AML Papers

• RAVE: A Real and Virtual Environment for Multiple Mobile Robot Systems

K. Dixon, J. Dolan,W. Huang, C. Paredis, P. Khosla
in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Kyongju, Korea, October 17-21, 1999. 
• Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot

S.-J. Tsai, E.D. Ferreira, C.J.J. Paredis
in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Kyongju, Korea, October 17-21, 1999. 
• An Architecture for Gesture Based Control of Mobile Robots

S. Iba, J.M. Vande Weghe, C.J.J. Paredis, P.K. Khosla
in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Kyongju, Korea, October 17-21, 1999.

• Modularity in Small Distributed Robots

L.E. Navarro-Serment, R. Grabowski, C.J.J. Paredis, P.K. Khosla
in Proceedings of the SPIE conference on Sensor Fusion and Decentralized Control in Robotic Systems II, Boston, MA, September 19-22, 1999.

• A Beacon System for the Localization of Distributed Robotic Teams

L.E. Navarro-Serment, C.J.J. Paredis, P.K. Khosla
in Proceedings of the International Conference on Field and Service Robotics, Pittsburgh, PA, August 29-31, 1999.

• Continuous Probabilistic Mapping by Autonomous Robots

J. Salido, C.J.J. Paredis, P.K. Khosla
in Proceedings of the 1999 International Symposium on Experimental Robotics, Sydney, Australia, March 26-28, 1999.

• The Shape from Motion Approach to Rapid and Precise Force/Torque Sensor Calibration

R. M. Voyles, Jr., J. D. Morrow, P. K. Khosla
Journal of Dynamic Systems, Measurement and Control, June, 1997. 
• A Rapidly Deployable Manipulator System

C. J. J. Paredis, H. B. Brown, and P. K. Khosla
Robotics and Autonomous Systems Vol. 21, pp. 289-304, 1997.

• Design of dynamically reconfigurable real-time software using port-based objects

David B. Stewart, R.A. Volpe, and Pradeep K. Khosla
IEEE Trans. on Software Engineering, 23(12), pp. 759-776, December 1997.

• Collaborative Calibration: Extending Shape from Motion Calibration

R.M. Voyles and P.K. Khosla
Proceedings of 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, v. 4, pp. 2795-2800, Apr. 1997.
• Tropism-Based Cognition for the Interpretation of Context-Dependent Gestures 

R.M. Voyles, A. Agah, P.K. Khosla and G.A. Bekey
Proceedings of 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, v. 4, pp. 3481-3486, Apr. 1997.
• Manipulation Task Primitives for Composing Robot Skills

J. D. Morrow and Pradeep K. Khosla
Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3354-3359, Albuquerque, NM, April, 1997. 
• Agent-Based Design of Fault Tolerant Manipulators fro Satellite Docking

C. J. J. Paredis, and P. K. Khosla
Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, pp. 3473-3480, April 20-25, 1997.
• Augmenting the human-machine interface: improving manual accuracy

C. N. Riviere and P. K. Khosla
Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 20-25, 1997.
• RMMS: Reconfigurable Modular Manipulator System Project

C. J. J. Paredis, and P. K. Khosla
in Video Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 20-25, 1997.

• Analytical Design of Evolutionary Control Flow Components

C. L. Hoover and P. K. Khosla
Proc. of the Second Workshop on High Assurance Systems Engineering (HASE'97), IEEE Computer Society Press, Los Alamitos, CA, Aug. 11-12, 1997.

• Task-Based Design of Manipulators: An Agent-Based Approach

C. J. J. Paredis, and P. K. Khosla
Proceedings of the 1997 ASME Desing Engineering Technical Conference, paper no. DETC97-DAC-3853, Sacramento, CA, September 14-17, 1997.

• Characteristics of hand motion of eye surgeons

C. N. Riviere, R. S. Rader, and P. K. Khosla
Proceedings of the 19th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Chicago, Oct 30-Nov 2, 1997.

• Active handheld instrument for error compensation in microsurgery

C. N. Riviere and P. K. Khosla
Proceedings of Intelligent Systems and Advanced Manufacturing: Technical Conference on Microrobotics and Microsystem Fabrication, Pittsburgh, PA., 16-17 October 1997, pp. 86-95.

• Mechanisms for detecting and handling timing errors

D. B. Stewart and P. K. Khosla
Communications of the ACM, vol. 40, no. 1, Jan 1997, pp. 87-94.

• A Modified Reactive Control Framework for Cooperative Mobile Robots

J. Salido, J.M. Dolan, J. Hampshire and P. Khosla
Proceedings on SPIE International Symposium on Sensor Fusion and Decentralized Control in Autonomous Robotic Systems; vol. 3209 pp. 90-100. 14-15 Oct. 1997, Pittsburgh.

