Joel W. Burdick

According to our database1, Joel W. Burdick authored at least 213 papers between 1986 and 2019.

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2019
Control Regularization for Reduced Variance Reinforcement Learning.
Proceedings of the 36th International Conference on Machine Learning, 2019

End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks.
Proceedings of the Thirty-Third AAAI Conference on Artificial Intelligence, 2019

2018
Equilateral Three-Finger Caging of Polygonal Objects Using Contact Space Search.
IEEE Trans. Automation Science and Engineering, 2018

Optimization-based Design and Analysis of Planar Rotary Springs.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

On Muscle Activation for Improving Robotic Rehabilitation after Spinal Cord Injury.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Inverse Reinforcement Learning via Function Approximation for Clinical Motion Analysis.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Proprioceptive Inference for Dual-Arm Grasping of Bulky Objects Using RoboSimian.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Stagewise Safe Bayesian Optimization with Gaussian Processes.
Proceedings of the 35th International Conference on Machine Learning, 2018

Extraction of Muscle Synergies in Spinal Cord Injured Patients.
Proceedings of the 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2018

2017
Team RoboSimian: Semi-autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals.
J. Field Robotics, 2017

Multi-dueling Bandits with Dependent Arms.
Proceedings of the Thirty-Third Conference on Uncertainty in Artificial Intelligence, 2017

Modeling motor responses of paraplegics under epidural spinal cord stimulation.
Proceedings of the 8th International IEEE/EMBS Conference on Neural Engineering, 2017

Quantifying performance of bipedal standing with multi-channel EMG.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Design and analysis of planar rotary springs.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Design and analysis of the bearingless planetary gearbox.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Correlational Dueling Bandits with Application to Clinical Treatment in Large Decision Spaces.
Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence, 2017

Clinical patient tracking in the presence of transient and permanent occlusions via geodesic feature.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Keynote address III: Recovery of function in major spinal cord injury using learning-guided spinal stimulation.
Proceedings of the 2017 NASA/ESA Conference on Adaptive Hardware and Systems, 2017

2016
Contact Modeling and Manipulation.
Proceedings of the Springer Handbook of Robotics, 2016

Linearly Solvable Stochastic Control Lyapunov Functions.
SIAM J. Control and Optimization, 2016

Combined Energy Harvesting and Control of Moball: A Barycentric Spherical Robot.
Proceedings of the International Symposium on Experimental Robotics, 2016

Simultaneous model identification and task satisfaction in the presence of temporal logic constraints.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Reduced dynamical equations for barycentric spherical robots.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Wrench resistant multi-finger hand mechanisms.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015
Two-Finger Caging of Polygonal Objects Using Contact Space Search.
IEEE Trans. Robotics, 2015

An Active Learning Algorithm for Control of Epidural Electrostimulation.
IEEE Trans. Biomed. Engineering, 2015

Mobile Manipulation and Mobility as Manipulation - Design and Algorithms of RoboSimian.
J. Field Robotics, 2015

Kinematics for combined quasi-static force and motion control in multi-limbed robots.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A framework for whole-body manipulation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Design investigation of a coreless tubular linear generator for a Moball: A spherical exploration robot with wind-energy harvesting capability.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Robust three-finger three-parameter caging of convex polygons.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Safe Exploration for Optimization with Gaussian Processes.
Proceedings of the 32nd International Conference on Machine Learning, 2015

Suboptimal stabilizing controllers for linearly solvable system.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

2014
Parallelizing exploration-exploitation tradeoffs in Gaussian process bandit optimization.
J. Mach. Learn. Res., 2014

Model-based autonomous system for performing dexterous, human-level manipulation tasks.
Auton. Robots, 2014

A Quadratic Programming Approach to Quasi-Static Whole-Body Manipulation.
Proceedings of the Algorithmic Foundations of Robotics XI, 2014

Clinical online recommendation with subgroup rank feedback.
Proceedings of the Eighth ACM Conference on Recommender Systems, 2014

