifying Contact Formations in the Presence of Uncertainty}, BOOKTITLE = {Proceedings, IEEE International Conference on Intelligent Robots and Systems}, YEAR = {1995}, MONTH = {August}, VOLUME = {3}, PAGES = {59--64}, URL = {http://www.cs.rpi.edu/~trink/Papers/FGTiros95.pdf} }

@INPROCEEDINGS{YTiros95, AUTHOR = {S.-L. Yeap and J.C. Trinkle}, TITLE = {Dynamic Whole-Arm Dexterous Manipulation in the Plane}, BOOKTITLE = {Proceedings, IEEE International Conference on Intelligent Robots and Systems}, YEAR = {1995}, MONTH = {August}, VOLUME = {3}, PAGES = {405--410}, URL = {http://www.cs.rpi.edu/~trink/Papers/YTiros95.pdf} }

@INPROCEEDINGS{WTicra94, AUTHOR = {J. D. Wolter and J.C. Trinkle}, TITLE = {Automatic Selection of Fixture Points for Frictionless Assemblies}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, VOLUME = {1}, PAGES = {528-534}, MONTH = {May}, YEAR = 1994, URL = {http://www.cs.rpi.edu/~trink/Papers/WTicra94.pdf} }

@INPROCEEDINGS{TFSicra94, AUTHOR = {J.C. Trinkle and A.O. Farahat and P.F. Stiller}, TITLE = {Second-Order Stability Cells of Frictionless Rigid Body Systems}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, VOLUME = {4}, PAGES = {2815--2821}, MONTH = {May}, YEAR = {1994}, URL = {http://www.cs.rpi.edu/~trink/Papers/TFSicra94.pdf} }

@INPROCEEDINGS{FSTicra94, AUTHOR = {A.O. Farahat and P.F. Stiller and J.C. Trinkle}, TITLE = {On the Algebraic Geometry of Contact Formation Cells for Systems of Polygons}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, VOLUME = {4}, PAGES = {3028--3035}, YEAR = {1994}, MONTH = {May}, URL = {http://www.cs.rpi.edu/~trink/Papers/FSTicra94.pdf} }

@INPROCEEDINGS{TRFSicra93, AUTHOR = {J.C. Trinkle and R.C. Ram and A.O. Farahat and P.F. Stiller}, TITLE = {Dexterous Manipulation Planning and Execution of an Enveloped Slippery Workpiece}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, VOLUME = 2, PAGES = {442--448}, MONTH = {May}, YEAR = {1993}, URL = {http://www.cs.rpi.edu/~trink/Papers/TRFSicra93.pdf} }

@INPROCEEDINGS{CTicra93, AUTHOR = {Y.-C. Chen and J.C. Trinkle}, TITLE = {On the Form-Closure of Polygonal Obejcts with Frictional and Frictionless Contact Models}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, VOLUME = 3, PAGES = {963--970}, MONTH = {May}, YEAR = {1993}, URL = {http://www.cs.rpi.edu/~trink/Papers/CTicra93.pdf} }

@INPROCEEDINGS{TZiros92, AUTHOR = {J.C. Trinkle and D.C. Zeng}, TITLE = {Planar Quasistatic Motion of a Lamina with Uncertain Contact Friction}, BOOKTITLE = {Proceedings, IEEE International Conference on Intelligent Robots and Systems}, YEAR = {1992}, PAGES = {1642-1649}, URL = {http://www.cs.rpi.edu/~trink/Papers/TZiros92.pdf} }

@INPROCEEDINGS{FTiros92, AUTHOR = {A.O. Farahat and J.C. Trinkle}, TITLE = {An Invesitgation of Dexterous Manipulation Planning Using C-Functions and Stability Functions}, BOOKTITLE = {Proceedings, IEEE International Conference on Intelligent Robots and Systems}, YEAR = {1992}, PAGES = {1650-1657}, MONTH = {July}, URL = {http://www.cs.rpi.edu/~trink/Papers/FTiros92.pdf} }

@INPROCEEDINGS{Tiros92, AUTHOR = {J.C. Trinkle}, TITLE = {A Quantitative Test for Form Closure Grasps}, BOOKTITLE = {Proceedings, IEEE International Conference on Intelligent Robots and Systems}, YEAR = {1992}, PAGES = {1670-1677}, MONTH = {July}, URL = {http://www.cs.rpi.edu/~trink/Papers/Tiros92.pdf} }