• Toward Gesture-Based Programming: Agent-Based Haptic Skill Acquisition and Interpretation

R. M. Voyles
Technical Report CMU-RI-TR-97-36 (Ph.D. Thesis), Robotics Institute, Carnegie Mellon University, August 1997.
• Sensorimotor Primitives for Programming Robotic Assembly Skills

J. D. Morrow
Technical Report CMU-RI-TR-97-23 (Ph.D. Thesis), Robotics Institute, Carnegie Mellon University, May 1997.

• The Chimera Methodology: Designing Dynamically Reconfigurable and Reusable Real-Time Software using Port-Based Objects

David B. Stewart and Pradeep K. Khosla
International Journal of Software Engineering and Knowledge Engineering, vol 6, no. 2, June 1996, pp. 249-277.
• Gesture-Based Programming, Part 1: A Multi-Agent Approach

R.M. Voyles and P.K. Khosla
in Intelligent Engineering Systems through Artificial Neural Networks, Volume 6; Smart Engineering Systems: Neural Networks, Fuzzy Logic and Evolutionary Programming, ASME Press, 1996.
• Gesture-Based Programming, Part 2: Primordial Learning

R.M. Voyles, J.D. Morrow and P.K. Khosla
in Intelligent Engineering Systems through Artificial Neural Networks, Volume 6; Smart Engineering Systems: Neural Networks, Fuzzy Logic and Evolutionary Programming, ASME Press,1996.
• Fault Tolerant Task Execution through Global Trajectory Planning

C. J. J. Paredis, and P. K. Khosla
Reliability Engineering and System Safety (special issue on Safety of Robotic Systems), Vol. 53, No. 3, pp. 225-235, Sept. 1996.
• Designing Fault Tolerant Manipulators: How Many Degrees-of-Freedom?

C. J. J. Paredis, and P. K. Khosla
International Journal of Robotics Research, Vol. 15, No. 6, pp. 611-628, Dec. 1996.
• Robot Grasp Synthesis Algorithms: A Survey

Shimoga, K.B.
The International Journal of Robotics Research (MIT Press), June, 1996.
• Soft Robotic Fingers: Part~I. A Comparison of Construction Materials

Shimoga, K.B. and Goldenberg A.A.
International Journal of Robotics Research (MIT Press), August, 1996.
• Soft Robotic Fingers: Part~II. Modeling and Impedance Regulation

Shimoga, K.B. and Goldenberg A.A.
International Journal of Robotics Research (MIT Press), August, 1996.
• Robotic Manipulation Using High Bandwidth Force and Vision Feedback

B.J. Nelson and P.K. Khosla
Mathl. Comput. Modelling, 24(5/6), pp. 11-29, September, 1996.
• Robotic Visual Servoing and Robotic Assembly Tasks

B.J. Nelson, N.P. Papanikolopoulos, and P.K. Khosla
IEEE Robotics and Automation Magazine, 3(2), pp. 23-31, June, 1996.
• Force and Vision Resolvability for Assimilating Disparate Sensory Feedback

B.J. Nelson and P.K. Khosla
IEEE Transactions on Robotics and Automation, 12(5), pp. 714-731, October, 1996.

• An Analytical Approach to Change for the Design of Reusable Real-Time Software

C. L. Hoover and P. K. Khosla
Proc. of the Second Workshop on Object-Oriented Real-Time Dependable Systems (WORDS'96), IEEE Computer Society Press, Los Alamitos, CA, Feb. 1-2, 1996, pp. 144-151

• A Rapidly Deployable Manipulator System

C. J. J. Paredis
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1434-1439, Minnesota, Minneapolis, April 22-28, 1996.
• A Modular Tactile Sensor and Actuator Based on an Electrorheological Gel

R.M. Voyles, Jr., G. Fedder and P.K. Khosla
in Proceedings of 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, Apr. 1996.

• Accuracy in positioning of handheld instruments

C. N. Riviere and P. K. Khosla
Proceedings of the 18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Amsterdam, 31 October-3 November 1996.

• Policy-Independent Real-Time Operating System Mechanism for Timing Error Detection, Handling, and Monitoring

David B. Stewart and Pradeep K. Khosla
IEEE Workshop on High Assurance Systems Engineering, Niagara-on-the-Lake, Canada, Oct. 21-22, 1996.

• Including Sensor Bias in Shape from Motion Calibration and Multisensor Fusion

R.M. Voyles, J.D. Morrow and P.K. Khosla
in Proceedings of the 1996 IEEE/SICE/RSJ Multisensor Fusion and Integration Conference, Washington, DC, December 8-10, 1996.