Optimal navigation functions for nonlinear stochastic systems.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Kinematics and methods for combined quasi-static stance/reach planning in multi-limbed robots.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Convex relaxations of SE(2) and SE(3) for visual pose estimation.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Energy harvesting analysis for Moball, A self-propelled mobile sensor platform capable of long duration operation in harsh terrains.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Two-finger caging of 3D polyhedra using contact space search.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Domain decomposition for stochastic optimal control.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Linear Hamilton Jacobi Bellman Equations in high dimensions.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Finite state control of POMDPs with LTL specifications.
Proceedings of the American Control Conference, 2014

Semidefinite relaxations for stochastic optimal control policies.
Proceedings of the American Control Conference, 2014

2013
Motion planning and control for a tethered, rimless wheel differential drive vehicle.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Online motion planning for tethered robots in extreme terrain.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Interactive non-prehensile manipulation for grasping via POMDPs.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Dual arm estimation for coordinated bimanual manipulation.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

The next best touch for model-based localization.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012
Robot Motion Planning in Dynamic, Uncertain Environments.
IEEE Trans. Robotics, 2012

Analysis of Search Decision Making Using Probabilistic Search Strategies.
IEEE Trans. Robotics, 2012

Axel and DuAxel rovers for the sustainable exploration of extreme terrains.
J. Field Robotics, 2012

On the Lyapunov stability of quasistatic planar biped robots.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Backtracking temporal logic synthesis for uncertain environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

End-to-end dexterous manipulation with deliberate interactive estimation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Combined grasp and manipulation planning as a trajectory optimization problem.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Combined shape, appearance and silhouette for simultaneous manipulator and object tracking.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Towards formal synthesis of reactive controllers for dexterous robotic manipulation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Two-fingered caging of polygons via contact-space graph search.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Parallelizing Exploration-Exploitation Tradeoffs with Gaussian Process Bandit Optimization.
Proceedings of the 29th International Conference on Machine Learning, 2012

2011
Probabilistic Collision Checking With Chance Constraints.
IEEE Trans. Robotics, 2011

A probabilistic framework for object search with 6-DOF pose estimation.
I. J. Robotics Res., 2011

Fusion of stereo vision, force-torque, and joint sensors for estimation of in-hand object location.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Motion planning on steep terrain for the tethered axel rover.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2010
People Tracking with UWB Radar Using a Multiple-Hypothesis Tracking of Clusters (MHTC) Method.
I. J. Social Robotics, 2010

Robotic motion planning in dynamic, cluttered, uncertain environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Dynamic sensor planning with stereo for model identification on a mobile platform.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

A probabilistic framework for stereo-vision based 3D object search with 6D pose estimation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Human detection and tracking via Ultra-Wideband (UWB) radar.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Axel rover paddle wheel design, efficiency, and sinkage on deformable terrain.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009
A Bayesian Clustering Method for Tracking Neural Signals Over Successive Intervals.
IEEE Trans. Biomed. Engineering, 2009

Axel.
IEEE Robot. Automat. Mag., 2009

Eccentricity Estimator for Wide-Angle Fovea Vision Sensor.
JRM, 2009

Eccentricity Compensator for Wide-Angle Fovea Vision Sensor.
JRM, 2009

A Robotic Neural Interface for Autonomous Positioning of Extracellular Recording Electrodes.
I. J. Robotics Res., 2009

Sensor planning for object pose estimation and identification.
Proceedings of the 2009 IEEE International Workshop on Robotic and Sensors Environments, 2009

Multiple hypothesis tracking using clustered measurements.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

2008
Contact Modeling and Manipulation.
Proceedings of the Springer Handbook of Robotics, 2008

A General Stance Stability Test Based on Stratified Morse Theory With Application to Quasi-Static Locomotion Planning.
IEEE Trans. Robotics, 2008

Online Algorithms with Discrete Visibility - Exploring Unknown Polygonal Environments.
IEEE Robot. Automat. Mag., 2008

Eccentricity estimator for wide-angle fovea sensor by FMI descriptor approach.
Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2008

