Research Pulications

Books

• Carley, R., and Khosla, P. K., Introduction to Electrical and Computer Engineering: Taught in Context, McGraw Hill College Custom Series, January, 1997. 316 pages. (under contract).
• Carley, R., and Khosla, P. K., Experimental Context for Introduction to Electrical and Computer Engineering, McGraw Hill College Custom Series, September, 1996. 122 pages. Book Contributions
• B.J. Nelson and P.K. Khosla, Task-Oriented Model-Driven Visually Servoed Agents, Experimental Robotics IV: The Fourth International Symposium, eds. O. Khatib and J.K. Salisbury, Springer-Verlag London Ltd., London, 1996.
• C. J. J. and P. K. Khosla, "Design of Modular Fault Tolerant Manipulators," Algorithmic Foundations of Robotics, (eds. K. Goldberg et al.), A. K. Peters Publishers, Boston, MA., pp. 371-383, 1995.
• Raju Mattikalli, Pradeep Khosla, and Yangsheng Xu, Generating Assembly Plans from 3-D Solid Modeler, Intelligent Systems in Design and Manufacturing, edited by Cihan Dagli and Andrew Kusiak, ASME Press, 1994. pp 293-317.
• R. Volpe and P. Khosla. "The Equivalence of Second Order Impedance Control and Proportional Gain Explicit Force Control: Theory and Experiments." In Experimental Robotics II, eds. R. Chatila and G. Hirzinger, Springer-Verlag, London, 1993, pp. 3-24.
• Papanikolopoulos, N. and Khosla, P. K., Real-Time LQG Visual Robotic Tracking, In S. Tzafestas (editor) Robotic Systems: Advanced Techniques and Applications, pp 305-312, Kluwer Academic Publishers, 1992.
• Nelson, B.J. and Khosla, P.K., Integrating Sensor Placement and Visual Tracking Strategies, in Experimental Robotics III: The Third Intenational Symposium, Kyoto, Oct 1993, Yoshikawa T., and Miyazaki, F. (eds), Springer-Verlag, pp 169-181. (also in Proc. 1994 IEEE Int. Conf. on Robotics and Automation, San Diego, CA, May 8-13, 1994.)
• Papanikolopoulos, N., and Khosla, P. K., Controlled Active Vision, In Perceptual Robotics, T. Venkataraman (editor), Springer-Verlag. December, 1993.
• Nelson, B., Papanikolopoulos, N., and Khosla, P. K., Visual Servoing for Robotic Assembly, In Visual-Servoing-Automatic Control of Mechanical Systems with Visual Feedback Hashimoto, K. (editor), World Scientific Series in Robotics and Automated Systems, September, 1993. pp 139-164.
• Stewart, D., and Khosla, P. K., Real-Time Scheduling of Sensor-Based Control Systems, In Real-Time Programming, W. Halang and K. Ramaritham (editors), Pergamon Press, 1992. pp139-144.
• Carriker, W., Khosla, P. K., and Krogh, B. H., Dynamics Sensing and Multi-Task Performance with a Mobile Manipulator System, In Schmidt, G. (editor), Information Processing in Intelligent Robots, Springer-Verlag, Pages 45-59, April, 1991.
• Khosla, P. K., Recent Advances in Experimental Robot Control, In Taylor, G. (editor), Kinematic and Dynamic Issues in Sensor-Based Robot Control, Springer-Verlag, Pages 161-178, January 1990.
• Volpe, R. and Khosla, P. K., Potential Function Based Formulation for Obstacle Avoidance and Approach, In H. Miura (editor), Proceedings of the Fifth International Symposium on Robotics Research, MIT Press, August 1989.
• Berger, A. and Khosla, P. K., A Methodology for Using a Tactile Sensor for Dynamic Feature Tracking, In V. Hayward and O. Khatib (editors), Lecture Notes in Control and Information Sciences, Experimental Robotics I, Springer-Verlag, March 1990, Pages 474-496.
• Khosla, P. K., Effect of Sampling Rates on the Performance of Model-Based Manipulator Control Schemes, In G. Schweitzer (editor), Dynamics of Controlled Mechanical Systems, Springer-Verlag, Pages 271-284, August 1988.
• Neuman, C. P. and Khosla, P. K., Identification of Robot Dynamics: An Application of Recursive Estimation. In Narendra, K. S. (editor), Adaptive and Learning Systems: Theory and Applications, Pages 175-196, Plenum Publishing, New York, June 1986.