• Model for Characterizing and Creating Certificate Programs in Technology-Specific Areas

C. L. Hoover
Technical Report: CMU-CS-96-128, Carnegie Mellon University, Pittsburgh, PA, 1996.

• An Agent-Based Approach to the Design of Rapidly Deployable Fault Tolerant Manipulators

C. J. J. Paredis
Ph.D. Thesis, Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, August 1996.

• Gravitational Stability of Frictionless Assemblies

R. Mattikalli, D. Baraff, P. Khosla, B. Repetto
IEEE Trans. on Robotics and Automation, 11(3), pp. 374-388, June 1995.
• Finding All Stable Orientations of Assemblies with Friction

R. Mattikalli, D. Baraff and P. Khosla
IEEE Trans. on Robotics and Automation,1995.
• Minimal Fixturing of Frictionless Assemblies: Complexity and Algorithms

D. Baraff, R. Mattikalli and P. Khosla
Algorithmica, Special issue on Computational Geometry in Manufacturing, 1995.
• Determining Two Minimal Circumscribing Disks for a Polygon

Y. Xu, R. Mattikalli and P. Khosla
Computer-Aided Design, 27(3), pp.223-234, 1995.
• Generation of Partial Medial Axis for Disassembly Motion Planning

Y. Xu, R. Mattikalli and P. Khosla
Journal of Design and Manufacturing, Vol 5, pp. 89-102, 1995.
• Design of Modular Fault Tolerant Manipulators

C. J. J. Paredis, and P. K. Khosla
The Algorithmic Foundations of Robotics, eds. K. Goldberg et al., A. K. Peters, Boston, Ma, pp. 373-383, 1995. 
• Six Degree-of-Freedom Hand/Eye Visual Tracking with Uncertain Parameters

N.P. Papanikolopoulos, B.J. Nelson, and P.K. Khosla
IEEE Transactions on Robotics and Automation, 11(5), pp. 725-732, October, 1995.
• Strategies for Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance

B.J. Nelson and P.K. Khosla
International Journal of Robotics Research, 14(3), pp. 225-269, June, 1995.
• On the Equivalence of Second Order Impedance Control and Proportional Gain Explicit Force Control

R. Volpe and P. Khosla
International Journal of Robotics Research, 14(6), December, 1995.

• Improved Force Control Through Visual Servoing

B.J. Nelson, J.D. Morrow, and P.K. Khosla
American Control Conference, Seattle, June 21-23, 1995.

• Fast Stable Contact Transitions with a Stiff Manipulator Using Force and Vision Feedback

B.J. Nelson, J.D. Morrow, and P.K. Khosla
IEEE/RSJ Int. Conf. on Intelligent Robots and Sys., Pittsburgh, August 5-9, 1995.
• Vision and Force Driven Sensorimotor Primitives for Robotic Assembly Skills

J.D. Morrow, B.J. Nelson, and P.K. Khosla
IEEE/RSJ Int. Conf. on Intelligent Robots and Sys., Pittsburgh, August 5-9, 1995.
• Global Trajectory Planning for Fault Tolerant Manipulators

C. J. J. Paredis, and P. K. Khosla
Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, PA, Vol. 2, pp. 428-434, August 5-9, 1995.
• Tactile Gestures for Human/Robot Interaction

R.M. Voyles, Jr. and P.K. Khosla
in Proceedings of 1995 IEEE/RSJ Conf. on Intelligent Robots and Systems, Pittsburgh, PA, Aug. 1995.
• A Touch Reflection system for Interaction with Remote and Virtual Environments

Shimoga, K.B., A.M. Murray and P.K. Khosla
Presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, PA, August 5-9, 1995.
• Rapid Development of Robotic Applications using Component-Based Real-Time Software

David B. Stewart and Pradeep K. Khosla
Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, PA., August 1995, pp. 465-470.

• Sensorimotor Primitives for Robotic Assembly Skills

J.D. Morrow and P.K. Khosla
IEEE Int. Conf. on Robotics and Automation, Nagoya, Japan, May 21-27, 1995.
• An Extendable Framework for Expectation-Based Visual Servoing Using Environment Models

B. Nelson and P.K. Khosla
IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 21-27, 1995.

• Meassuring the difficulty of assembly tasks from tool access information

Dz-Calder A., D. Navin-Chandra, and P. K. Khosla
IEEE International Symposium on Assembly and Task Planning, Pittsburgh, PA, August, 1995.

• The Role of the Software Engineer in Real-Time Software Development: An Introductory Course

C. L. Hoover
Proc. of the Eighth SEI Conference on Software Engineering Education, Mar. 29-Apr. 1, 1995, Springer-Verlag, Berlin, pp. 167-186.

• Developing Compatible Grasp and Fixture Plans

W. Carriker, R. Mattikalli and P. Khosla
in IEEE International Symposium on Assembly and Task Planning , pp. 354-361, August 1995, Pittsburgh.

• Shape from Motion Approach to Rapid and Precise Force/Torque Sensor Calibration

R.M. Voyles, Jr., J.D. Morrow and P.K. Khosla
in Proceedings of 1995 ASME International Mechanical Engineering Congress and Exposition, San Francisco, CA, Nov. 1995.

• Shape from Motion Decomposition as a Learning Approach for Autonomous Agents

R.M. Voyles, Jr., J.D. Morrow and P.K. Khosla
Proceedings of 1995 IEEE Conf. on Systems, Man, and Cybernetics, Vancouver, B.C., Oct. 1995.

