Dr. Karun B. Shimoga Project Scientist The Robotics Institute, Carnegie Mellon University

1. Contact Information
2. Research Interest
3. Publications

1. Contact Information

Office: Newell-Simon Hall, 3rd Floor

Tel: +1 (412) 268-5712

Fax: +1 (412) 268-5576

Email: kshimoga@cs.cmu.edu

Lab: Image Understanding Laboratory

Director: Prof. Takeo Kanade

Lab Tel: +1 (412) 268-3275

Mailing Address:

Dr. Karun B. Shimoga

The Robotics Institute

Carnegie Mellon University

5000 Forbes Avenue

Pittsburgh, PA 15213-3898, USA.

2. Research Interest

4. Publications

IN JOURNALS:

• Shimoga, K.B., Robot Grasp Synthesis Algorithms: A Survey, The International Journal of Robotics Research (MIT Press), June, 1996.
• Shimoga, K.B. and Goldenberg A.A., Soft Robotic Fingers: Part~I. A Comparison of Construction Materials, International Journal of Robotics Research (MIT Press), August, 1996, pp. .....
• Shimoga, K.B. and Goldenberg A.A., Soft Robotic Fingers: Part~II. Modeling and Impedance Regulation, International Journal of Robotics Research (MIT Press), August, 1996, pp. ........
• Lu, Z., Shimoga, K.B. and Goldenberg A.A., Experimental Determination of the Dynamic Parameters of a Closed-chain Robotic Arm, Journal of Robotic Systems (John-Wiley), October, 1993.
• Kircanski, N., Hui, R., Shimoga, K.B., and Goldenberg, A.A., Real-time Computational Aspects of Multiple Manipulator Systems, Journal of Intelligent and Robotic Systems: Theory and Applications, Special Issue on Computational Aspects of Robot Kinematics, Dynamics, and Control (Kluwer Academic), 1992.
• Shimoga, K.B. and Goldenberg, A.A., Grasp Admittance Center: Part I. Concept, Part II. Implications, In review at IEEE Transactions on Robotics and Automation.