A miniature robot for isolating and tracking neurons in extracellular cortical recordings.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

Artificial potential functions for highway driving with collision avoidance.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

Multi-agent probabilistic search in a sequential decision-theoretic framework.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

Bayesian clustering and tracking of neuronal signals for autonomous neural interfaces.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

A hybrid systems model for supervisory cognitive state identification and estimation in neural prosthetics.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

2007
SC-KF Mobile Robot Localization: A Stochastic Cloning Kalman Filter for Processing Relative-State Measurements.
IEEE Trans. Robotics, 2007

Eccentricity Compensator for Log-Polar Sensor.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

A Decision-Making Framework for Control Strategies in Probabilistic Search.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

A Stochastic Framework for Hybrid System Identification with Application to Neurophysiological Systems.
Proceedings of the Hybrid Systems: Computation and Control, 10th International Workshop, 2007

2006
A Polyhedral Bound on the Indeterminate Contact Forces in Planar Quasi-Rigid Fixturing and Grasping Arrangements.
IEEE Trans. Robotics, 2006

The power dissipation method and kinematic reducibility of multiple-model robotic systems.
IEEE Trans. Robotics, 2006

A control algorithm for autonomous optimization of extracellular recordings.
IEEE Trans. Biomed. Engineering, 2006

Constructing minimum deflection fixture arrangements using frame invariant norms.
IEEE Trans. Automation Science and Engineering, 2006

Alice: An information-rich autonomous vehicle for high-speed desert navigation.
J. Field Robotics, 2006

Multi-robot Boundary Coverage with Plan Revision.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Image Extraction by Wide Angle Foveated Lens for Overt-attention.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Multi-scale point and line range data algorithms for mapping and localization.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

A Decentralized Motion Coordination Strategy for Dynamic Target Tracking.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Assist-as-needed Training Paradigms for Robotic Rehabilitation of Spinal Cord Injuries.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

2005
Spike detection using the continuous wavelet transform.
IEEE Trans. Biomed. Engineering, 2005

Communication and sensing trade-offs in decentralized mobile sensor networks: a cross-layer design approach.
Proceedings of the Fourth International Symposium on Information Processing in Sensor Networks, 2005

Synthetic Jet Propulsion for Small Underwater Vehicles.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

Machine Vision System to Induct Binocular Wide-Angle Foveated Information into Both the Human and Computers - Feature Generation Algorithm based on DFT for Binocular Fixation -.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

A Coverage Algorithm for Multi-robot Boundary Inspection.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

A Miniature Robot for Autonomous Single Neuron Recordings.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

Cognitive Based Neural Prosthetics.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

2004
Computation and analysis of natural compliance in fixturing and grasping arrangements.
IEEE Trans. Robotics, 2004

Feedback Control Methods for Distributed Manipulation Systems that Involve Mechanical Contacts.
I. J. Robotics Res., 2004

Special Issue on WAFR 2002.
I. J. Robotics Res., 2004

On the Mechanics of Natural Compliance in Frictional Contacts and its Effect on Grasp Stiffness and Stability.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

Scheduling for Distributed Sensor Networks with Single Sensor Measurement per Time Step.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

2003
The Development of Hopping Capabilities for Small Robots.
Auton. Robots, 2003

Control of biomimetic locomotion via averaging theory.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

A polyhedral bound on the indeterminate contact forces in 2D fixturing and grasping arrangements.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Weighted line fitting algorithms for mobile robot map building and efficient data representation.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Experiments in nonsmooth control of distributed manipulation.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Smooth feedback control algorithms for distributed manipulators.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Experiments in fixturing mechanics.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

2002
Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting.
IEEE Trans. Robotics and Automation, 2002

Feedback Control for Distributed Manipulation.
Proceedings of the Algorithmic Foundations of Robotics V, 2002

Stochastic Cloning: A Generalized Framework for Processing Relative State Measurements.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Weighted Range Sensor Matching Algorithms for Mobile Robot Displacement Estimation.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Global Exponential Stabilizability for Distributed Manipulation Systems.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Trajectory Stabilization for a Planar Carangiform Robot Fish.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Trajectory Planning using Reachable-State Density Functions.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