• Real-Time Specialization Track: Masters of Software Engineering (MSE) Program

C. L. Hoover
Technical Report: CMU-CS-95-122, Carnegie Mellon University, Pittsburgh, PA, 1995.
• Human-Computer Interaction Specialization Track: Masters of Software Engineering (MSE) Program

C. L. Hoover
Technical Report: CMU-CS-95-123, Carnegie Mellon University, Pittsburgh, PA, 1995.
• Business Specialization Track: Masters of Software Engineering (MSE) Program

C. L. Hoover
Technical Report: CMU-CS-95-124, Carnegie Mellon University, Pittsburgh, PA, 1995.
• Force and Vision Resolvability for Assimilating Disparate Sensory Feedback

B. J. Nelson and P. K. Khosla
Technical Report: CMU-RI-TR-95-11, Carnegie Mellon University, Pittsburgh, PA, 1995.

Journal Aritcles/Book Contributions

• Comparison of some computer-based task management approaches

Dz-Calder A. and C. Hendrickson
Journal of Artificial Intelligence for Engineering Design, Analysis and Manufacturing, Vol. 8, Num 3, Summer 1994.
• Kinematic Design of Fault Tolerant Manipulators

C. J. J. Paredis, W. K. F. Au, and P. K. Khosla
Computers & Electrical Engineering, Vol. 20, No. 3, pp. 211-220, 1994.
• A Human-Machine Interface to Support Reconfigurable Software Assembly for Virtual Laboratories

Matthew W. Gertz, David B. Stewart, and Pradeep K. Khosla
IEEE Robotics and Automation Magazine, vol. 1, no. 4, December 1994.
• Analysis and Experimental Verification of a Fourth Order Plant Model for Manipulator Force Control

R. Volpe and P. Khosla
IEEE Robotics and Automation Magazine, vol. 1, no. 2, June 1994.
• Computational Considerations in the Implementation of Force Control Strategies

R. Volpe and P. Khosla
Journal of Intelligent and Robotic Systems: Theory and Applications. Special Issue on Computational Aspects of Robot Kinematics, Dynamics, and Control, Volume 9, pp. 121-148, 1994.
• Exploiting Redundancy To Reduce Impact Force

J.-O. Kim, M. Gertz, P.K. Khosla
Journal of Intelligent and Robotic System, Vol. 9, pp. 273-280, 1994.

• Six Degree-of-Freedom Hand/Eye Visual Tracking with Uncertain Parameters

N.P. Papanikolopoulos, B.J. Nelson, and P.K. Khosla
International Conference on Robotics and Automation, 1994.
• Finding all gravitationally stable orientations of assemblies

R. Mattikalli, D. Baraff and P. Khosla
International Conference on Robotics and Automation, pages 251-257, May 1994.
• Mapping Tasks into Fault Tolerant Manipulators

C. J. J. Paredis, and P. K. Khosla
Proc. of the 1994 IEEE International Conference on Robotics and Automation, Vol. 1, pp. 696-703, San Diego, CA, May 9-13, 1994.

• Teleneurosurgery: An Approach to Enhance the Dexterity of Neurosurgeons

Shimoga, K.B., P.K. Khosla, and R.J. Sclabassi
Proceedings of the Symposium on Medicine Meets Virtual Reality II, San Diego, CA, January 27-30, 1994, p. 203.

• Teleneurosurgery: An Approach to Enhance the Dexterity of Neurosurgeons

Shimoga, K.B., P.K. Khosla, and R.J. Sclabassi
1st International Symposium on Medical Robotics and Computer Assisted Surgery, Pittsburgh, PA, Sep 22-24, 1994 (poster).

• Touch and Force Reflection for Telepresence Surgery

Shimoga, K.B. and P.K. Khosla
Proc. IEEE Engineering in Medicine and Biology Society (EMBS) Conference, Baltimore MD, November 3-6, 1994.
• Visual and Force Feedback to Aid Neurosurgical Probe Insertion

Shimoga, K.B. and P.K. Khosla
Proc. IEEE Engineering in Medicine and Biology Society (EMBS) Conference, Baltimore MD, November 3-6, 1994.

• The Resolvability Ellipsoid for Visual Servoing

B. Nelson and P.K. Khosla
Conference on Computer Vision and Pattern Recognition, Seattle, WA., June 20-24, 1994.

• The Chimera Methodology: Designing Dynamically Reconfigurable Real-Time Software using Port-Based Objects

David B. Stewart and Pradeep K. Khosla
The First Workshop on Object-Oriented Real-Time Dependable Systems, Dana Point, CA., October 1994, pp. 46-53.

• Using Hypermedia and Reconfigurable Software Assembly to Support Virtual Laboratories and Factories

M. W. Gertz, D. B. Stewart, B. J. Nelson, and P. K. Khosla
5th International Symposium on Robotics and Manufacturing, Maui, Hawaii., August 15-17, 1994.

