Selected Publications

Alabbas, A*., Das, D*., Murgia, C*., Ansary, S., Elkamash, A. and Long, P., 2026. Bridging Semantics and Kinematics: A Modular Framework for Zero-Shot Robotic Manipulation. Roman (2026) arXiv preprint arXiv:2606.23157. 

Alabbas, A., Murgia, C., Regan, J., & Long, P. (2026). See, Learn, Assist: Safe and Self-Paced Robotic Rehabilitation via Video-Based Learning from Demonstration. IROS. IEEE.

Ramos, I. F., Sagar, K., Long, P., Leva, M. C., Damiani, E., & Gianini, G. (2026). Human-Centered Evaluation of Control and Perception Interface Factors in a Teleoperational Cutting Task. Journal of Intelligent & Robotic Systems.

Zolotas, M., Long, P., & Padir, T. (2025). robot_collision_checking: A Lightweight ROS 2 Interface to FCL (Flexible Collision Library). JOSS, 10(105), 7473.

Jain, A., Long, P., Villani, V., Kelleher, J. D., & Leva, M. C. (2024). CoBT: Collaborative Programming of Behaviour Trees from One Demonstration for Robot Manipulation. ICRA, 12993–12999. IEEE.

Sagar, K., Caro, S., Padır, T., & Long, P. (2023). Polytope-based continuous scalar performance measure with analytical gradient for effective robot manipulation. IEEE RA-L, 8(11), 7289–7296.

Wang, M., Önol, A. Ö., Long, P., & Padır, T. (2022). Contact-implicit planning and control for non-prehensile manipulation using state-triggered constraints. ISRR, 189–204. Springer.

Chevallereau, C., Girin, A., & Long, P. (2021). Method and device for controlling a robot during co-activity. US Patent 11,192,251.

Rasheed, T., Long, P., & Caro, S. (2020). Wrench-feasible workspace of mobile cable-driven parallel robots. Journal of Mechanisms and Robotics, 12(3), 031009.

Long, P., Marques-Gamez, D., Caro, S., Girin, A., Gagliardini, L., & Goutefarde, M. (2020). Reconfigurable mobile cable robot. US Patent 10,596,702.

Önol, A. Ö., Corcodel, R., Long, P., & Padır, T. (2020). Tuning-free contact-implicit trajectory optimization. ICRA, 1183–1189. IEEE.

Pedemonte, N., Rasheed, T., Marquez-Gamez, D., Long, P., Hocquard, É., Babin, F., … Caro, S. (2020). Fastkit: A mobile cable-driven parallel robot for logistics. Advances in Robotics Research: From Lab to Market, 141–163.

Önol, A. Ö., Long, P., & Padır, T. (2019). Contact-implicit trajectory optimization based on a variable smooth contact model and successive convexification. ICRA, 2447–2453. IEEE.

Long, P., Keleştemur, T., Önol, A. Ö., & Padir, T. (2019). Optimization-based human-in-the-loop manipulation using joint space polytopes. ICRA, 204–210. IEEE.

Rasheed, T., Long, P., Roos, A. S., & Caro, S. (2019). Optimization based trajectory planning of mobile cable-driven parallel robots. IROS, 6788–6793. IEEE.

Onol, A. Ö., Long, P., & Padır, T. (2018). A comparative analysis of contact models in trajectory optimization for manipulation. IROS, 1–9. IEEE.

Rasheed, T., Long, P., Marquez-Gamez, D., & Caro, S. (2018). Available wrench set for planar mobile cable-driven parallel robots. ICRA, 962–967. IEEE.

Long, P., & Padir, T. (2018). Evaluating robot manipulability in constrained environments by velocity polytope reduction. Humanoids, 1–9. IEEE.

Long, P., Chevallereau, C., Chablat, D., & Girin, A. (2017). An industrial security system for human-robot coexistence. Industrial Robot: An International Journal, 45(2), 220–226.

Long, P., Khalil, W., & Martinet, P. (2014). Force/vision control for robotic cutting of soft materials. IROS, 4716–4721. IEEE.

Long, P., Khalil, W., & Caro, S. (2015). Kinematic and dynamic analysis of lower-mobility cooperative arms. Robotica, 33(9), 1813–1834.

Long, P., Khalil, W., & Martinet, P. (2014). Dynamic modeling of parallel robots with flexible platforms. Mechanism and Machine Theory, 81, 21–35.