PUBLICATIONS:

"A Framework for Integrating Multiple Construction Robots," with Esfandiar Bandari. Construction Robotics Laboratory. Robotics Institute, CMU, 1986.

"A Walking Prescription for Statically-Stable Walkers on Walker/Terrain Interaction." Proceedings of the 1992 IEEE International Conference on Robotics and Automation. Nice, France - May 1992, pp. 149-156.

"Ambler: Performance of A Six-Legged Planetary Rover," with E.P. Krotkov and R.G. Simmons. Acta Astronautica, Vol. 35, No. 1, pp. 75-81, 1995.

"Antenna Pointing for High Bandwidth Communication from Mobile Robots," with D. Bapna, A. Foessel and E. Rollins. Submitted to the 1998 IEEE International Conference on Robotics and Automation.

"An Architecture and Two Cases in Range-Based Modeling and Planning," with G. Turkiyyah and M. Hebert. Proceedings of the IEEE International Conference on Robotics and Automation. Raleigh, April 1987.

"The Atacama Desert Trek - Outcomes," with D. Bapna, M. Maimone, J. Murphy, E. Rollins and D. Wettergreen. Submitted to the 1998 IEEE International Conference on Robotics and Automation.

"An Automated Mapping System for Ferrous Pipes," with N.K. Lay and B. Motazed. Field Robotics Center, CMU. AI In Engineering: Tools and Techniques, pp. 81-94.

"An Autonomous Rover for Exploring Mars," with E. Krotkov, J. Bares, M. Hebert, T. Kanade, T. Mitchell, R. Simmons. Special Issue on Autonomous Intelligent Machines. Computer Magazine, June 1989.

"Application of Automation and Robotics to Lunar Surface Human Exploration Operations," with L. Bares et al, Proceedings of Space '90 Conference Engineering Construction and Operations in Space, Vol. 2. Albuquerque, 1990.

"Application of Robotics in Hazardous Waste Management," with James F. Osborn, 1989 World Conference on Robotics Research: The Next Five Years and Beyond. Gaithersburg, Maryland, 1989

"Attitude Control Methods for Walking Machines," with P. Nagy and P. G. de Santos. DE-Vol.47, Flexible mechanisms. Dynamics and Analysis. ASME, 1992.

"Automatic Identification of Pavement Distress: An Approach and Methodology," with B. Motazed. June 1986.

"Autonomous Planetary Rover at Carnegie Mellon," with T. Kanade and T. Mitchell. 1989 & February 1990 Year End Report.

"Capabilities of a Remote Work Vehicle," with L. Champeny. Topical Meeting on Robotics and Remote Handling in Hostile Environments. American Nuclear Society. Seattle, March 1987.

"Conception and Development of Two Mobile Teleoperated Systems for TMI-2," with L. Champeny, Nuclear Technology, 1988 ANS/ENS International Meeting and Topical Meeting TMI-2 Accident: Materials Behavior and Plant Recovery Technology, American Nuclear Society. November, 1988.

"Configuration Design of the Erebus Walking Robot," with Peter Nagy and James Osborn, Proceedings of the Fifth World Conference on Robotics Research, Cambridge, MA, September, 1994.

"Configuration of an Autonomous Robot for Mars Exploration," with J. Bares, Proceedings of the Society of Manufacturing Engineers World Robotics Conference. May, 1989.

"Configuration of a Walking Robot for Volcano Exploration," with D. Wettergreen and J. Bares. Field Robotics Center, Carnegie Mellon University. June 1993.

"Demonstration of Robotic Mapping of Mine Spaces," with I. Oppenheim. April 1985 Final Report.

"Development of an Integrated Mobile Robot System at Carnegie Mellon University," with Steve Shafer. Technical Report, Field Robotics Center, Carnegie Mellon University. June 1989.

"Development of an Integrated Mobile Robot System at Carnegie Mellon University," with Steve Shafer. December 1989 and January 1990 Final Report.

"Dynamic Response of Plate An Elastic Half-Space," with P. Christiano. Carnegie Mellon University.

"Earth Orbital Operations Supporting Manned Interplanetary Missions," with Brent Sherwood et al. AAS, 1989.

"Effects of Fiber Content and Damaging Load on Steel Fiber Reinforced Concrete Stiffness," with Mark E. Patton. Technical Paper. ACI Journal. January-February 1983, pp. 13-16.

"Energy-Based Stability Measures for Reliable Locomotion of Statically-Stable Walkers: Theory and Application," with P. Nagy and S. Desa. Department of Mechanical Engineering, Field Robotics Center, Carnegie Mellon University. Submitted to the International Journal of Robotics Research, May 1992.

"Evolution of Mobile Remote Systems: The Next Generation," with J. Osborn, K. Fitzpatrick, C. Fromme, American Nuclear Society. October, 1988.

"Exploring the Moon and Mars," Office of Technology Assessment, currently in draft form."Mine Navigation Using Scanning Laser Range Data," Technical Report, The Robotics Institute, Carnegie Mellon University, l987.

"Experimental Program for the CMU Mars Rover Single Leg Testbed," with P. Nagy, Appeared in the Proceedings of the 20th Annual Pittsburgh Modeling and Simulation Conference, Pittsburgh, May, 1989.

"Field Robots for Constructing Power Facilities," EPRI 3rd International Conference on Fossil Plant Construction, Florida, October 1993.