• Software Assembly for Real-Time Applications based on a Distributed Shared Memory Model

D. B. Stewart, M. W. Gertz, and P. K. Khosla
Complex Systems Engineering Synthesis and Assessment Technology Workshop, Silver Spring, MD., July 1994, pp. 217-224.

• Onika: A Multilevel Human-Machine Interface for Real-Time Sensor-Based Systems

M. W Gertz
The 4th Int'l Conf. and Expo on Engineering, Construction and Operations in Space, Albuquerque NM., Feb 1994.

• Real-time vision-based detection of wire gapping on a rotating transformer core

C.J. Taylor, E. Evans, J. Dolan, P.K. Khosla
Proc. SPIE Vol. 2349, p. 235-246, Industrial Optical Sensors for Metrology and Inspection, November 1994.

• A computer-based advisor for environmentally conscious, "green" product design

Dz-Calder A., S. Fenves, J. Garrett and C Hendrickson
ASCE First Congress on Computing in Civil Engineering, Washington D. C., June 1994.

• Minimal Fixturing of Frictionless Assemblies: Complexity and Algorithms

D. Baraff, R. Mattikalli and P. Khosla
Technical Report CMU-RI-TR-94-08, Robotics Institute, Carnegie Mellon University, 1994.
• Multi-Agent Perception for Human/Robot Interaction: A Framework for Intuitive Trajectory Modification

R.M. Voyles, Jr. and P.K. Khosla
CMU-RI-TR-94-33, The Robotics Institute, Carnegie Mellon University, Sept., 1994.

• A Visual Programming Environment for Real-Time Control Systems

Matthew W. Gertz
Ph.D. Dissertation, ECE Dept., Carnegie Mellon University, Pittsburgh, PA 15213, November 24, 1994.
• Real-Time Software Design and Analysis of Reconfigurable Multi-Sensor Based Systems

D. B. Stewart
Ph.D. Dissertation, ECE Dept., Carnegie Mellon University, Pittsburgh, PA 15213, April 1994.

• A Human-Machine Interface For Reconfigurable Sensor-Based Control Systems

Matthew W. Gertz, David B. Stewart, and Pradeep K. Khosla
American Institute of Aeronautics and Astronautics Conference on Space Programs and Technologies, Huntsville, Alabama. September 21-23, 1993 

• Dynamic Sensor Placement Using Controlled Active Vision

B.J. Nelson, N. P. Papanikolopolous, P.K. Khosla
Proceedings of the International Federatoin of Automatic Control, Sydney, Australia, July 18-23, 1993.

• Visual Servoing for Robotic Assembly

B.J. Nelson, N. P. Papanikolopolous, P.K. Khosla
Visual Servoing Real-Time Control of Robot Manipulators Based on Visual Sensory Feedback, K. Hashimoto, ed., River Edge, NJ, World Scientific Publishing, 1993, pp. 139-164.
• Kinematic Design of Serial Link Manipulators From Task Specifications

C. J. J. Paredis, and P. K. Khosla
International Journal of Robotics Research, Vol. 12, No. 3, pp. 274-287, June 1993. 
• Experimental Determination of the Dynamic Parameters of a Closed-chain Robotic Arm

Lu, Z., Shimoga, K.B. and Goldenberg A.A.
Journal of Robotic Systems (John-Wiley), October, 1993.
• A Theoretical and Experimental Investigation of Impact Control for Manipulators

R. Volpe and P. Khosla
International Journal of Robotics Research, 12(4), August 1993.
• A Theoretical and Experimental Investigation of Explicit Force Control Strategies for Manipulators

R. Volpe and P. Khosla
IEEE Transactions on Automatic Control, 38(11), November 1993. 

• Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance

B.J. Nelson and P.K. Khosla
International Conference on Robotics and Automation, vol.3, pp. 418-423, 1993.
• Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design

J.-O. Kim and P. Khosla
IEEE international conference on Robotics and Automation, Vol.3, pp.867-874, Atlanta, GA, USA, May, 1993.

• Itegrating Sensor Placement and Visual Tracking Strategies

B.J. Nelson and P.K. Khosla
The Third International Symposium on Experimental Robotics III, Kyoto, Japan, Oct. 28-30 1993.

• Stability of Assemblies

R. Mattikalli, P. K. Khosla, B. Repetto and D. Baraff
Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan pages 652-661, July 1993.
• A Formulation of Task Based Design of Robot manipulators

J.-O. Kim and P. Khosla
IEEE/RSJ International workshop on Intelligent Robots and Systems, Yokohama, Japan, July, 1993.

• Synthesis Methodology for Task Based Reconfiguration of Modular Manipulator Systems

C. J. J. Paredis, and P. K. Khosla
in Proc. of International Symposium on Robotics Research, Hidden Valley, PA, Oct. 2-5, 1993.

• Grasp Admittance Center Concept: An Experimental Demonstration

Goldenberg A.A. and Shimoga K.B.
In Proc. of the 1993 American Control Conference, San Francisco, CA, June 2-4, 1993, pp. 331-335 (Paper in an Invited Session).