2001
Controllability of kinematic control systems on stratified configuration spaces.
IEEE Trans. Automat. Contr., 2001

Passive force closure and its computation in compliant-rigid grasps.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001

Global stability for distributed systems with changing contact states.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001

A Controllability test and Motion planning Primitives for Overconstrained Vehicles.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

On the Stability and Design of Distributed Manipulation Control Systems.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

Nonlinear Control Methods for Planar Carangiform Robot Fish Locomotion.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

2000
A stiffness-based quality measure for compliant grasps and fixtures.
IEEE Trans. Robotics and Automation, 2000

Objective and Frame-Invariant Kinematic Metric Functions for Rigid Bodies.
I. J. Robotics Res., 2000

Sensor-Based Exploration: Incremental Construction of the Hierarchical Generalized Voronoi Graph.
I. J. Robotics Res., 2000

Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph.
I. J. Robotics Res., 2000

Quasi-static legged locomotors as nonholonomic systems.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000

Experiments in Carangiform Robotic Fish Locomotion.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

On Well-Defined Kinematic Metric Functions.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Biomechanical Modeling of the Small Intestine as Required for the Design and Operation of a Robotic Endoscope.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

A Minimally Actuated Hopping Rover for Exploration of Celestial Bodies.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

1999
Construction and Modelling of a Carangiform Robotic Fish.
Proceedings of the Experimental Robotics VI, 1999

RoverBug: Long Range Navigation for Mars Rovers.
Proceedings of the Experimental Robotics VI, 1999

Propulsion and Control of Deformable Bodies in an Ideal Fluid.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

A Task-Dependent Approach to Minimum-Deflection Fixtures.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

An Autonomous Sensor-Based Path-Planner for Planetary Microrovers.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

1998
Mobility of bodies in contact. II. How forces are generated by curvature effects.
IEEE Trans. Robotics and Automation, 1998

Mobility of bodies in contact. I. A 2nd-order mobility index for multiple-finger grasps.
IEEE Trans. Robotics and Automation, 1998

The Geometric Mechanics of Undulatory Robotic Locomotion.
I. J. Robotics Res., 1998

Enumerating the Non-Isomorphic Assembly Configurations of Modular Robotic Systems.
I. J. Robotics Res., 1998

Practical autonomous path planner for turn-of-the-century planetary microrovers.
Proceedings of the Mobile Robots XIII and Intelligent Transportation Systems, Boston, 1998

Stabilization of Systems with Changing Dynamics by Means of Switching.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

Asymptotic Stabilization of Multiple Nonholonomic Mobile Robots Forming Group Formations.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

Minimum-Deflection Grasps and Fixtures.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

An Autonomous Path Planner Implemented on the Rocky7 Prototype Microrover.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

Gait Controllability for Legged Robots.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

Stabilization of Systems with Changing Dynamics.
Proceedings of the Hybrid Systems: Computation and Control, First International Workshop, 1998

1997
Stable poses of 3-dimensional objects.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

Computation and analysis of compliance in grasping and fixturing.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

A quality measure for compliant grasps.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

Trajectory generation for kinematic legged robots.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

Sensor based planning for a planar rod robot: incremental construction of the planar rod-HGVG.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

Understanding discrete visibility and related approximation algorithms.
Proceedings of the 9th Canadian Conference on Computational Geometry, 1997

An on-line algorithm for exploring an unknown polygonal environment by a point robot.
Proceedings of the 9th Canadian Conference on Computational Geometry, 1997

1996
On force and form closure for multiple finger grasps.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

Gait kinematics for a serpentine robot.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

Sensor based planning for a planar rod robot.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

1995
The kinematics of hyper-redundant robot locomotion.
IEEE Trans. Robotics and Automation, 1995

New bounds on the number of frictionless fingers requied to immobilize.
J. Field Robotics, 1995

The Development of a Robotic Endoscope.
Proceedings of the Experimental Robotics IV, The 4th International Symposium, Stanford, California, USA, June 30, 1995