"Field Robots for Waste Characterization and Remediation," with D. Pahnos. Field Robotics Center, Carnegie Mellon University. February 1991.

"Field Robotics: A National Challenge, A National Opportunity," 1990 International Automation Conference. Detroit, Michigan, June, 1990.

"Field Robotics: Perspectives," Constuctique 87 Conference. Paris, March, 1987.

"Intelligent Sensor Planning," with S. Sedas and H. Martial. Presented at the AAI Spring Symposium on Selective Perception. Stanford University, March 1992.

"Interpretation of Pipe Networks by Magnetic Sensing," with B. Motazed. (Eds. D. Sriram and R. Adey) Applications of Artificial Intelligence in Engineering Problems.Vol. 1, pp. 131-139. Proceedings of the 1st International Conference. Southampton University U.K., April 1986, Springer-Verlag, NY.

"Inverse Dynamic Models Used for Force Control of Compliant, Closed-Chain Mechanisms," with D. Manko, ASME Design Automation Conference, Montreal, Canada, September, 1989.

"Leveling of the Ambler Walking Machine: A Comparison of Methods." with de Santos, G. and P. Nagy. Technical Report, July 1991

"Mars Rover Single Leg Testbed," with P. Nagy, Proceedings of the 20th Annual Modeling and Simulation Conference, Pittsburgh, May, 1989.

"Mine Mapping by A Robot With Acoustic Sensors," with J. Crowley et al. Carnegie Mellon University.

"Mobile Robots: America's Farmers, Builders, Miners," with D. Pahnos. A NASA White Paper, Robotics Institute, Carnegie Mellon University, May 1993.

"Motion Control for a Novel Legged Robot," with P. Nagy, Fourth IEEE International Symposium on Intelligent Control, Albany, New York, September, 1989.

'Navlab: An Autonomous Navigation Testbed," with K. Dowling, R. Guzikowski, J. Ladd, H. Pangels, and J. Singh, Technical Report, The Robotics Institute, Carnegie Mellon University, October l987.

"Nomad - A Demonstration of Transforming Chassis," with J. Luntz, E. Rollins and B. Shamah. Submitted to the 1998 IEEE International Conference on Robotics and Automation.

"Orthogonal Legged Walking Robot," with J. Bares, US Patent Application, December,1988.

"Planar Abstraction of a Prototype Walking Machine," with D. Manko, 20th Annual Pittsburgh Conference on Modeling and Simulation, Pittsburgh, 1989.

"Position Estimator for Underground Mine Equipment," with G. Shaffer et al. Field Robotics Center, CMU. May 1990, pp.1-10.

"Predicting Force Redistributions on Walking Robots for Reliable Locomotion: Modeling and Experiments," with P. Nagy and S. Desa. DE-Vol.45, Robotics, Spatial Mechanisms, and Mechanical Systems, ASME 1992.

"Prospects for Robotics in Hazardous Waste Management," with J. Osborn et al., Proceedings of the Second International Conference on New Frontiers for Hazardous Waste Management, Pittsburgh, September, l987.

"Reactive Leveling on the Ambler Walking Machines," with P. Nagy and G. de Santos. Reprinted from the Proceedings of the IFAC Symposium on Intelligent Components and Instruments for Control Applications (SICICA '92), Malaga, Spain, May 290-22, 1992, pp. 375-379.

"Robots Beyond the Factory." Proceedings 3rd International Conference on CAD/Cam, Southfield, MI, August, l988.

"Robots for Planetary Exploration," with J. Bares, Proceedings, SME World Conference on Robotics Research, Pittsburgh, October, 1988.

"Robots for Unstructured Environments," with K. Dowling, J. Osborn and S. Singh, White Paper, Field Robotics Center, The Robotics Institute, Carnegie Mellon University, November, 1988.Terrain Adaptive Gaits For Walkers With Completely Overlapping Leg Workspaces," with Mahalingam, Robots 13, Gaithersburg, Maryland, May, 1988.

"Robotics Justified but Costly for Hazardous Waste Management," with J. Osborn and S. Coppersmith, Environmental Management News, March 1988.

"Robots for the Field: The Next Generation," with James Osborn et al. Defense Advanced Research Project Agency Whitepaper, January, 1990.

"Simulation of Postural Control for A Walking Robot," with P. Nagy et al. Reprinted from the Proceedings of the IEEE International Conference on Systems Engineering. Dayton, OH., August 1-3, 1991, pp. 324-329.

"Space Robotics in Japan," with T. Kanade, et al. Japanese Technology Evaluation Center, January 1991.

"Teleoperator Transporters for RERR." Carnegie Mellon University.

"Thoughts on Autonomous Runway Repair." Carnegie Mellon University, January 1986.

"Toward A More Autonomous Marsokod," with Eric Krotkov. Paper submitted to McDonnell Douglas Space Systems, October 1992.

"Tractive Force Evaluation for Walking Robots," with P. Nagy. Reprinted from the Proceedings of the Fourth Work Conference on Robotics Research, Pittsburgh, PA., September 17-19, 1991, pp. 5:45 - 5:54.

"Walking Robot With a Circulating Gait," with J. Bares. IEEE International Workshop on Intelligent Robots and Systems, July, 1989 Reports:. "Autonomous Planetary Rover at Carnegie Mellon," with T. Kanade and T. Mitchell, Technical Report. Robotics Institute, Carnegie Mellon University, April, 1990.

 

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