• A Software Architecture-Based Human-Machine Interface for Reconfigurable Sensor-Based Control Systems

Matthew W. Gertz, David B. Stewart and Pradeep K. Khosla
8th IEEE International Symposium on Intelligent Control, Chicago, Ill., August 25-26, 1993, pp. 75-80.

• Perceptual feedback issues in dexterous telemanipulation: Part~I. Finger force feedback

Shimoga K.B.
Proc. IEEE International Symposium on Virtual Reality}, Seattle, WA, Sept 18-22, 1993.
• Perceptual feedback issues in dexterous telemanipulation: Part~II. Finger touch feedback

Shimoga K.B.
Proc. IEEE International Symposium on Virtual Reality, Seattle, WA, Sept 18-22, 1993.

• Integration of Real-Time Software Modules for Reconfigurable Sensor-Based Control Systems

David B. Stewart, Richard A. Volpe, and Pradeep K. Khosla
International Symposium on Intelligent Robotics, Bangalore, India., January 1993.

• Surface-Closure Algorithms for Filament Winding of Non-Axisymmetric Cylindrical Parts

Dolan, J.M., Khosla, P.K., Talukdar, S.N.
Proceedings of the 25th International SAMPE Technical Conference, Vol 25, pp.680-691, October 1993.

• Modeling and Compensation of Friction in Direct-Drive Robotic Arms

Popovic M., Shimoga K.B., Hui R. and Goldenberg A. A.
Proc. of International Conference on CAD/CAM, Robotics and Factories of the Future, St. Petersburgh, Russia, May 17-19, 1993.

• Model-Based Compensation of Friction in Direct-Drive Robotic Arms

Popovic M., Shimoga K.B., and Goldenberg A.A.
the International Conference on Control Systems and Computer Science, Bucharest, Romania, November, 1993.

• The Resolvability Ellipsoid for Sensor Based Manipulation

B. Nelson and P.K. Khosla
CMU-RI-TR-93-28, The Robotics Institute, Carnegie Mellon University, 1993.
• A comparison of task management approaches for engineering design processes

Dz-Calder A. and C. Hendrickson
Technical Report EDRC 12-59-93, Engineering Design Research Center, Carnegie Mellon University, 1993.
• TAP-D: A Model for Developing Specialization Tracks in Graduate Software Engineering Education

C. L. Hoover
Technical Report: CMU-CS-93-181, Carnegie Mellon University, Pittsburgh, PA, 1993.
• Impending Motion Direction of Contacting Rigid Bodies

D. Baraff and R. Mattikalli
Technical Report CMU-RI-TR-93-15, Robotics Institute, Carnegie Mellon University, 1993. 
• Finding Stable Orientations of Assemblies with Linear Programming

D. Baraff, R. Mattikalli, B. Repetto, and P. Khosla
Technical Report CMU-RI-TR-93-13, Robotics Institute, Carnegie Mellon University, 1993.
• Design of Dynamically Reconfigurable Real-time Software Using Port-based Objects

D. B. Stewart, R. A Volpe, and P. K. Khosla
Technical Report: CMU-RI-TR-93-11, The Robotics Institute, Carnegie Mellon University, July 1993

• Chimera 3.1: The Real-Time Operating System for Reconfigurable Sensor-Based Control Systems

David B. Stewart and Pradeep K. Khosla
Advanced Manipulators Laboratory, The Robotics Institute and Department of Electrical and Computer Engineering, Carnegie Mellon University, January 1993.

• Real-time Computational Aspects of Multiple Manipulator Systems, Journal of Intelligent and Robotic Systems: Theory and Applications

Kircanski, N., Hui, R., Shimoga, K.B., and Goldenberg, A.A.
Special Issue on Computational Aspects of Robot Kinematics, Dynamics, and Control (Kluwer Academic), 1992.
• Real-Time Scheduling of Sensor-Based Control Systems

D. B. Stewart and P. K. Khosla
Real-Time Programming, W. Halang and K. Ramamritham, Pergamon Press Inc., 1992, pp. 139-144.
• Real-Time Obstacle Avoidance Using Harmonic Potential Functions

J.-O. Kim and P. Khosla
IEEE Transaction on Robotics and Automation, Vol.8, No.3, pp.338-349, June, 1992.
• Static Modeling and Control of Redundant Manipulators

J.-O. Kim and P. Khosla and W.K. Chung Robotics and Computer-Integrated Manufacturing, Pergamon Press, Vol. 9, No.2, pp.145-157, 1992.
• Framework for Task Based Design of Manipulators

J.-O. Kim and P. Khosla
Robotics and Manufacturing, ASME Press Series, edited by M. Jamshidi, et al., Vol.4, 1992.

