Publications Listing

The listing below can be peroused by abstract and a single image (click on the highlighted key word), while the full text and images files can be accessed from the abstracts

  1. "BOA: Pipe Asbestos Insulation Abatement Robot System", SPECTRUM'96, Aug. 18 - 23, 1996, Seattle, WA
  2. "TILEBOT: Mobile Robot for Automatic Installation of Floor Tiles", with D. Apostolopoulos & J. West, IEEE Int. Conf. on Robotics and Automation, Minneapolis, MN, April, 1996.
  3. "The Tessellator Design Document", with K. Dowling et al., CMU-RI Technical Report, CMU-TR-RI-95-43, December 1995
  4. "HOUDINI: Site and Locomotion Analysis-driven Design of an In-Tank Mobile Cleanup Robot", American Nuclear Society Winter Meeting Transactions, Oct. 29 - Nov.2, San Francisco, 1995
  5. "ROBOLEG: A robotic soccer-ball kicking leg", with C. Kraeuter & M. Blackwell, IEEE Int. Conf. on Robotics and Automation, Nagoya, Japan, May 22 - 26, 1995.
  6. "NEPTUNE: Aboveground Storage-Tank Inspection Robot System", with B. Chemel & N. Everett, IEEE Robotics and Automation Society Magazine, June 1995.
  7. "BOA: Pipe Asbestos Insulation Removal Robot System", with J. Bares, E. Mutschler, B. Albrecht, B. Laffitte, submitted to the American Nuclear Society 6th Topical Meeting on Robotics and Remote Systems, Feb. 5 - 10, 1995, Monterey, CA
  8. "Deflection Characteristics of Redundant Robots", with J.W. Saunders III, S.N. Dwivedi, and G.C. Nandi,International Journal of Intelligent and Robotic Systems, Kluwer Academic Publishers, Dordrecht, Netherlands, 1994
  9. "NEPTUNE: Aboveground Storage-Tank Inspection Robot System", IEEE Int. Conf. on Robotics and Automation, San Diego, CA, May 8 - 13, 1994
  10. "HOUDINI: In-Tank Mobile Cleanup Robot", ASCE 4th Int. Conf. on Engineering, Construction, and Operations in Space and the Conference on Robotics for Challenging Environments, Albuquerque, NM, Feb. 26 - March 3, 1994
  11. "Serpentine Manipulator Planning and Control for NASA Space-Shuttle Payload Servicing", with H. Herman, CMU-RI Technical Report, CMU-RI-TR-92-10, October 1992
  12. "Deflection Characteristics of Redundant Robots", with J.W. Saunders III, S.N. Dwivedi, and G.C. Nandi, Int. Conf. on CAD/CAM Robotics and the Factories of the Future, St. Petersburg, Russia, May 17-20, 1993
  13. "Serpentine Manipulator Planning and Control for NASA Space-Shuttle Payload Servicing", with H. Herman, CMU-RI Technical Report, CMU-RI-TR-92-10, October 1992
  14. "Study of Dominant Performance Characteristics in Robot Transmissions", with D. Yoerger, to be published by ASME Journal of Mechanical Design, 1993
  15. "Mobile Robot System for Ground Servicing Operations on the Space Shuttle", with K. Dowling, M. Blackwell, SPIE OE/Technology `92 Conference, Boston, MA, Nov. 1992
  16. "Autonomous Cargo Transport System", with K. Fitzpatrick, M. Hebert, D. Pomerleau, 5th Advanced Technology Conference, Washington, DC, Nov. 30 - Dec. 2 1992
  17. "Coordinated Vehicle/Manipulator Design and Control Issues for Underwater Telemanipulation", with D. Yoerger, International Federation of Automatic Control, CAMS'92, Genova, Italy, 8-10 April 1992
  18. "Remotely Operated Vehicles (ROVs) - Tethered Underwater Robot JASON", Section in 7th ed. of McGRAW-HILL ENCYCLOPEDIA of SCIENCE and TECHNOLOGY, Spring 1992
  19. "Three Generations of Passive Dynamic Walking", with T. McGeer and T. Lim, 2nd Int. Symposium on Experimental Robotics, LAAS-CNRS, 25 - 27 June 1991
  20. "Design and Performance Evaluation of an Actively Compliant Underwater Manipulator for Full-Ocean Depth", with D. DiPietro and D. Yoerger, Special Issue of Robotic Systems on Underwater Robotics, 1991
  21. "Design and Performance of an Actively Compliant Underwater Manipulator", with D. Yoerger and D. DiPietro, Proc. of ROV 1990, Vancouver, Canada, 1990
  22. "Design and Control of the JASON Vehicle", with JASON Design-team, Proceedings of ROV 1988, Bergen, Norway, April 17-20, 1988
  23. "Robust Trajectory Control of Underwater Vehicles", with J.-J. Slotine, J. Newman, and D. Yoerger, Fourth Int. Symposium on Unmanned Untethered Submersible Technology, UNH, Durham, N.H., June 1985