The development of a robotic endoscope.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 1995

New Bounds on the Number of Frictionless Fingers Required to Immobilize 2D Objects.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

The Mechanisms of Undulatory Locomotion: The Mixed Kinematic and Dynamic Case.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

The Stability of heavy Objects with Multiple Contacts.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

Sensor Based Planing, Part II: Incremental COnstruction of the Generalized Voronoi Graph.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

Sensor Based Planing, Part I: The Generalized Voronoi Graph.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

Determining Task Optimal Modular Robot Assembly Configurations.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

1994
A modal approach to hyper-redundant manipulator kinematics.
IEEE Trans. Robotics and Automation, 1994

A hyper-redundant manipulator.
IEEE Robot. Automat. Mag., 1994

A 'sidewinding' locomotion gait for hyper-redundant robots.
Advanced Robotics, 1994

Mobility of Bodies in Contact - II: How Forces are Generated by Curvature Effects.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

Mobility of Bodies in Contact - I: A New 2nd Order Mobility Index for Multiple-Finger Grasps.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

Nonholonomic Mechanics and Locomotion: The Snakeboard Example.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

Sensor-Based Planning and Nonsmooth Analysis.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

1993
Periodic Motions of a Hopping Robot With Vertical and Forward Motion.
I. J. Robotics Res., 1993

Simulated and experimental results of dual resolution sensor based planning for hyper-redundant manipulators.
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1993

Enumerating the nonisomorphic assembly configurations of modular robotic systems.
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1993

Towards Planning with Force Constraints: On the Mobility of Bodies in Contact.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

Designing Feedback Algorithms for Controlling the Periodic Motions of Legged Robots.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

Design and Experiments with a 30 DOF Robot.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

A Qualitative Test for N-Finger Force-Closure Grasps on Planar Objects with Applications to Manipulation and Finger Gaits.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

A "Sidewinding" Locomotion Gait for Hyper-Redundant Robots.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

Global descent replaces gradient descent to avoid local minima problem in learning with artificial neural networks.
Proceedings of International Conference on Neural Networks (ICNN'88), San Francisco, CA, USA, March 28, 1993

1992
Kinematically optimal hyper-redundant manipulator configurations.
Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1992

Finding antipodal point grasps on irregularly shaped objects.
Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1992

A recursive method for finding revolute-jointed manipulator singularities.
Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1992

1991
An "Interesting" Strange Attractor in the Dynamics of a Hopping Robot.
I. J. Robotics Res., 1991

Hyper-redundant robot mechanisms and their applications.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 1991

An analytical study of simple hopping robots with vertical and forward motion.
Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

Kinematics of hyper-redundant robot locomotion with applications to grasping.
Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

Parallel formulation of the inverse kinematics of modular hyper-redundant manipulators.
Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

Efficient global redundant configuration resolution via sub-energy tunneling and terminal repelling.
Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

A classification of 3R regional manipulator singularities and geometries.
Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

1990
Chaotic motions in the dynamics of a hopping robot.
Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990

An obstacle avoidance algorithm for hyper-redundant manipulators.
Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990

1989
On the inverse kinematics of redundant manipulators: characterization of the self-motion manifolds.
Proceedings of the 1989 IEEE International Conference on Robotics and Automation, 1989

1986
Motion and force control of robot manipulators.
Proceedings of the 1986 IEEE International Conference on Robotics and Automation, 1986

NYMPH: A multiprocessor for manipulation applications.
Proceedings of the 1986 IEEE International Conference on Robotics and Automation, 1986

An algorithm for generation of efficient manipulator dynamic equations.
Proceedings of the 1986 IEEE International Conference on Robotics and Automation, 1986

The explicit dynamic model and inertial parameters of the PUMA 560 arm.
Proceedings of the 1986 IEEE International Conference on Robotics and Automation, 1986

Satyr and the Nymph: Software Archetype for Real-Time Robotics.
Proceedings of the Fall Joint Computer Conference, November 2-6, 1986, Dallas, Texas, USA, 1986


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