• Increasing the Tracking Region of an Eye-in-Hand System Using Controlled Active Vision

B. Nelson and Pradeep K. Khosla
IEEE International Conference on Control Application, pp. 1128-1133, 1992.

• Integration of Real-Time Software Modules for Reconfigurable Sensor-Based Control Systems

David B. Stewart, Richard A. Volpe, and Pradeep K. Khosla
International Conference on Intelligent Robots and Systems, Raleigh, NC., pp. 325-332, July 7-10, 1992.
• A Multi-Population Genetic Algorithm and Its Application to Design of Manipulators

J.-O. Kim and P. Khosla
IEEE/RSJ international workshop on Intelligent Robots and Systems, Rayleigh, NC, USA, July, 1992.

• Motion Constraints from Contact geometry : Representation and Analysis

Raju Mattikalli and Pradeep Khosla
In Proc. IEEE International Conference on Robotics and Automation, pages 2178-85, May 1992.

• Experimental Demonstration of the Grasp Admittance Center Concept

Shimoga K.B. and Goldenberg A.A.
In Proc. of the 1992 IEEE International Conference on Systems, Man, and Cybernetics, Chicago, IL, October 18-21, 1992, pp.~1116-1121.
• The Chimera II Real-Time Operating System for Advanced Sensor-Based Control Applications

David B. Stewart, Donald E. Schmitz, and Pradeep K. Khosla
IEEE Trans. on Systems, Man, and Cybernetics, vol. 22, no. 6, November/December 1992, pp. 1282-1295.

• Task Based Synthesis of Optimal Manipulator Configurations

J.-O. Kim and P. Khosla
1992 Japan-USA Symposium on Flexible Automation - A Pacific Rim Conference-ISCIE, San Francisco, CA, July, 1992. 

• Framework for Task Based Design of Manipulators

J.-O. Kim and P. Khosla
The 4th ISRAM conference, Santa FE, NM, November, 1992. 

• Adaptive Control of Robotic Systems: Experimental Hardware Issues

Goldenberg A.A., Shimoga K.B., Hu Y.-R. and Zhou C.
In Proceedings of the International Symposium on Robotics, Mechatronics, and Manufacturing Systems, Kobe, Japan, September 16-20, 1992 (Paper in an Invited Session).

• Framework for Task Based Design of Robot Manipulators

J.-O. Kim and P. Khosla
Korean Automatic Control Conference, Seoul, Korea, October, 1992 (in Korean). 

• An Iconic Programming Language for Sensor-Based Robots

Matthew Gertz, David B. Stewart, and Pradeep K. Khosla
SOAR Conference, Houston, Texas. , August 4-6, 1992.

• Finger Force and Touch Feedback Issues in Dexterous Telemanipulation: A Survey

Shimoga K.B.
Proceedings of the NASA-CIRSSE International Conference on Intelligent Robotic Systems for Space Exploration, Troy, NY., Sept 30 - Oct 2, 1992, pp. 159-178.

• Regulating the Impedance of a Soft Finger

Shimoga K.B. and Goldenberg A.A.
In Proceedings of the 1992 Japan-USA Symposium on Flexible Automation, San Francisco, CA, July 7-12, 1992.

• Filament Winding Algorithms for Arbitrary Convex Mandrel Shapes

Dolan, J.M., Gatenholm, M., Khosla, P.K., Talukdar, S.N.
TR - The Robotics Institute/Engineering Design Research Center, July, 1992.

• Task Based Kinematic Design of Robot Manipulators

Jin-Oh Kim
Ph.D. Thesis, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, August 1992.

RTOS91

• Real-Time Scheduling of Sensor-Based Control Systems

David B. Stewart and Pradeep K. Khosla
IEEE Workshop on Real-Time Operating Systems and Software, Atlanga GA., pp. 144-150. May 1991.

• Exploiting Redundancy to Reduce Impact Force

M. W. Gertz, Jin-Oh Kim and Pradeep K Khosla
Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems, Osaka, Japan, Nov 1991.
• Dexterity Measures for Design and Control of Manipulators

J.-O. Kim and P. Khosla
IEEE/RSJ international workshop on Intelligent Robots and Systems (IROS '91), Osaka, Japan, November 2-5, 1991.

• Analysis of Restraints to Translational and Rotational Motion from the Geometry of Contact

Raju Mattikalli and Pradeep Khosla
In Proc. ASME Winter Annual Meeting, DE-Vol.39, pages 65-71, December 1991.

• Two-Disk Motion Planning Strategy

Y. Xu, R. Mattikalli and P. Khosla
IEEE Int. Conf. on Systems, Man and Cybernetics, 991-996, Charlottesville VA, Oct. 1991.
• Generation of Partial Medial Axis for Disassembly Motion Planning

Y. Xu, R. Mattikalli and P. Khosla
IEEE Int. Conf. on Systems, Man and Cybernetics, pp. 997-1003, Charlottesville VA, Oct. 1991. 

• Real-Time Scheduling of Dynamically Reconfigurable Systems

David B. Stewart and Pradeep K. Khosla
IEEE International Conference on Systems Engineering, Dayton Ohio., August 1991, pp. 139-142.