@INPROCEEDINGS{THicra91, AUTHOR = {J.C. Trinkle and J. J. Hunter}, TITLE = {A Framework for Planning Dexterous Manipulation}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, MONTH = {April}, PAGES = {1245-1251}, YEAR = {1991}, URL = {http://www.cs.rpi.edu/~trink/Papers/THicra91.pdf} }

@INPROCEEDINGS{Ticra89, AUTHOR = {J.C. Trinkle}, TITLE = {A Quasistatic Analysis of Dexterous Manipulation with Sliding and Rolling Contacts}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, MONTH = {May}, YEAR = {1989}, URL = {http://www.cs.rpi.edu/~trink/Papers/Ticra89.pdf} }

@INPROCEEDINGS{TAPicra87, AUTHOR = {J.C. Trinkle and J. M. Abel and R. P. Paul}, TITLE = {Enveloping, Frictionless, Planar Grasping}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, MONTH = {April}, YEAR = {1987}, URL = {http://www.cs.rpi.edu/~trink/Papers/TAPicra87.pdf} }

@INPROCEEDINGS{Tjusfa86, AUTHOR = {J.C. Trinkle}, TITLE = {Planning Frictionless, Self-Adjusting, Enveloping Grasps}, BOOKTITLE = {Proceedings, Japan-USA Symposium on Flexible Automation}, MONTH = {July}, YEAR = {1986}, URL = {http://www.cs.rpi.edu/~trink/Papers/Tjusfa86.pdf} }

@INPROCEEDINGS{BMTicra84, AUTHOR = {R. Bajcsy and M. McCarthy and J.C. Trinkle}, TITLE = {Feeling by Grasping}, BOOKTITLE = {Proceedings, IEEE International Conference on Robots and Automation}, PAGES = {461--465}, MONTH = {May}, YEAR = 1984, URL = {http://www.cs.rpi.edu/~trink/Papers/BMTicra84.pdf} }

@INPROCEEDINGS{HTnicb83, AUTHOR = {M. Hubbard and J.C. Trinkle}, TITLE = {Optimal Fosbury Flop High Jumping}, BOOKTITLE = {Proc. Nineth International Congress of Biomechanics}, MONTH = {August}, YEAR = 1983, CITY = {Waterloo, Belgium}, PAGES = {308--312}, URL = {http://www.cs.rpi.edu/~trink/Papers/HTnicb83.pdf} }

@INPROCEEDINGS{HTcesb82, AUTHOR = {M. Hubbard and J.C. Trinkle}, TITLE = {The Eastern Roll High Jump}, BOOKTITLE = {Proc. Third Conference of the European Society of Biomechanics}, MONTH = {January}, YEAR = 1982, CITY = {Nijmegem, Belgium}, PAGES = {169--174}, URL = {http://www.cs.rpi.edu/~trink/Papers/HTcesb82.pdf} }

@TECHREPORT{EBTtr03, AUTHOR = {K.T. Egan and S. Berard and J.C. Trinkle}, TITLE = {Modeling Concave Constraints Using Linear Complementarity}, INSTITUTION = {Rensselaer Polytechnic Institute Department of Computer Science}, NUMBER = {03-13}, YEAR = {2003}, MONTH = {December}, URL = {http://www.cs.rpi.edu/~trink/Papers/EBTtr03.pdf} }

@INPROCEEDINGS{TMBPnsf00, AUTHOR = {J.C. Trinkle and R.J. Milgram and J.W. Burdick and F. Potra and V. Kumar}, TITLE = {The Interplay Between Mathematics and Robotics}, BOOKTITLE = {NSF Workshop on Collaborative Research between Mathematicians and Roboticists}, NOTE = {This is the final report from the workshop.}, YEAR = 2000, MONTH = {July}, URL = {http://www.cs.rpi.edu/~trink/Papers/TMBPnsf00.pdf} }

@TECHREPORT{TStr98, AUTHOR = {J.C. Trinkle and S. Sudarsky}, TITLE = {Suboptimal Path Planning and Control for AERCam/Sprint}, INSTITUTION = {Texas A\&M University Department of Computer Science}, NUMBER = {TAMU-CS TR 98-058}, MONTH = {June}, YEAR = 1998, URL = {http://www.cs.rpi.edu/~trink/Papers/TStr98.pdf} }

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