• Shimoga, K.B., P.K. Khosla, and R.J. Sclabassi, "Teleneurosurgery: An Approach to Enhance the Dexterity of Neurosurgeons," Proceedings of the Symposium on Medicine Meets Virtual Reality II, San Diego, CA, January 27-30, 1994, p. 203.
• Shimoga, K.B., B. Bankler, P.K. Khosla, R.J. Sclabassi, "Teleneurosurgery: An Approach to Enhance the Dexterity of Neurosurgeons, 1st International Symposium on Medical Robotics and Computer Assisted Surgery, Pittsburgh, PA, Sep 22-24, 1994 (poster).
• Shimoga, K.B. and P.K. Khosla, "Touch and Force Reflection for Telepresence Surgery," Proc. IEEE Engineering in Medicine and Biology Society (EMBS) Conference, Baltimore MD, November 3-6, 1994.
• Shimoga, K.B. and P.K. Khosla, "Visual and Force Feedback to Aid Neurosurgical Probe Insertion," Proc. IEEE Engineering in Medicine and Biology Society (EMBS) Conference, Baltimore MD, November 3-6, 1994.
• Shimoga, K.B., A.M. Murray and P.K. Khosla, A Touch Reflection system for Interaction with Remote and Virtual Environments, Presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, PA, August 5-9, 1995.
• Shimoga K.B., Finger Force and Touch Feedback Issues in Dexterous Telemanipulation: A Survey, Proceedings of the NASA-CIRSSE International Conference on Intelligent Robotic Systems for Space Exploration, Troy, NY., Sept 30 - Oct 2, 1992, pp. 159-178.
• Shimoga K.B., Perceptual feedback issues in dexterous telemanipulation: Part~I. Finger force feedback,'' {\sl Proc. IEEE International Symposium on Virtual Reality}, Seattle, WA, Sept 18-22, 1993, pp....
• Shimoga K.B., Perceptual feedback issues in dexterous telemanipulation: Part~II. Finger touch feedback, Proc. IEEE International Symposium on Virtual Reality, Seattle, WA, Sept 18-22, 1993, pp. ....
• Popovic M., Shimoga K.B., Hui R., and Goldenberg A.A., Modeling and Compensation of Friction in Direct-Drive Robotic Arms, Proc. of International Conference on CAD/CAM, Robotics and Factories of the Future, St. Petersburgh, Russia, May 17-19, 1993.
• Popovic M., Shimoga K.B., and Goldenberg A.A., Model-Based Compensation of Friction in Direct-Drive Robotic Arms, the International Conference on Control Systems and Computer Science, Bucharest, Romania, November, 1993, pp. ....
• Shimoga K.B. and Goldenberg A.A., Regulating the Impedance of a Soft Finger, In Proceedings of the 1992 Japan-USA Symposium on Flexible Automation, San Francisco, CA, July 7-12, 1992.
• Shimoga K.B. and Goldenberg A.A., Experimental Demonstration of the Grasp Admittance Center Concept, In Proc. of the 1992 IEEE International Conference on Systems, Man, and Cybernetics, Chicago, IL, October 18-21, 1992, pp.~1116-1121.
• Goldenberg A.A. and Shimoga K.B., Grasp Admittance Center Concept: An Experimental Demonstration, In Proc. of the 1993 American Control Conference, San Francisco, CA, June 2-4, 1993, pp. 331-335 (Paper in an Invited Session).
• Goldenberg A.A., Shimoga K.B., Hu Y.-R. and Zhou C., Adaptive Control of Robotic Systems: Experimental Hardware Issues, In Proceedings of the International Symposium on Robotics, Mechatronics, and Manufacturing Systems, Kobe, Japan, September 16-20, 1992 (Paper in an Invited Session).
• Goldenberg A.A., Shimoga K.B. and Liu G.-J, Robust Control of Robotic Systems: Experimental Hardware Issues, In Proceedings of the 23rd International Symposium on Industrial Robots, Barcelona, Spain, Oct 6-9, 1992 (Paper in an Invited Session).
• Shimoga K.B. and Goldenberg A.A., Soft Materials for Robotic Fingers, In Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, May 10-15, 1992, pp. 1300-1305.
• Shimoga K.B. and Goldenberg A.A., Constructing Multifingered Grasps to Achieve Admittance Center, In Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, May 10-15, 1992, pp. 2296-2301.
• Shimoga K.B. and Goldenberg A.A., Grasp Admittance Center: A Concept, In Proc. 13th Canadian Congress on Applied Mechanics, Winnipeg, Manitoba, Canada, June 2-6, 1991, pp. 674-675.
• Shimoga K.B. and Goldenberg A.A., Grasp Admittance Center: A Concept and Its Implications, In Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, April, 1991, pp. 293-298. (Finalist, the 1991 IEEE Anton Philips Award for best student paper)
• Shimoga K.B. and Goldenberg A.A., Grasp Admittance Center: Choosing Admittance Center Parameters, In Proc. 1991 American Control Conference, Boston, MA, June, 26-28, 1991, pp. 2527-2532 (Paper in an Invited Session).
• Shimoga K.B. and Goldenberg A.A., Grasp Admittance Center: How Sensitive is it to Parameter Imprecision, In Proc. 5th International Conference on Advanced Robotics, Pisa, Italy, June 2-4, 1991, pp. 619-624.
• Shimoga K.B., Efficient Static Force Transformation Algorithms for the PUMA Type Robots, In Proceedings of the 1st Atlantic Congress on Advanced Manufacturing Engineering, Halifax, Nova Scotia, Canada, September 10-12, 1991, pp. 110-120.
• Shimoga K.B. and Goldenberg A.A., Contact Stability in Model-Based Force Control Systems of Robot Manipulators, In Proceedings of the 3rd IEEE International Symposium on Intelligent Control, Arlington, VA, August 25-27, 1988, pp. 412-417.