• Real-Time Obstacle Avoidance Using Harmonic Potential Functions

J.-O. Kim and P. Khosla IEEE/RSJ international Conference on Robotics and Automation, pp.790-796, Sacremento, CA, April, 1991. 

• An Approach for Mapping Kinematic Task Specifications into a Manipulator Design

C. J. J. Paredis, and P. K. Khosla
in Proc. of 5th International Conference on Advanced Robotics, Vol. 1, pp. 556-561, Pisa, Italy, June 1991.
• Grasp Admittance Center: How Sensitive is it to Parameter Imprecision

Shimoga K.B. and Goldenberg A.A.
In Proc. 5th International Conference on Advanced Robotics, Pisa, Italy, June 2-4, 1991, pp. 619-624

• Efficient Static Force Transformation Algorithms for the PUMA Type Robots

Shimoga K.B.
In Proceedings of the 1st Atlantic Congress on Advanced Manufacturing Engineering, Halifax, Nova Scotia, Canada, September 10-12, 1991, pp. 110-120.

• Simulation of Strategies to Minimize the Force of Impact Between a Redundant Manipulator and an Obstacle

Matthew W. Gertz
Master's Thesis, Dept. of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, 1991.

• Modeling Static Behavior of Redundant Manipulators

J.-O. Kim, P. Khosla and W.K. Chung
Robotics and Manufacturing, ASME Press Series, edited by M. Jamshidi, et al., Vol.3, 1990.

• Manipulator Control with Superquadric Artificial Potential Functions: Theory and Experiments

R. Volpe and P. Khosla
IEEE Transactions on Systems, Man, and Cybernetics. Special Issue on Unmanned Vehicles and Intelligent Systems, 20(6), November/December 1990. 

• Implementing Real-Time Robotic Systems Using CHIMERA II

David B. Stewart, Donald E. Schmitz, and Pradeep K. Khosla
IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, May 1990, pp. 598-603.

• Subassembly Identification and Motion Generation for Assembly: A Geometric Approach

R. Mattikalli, P. Khosla and Y. Xu
in Proc. of IEEE Conf. on System Engineering, 399-403, Pittsburgh PA, Aug. 1990.

• A finite element model of the Hybrid III ribcage

C. N. Riviere
Proceedings of the Eighteenth International Workshop on Human Subjects for Biomechanical Research, Orlando, FL, pp. 55-59, 1990.

• Modeling Static Behavior of Redundant Manipulators

J.-O. Kim and P. Khosla and W.K. Chung The 3rd ISRAM conference, BC, Canada, 1990. 

• Real and Artificial Forces in the Control of Manipulators: Theory and Experiments

R. Volpe
Ph.D. Dissertation, Department of Physics, Carnegie Mellon University, September 1990.

• Determining the Assembly Sequence from a 3-D Model

P. Khosla and R. Mattikalli
in Journal of Mechanical Working Technology, Elsevier Press 20, 153-162, Sept. 1989.

• Determining the Assembly Sequence from a 3-D Model

R. Mattikalli and P. Khosla.
in 3rd Anual Expert Systems Conference and Exposition, Detroit , April, 1989.

• CHIMERA II: A Real-Time Multiprocessing Environment For Sensor-Based Robot Control

David B. Stewart, Donald E. Schmitz, and Pradeep K. Khosla,
IEEE International Symposium on Intelligent Control, Albany, New York, September 1989, pp. 265-271

• Practical Electrorheological Fluid-Based Fingertips for Robotic Applications

R.M. Voyles, Jr., B.L. Stavnheim, and B. Yap
in Proceedings of 1989 IASTED International Symposium on Robotics and Manufacturing, Santa Barbara, CA, Nov. 1989.

• A Study on the Premultiplier Model for Redundant Manipulators

W.K. Chung, J.-O. Kim and P. Khosla
Korean Automatic Control Conference, Seoul, Korea, October, 1989(in Korean). 

• A System to Determine Assembly Sequences

R. Mattikalli and P. Khosla.
Technical Report EDRC-24-16-89, Engineering Design Research Center, Carnegie-Mellon University, 1989. 
• CHIMERA II: A Real-time UNIX-compatible Multiprocessor Operating System for Sensor-based Control Applications

D. B. Stewart, D. E. Schmitz, and P. K. Khosla
Tech. Report CMU- RI-TR-89-24, Carnegie Mellon University, September 1989.

• CHIMERA II: A Real-time UNIX-compatible Multiprocessor Environment for Sensor-based Robot Control

David B. Stewart
Master's Thesis, Dept. of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, December 1989.

• Contact Stability in Model-Based Force Control Systems of Robot Manipulators

Shimoga K.B. and Goldenberg A.A.
In Proceedings of the 3rd IEEE International Symposium on Intelligent Control, Arlington, VA, August 25-27, 1988, pp. 412-417.