Journal Articles

• Khosla, P. K., Neuman, C. P. and Prinz, F. B., An Algorithm for Seam Tracking Applications. The International Journal of Robotics Research, MIT Press, Vol. 4, No. 1, Pages 27-41, Spring 1985.
• Khosla, P. K. and Neuman, C. P., Computational Requirements of Customized Newton-Euler Algorithms. Journal of Robotic Systems, Vol. 2, No. 3, Pages 309-327, Fall 1985.
• Khosla, P. K. and Kanade, T., An Algorithm to Estimate the Manipulator Dynamics Parameters, International Journal of Robotics and Automation, Vol 2, No 3, Pages 127-135, September 1987.
• Khosla, P. K. and Kanade, T., Experimental Evaluation of Nonlinear Feedback and Feedforward Control Schemes for Manipulators, International Journal of Robotics Research, MIT Press, Vol 7, No 1, Pages 18-28, January 1988.
• Khosla, P. K., Estimation of Robot Dynamics Parameters: Theory and Application, International Journal of Robotics and Automation, Vol 3, No. 1, Pages 35-41, January 1988.
• Khosla, P. K. and Kanade, T., Real-Time Implementation and Evaluation of the Computed-Torque Scheme, IEEE Transactions on Robotics and Automation, April 1989, Pages 245-253.
• Khosla, P. K., Categorization of Parameters in the Dynamic Robot Model, IEEE Transactions on Robotics and Automation, Vol 5, Number 3, June 1989, Pages 261-268.
• Khosla, P. K. and Mattikali, R., Determining the Assembly Sequence from a 3-D Model, Journal of Mechanical Working Technology, Sliver Press, Volume 20, September 1989, Pages 153-162.
• Berger, A. and Khosla, P. K., The Modified Adaptive Hough Transform, Journal of Robotics Systems, April, 1990.
• Kelmar, L. and Khosla, P. K., Automatic Generation of Forward and Inverse Kinematics of a Reconfigurable Modular Manipulator System, Journal of Robotic Systems, August, 1990, Pages 599-620.
• Berger, A. and Khosla, P. K., Using Tactile Data for Real-Time Feedback, International Journal of Robotics Research, MIT Press, Vol 10, No. 2, April, 1991, Pages 88-102.
• Volpe, R. and Khosla, P. K., Manipulator Control with Superquadric Artificial Potential Functions: Theory and Experiments IEEE Trans on Systems Man and Cybernetics, Special Issue on Unmanned Vehicles and Intelligent Systems, November/December 1990, Pages 1423-1436.
• Carriker, W. C., Khosla, P. K., and Krogh, B. H., Path Planning for Mobile Manipulators for Multiple Task Execution, IEEE Transactions on Robotics and Automation, Vol 7, No. 3, June, 1991.
• Kim, J. O., Khosla, P. K., and Chung, W. K., Static Modeling and Control of Redundant Manipulators, Robotics and Computer Integrated Manufacturing, Pergamon Press, Volume 9, Number 2, 1992.
• Stewart, D., Schmitz, D., and Khosla, P. K., The CHIMERA II Real-Time Operating System for Advanced Sensor-Based Robotic Applications, IEEE Transactions on Systems, Man, and Cybernetics, Vol 22, No. 4, July, 1992.
• Kim, J. O., and Khosla, P. K., Obstacle Avoidance Using Harmonic Potential Functions, IEEE Transactions on Robotics and Automation, Vol. 8, No. 3, 1992.
• Khosla, P. K., and Papanikolopoulos, N., Telerobotic Visual Servoing, Journal of Applied Intelligence, Special Issue on Space Robotics, September, 1992.
• Papanikolopoulos, N., and Khosla, P. K., and Kanade, T., Visual Tracking of a Moving Target by a Camera Mounted on a Robot: A Combination of Control and Vision, IEEE Transactions on Robotics and Automation, Vol 9, No 1., February 1993, pp 14-35.
• Papanikolopoulos, N., and Khosla, P. K., Adaptive Robotic Visual Tracking: Theory and Experiments, IEEE Transactions on Automatic Control, Vol 38, No 3., March 1993, pp 429-445.
• Paredis, C, J., and Khosla, P. K., Kinematic Design of Serial Link Manipulators from Task Specifications, International Journal of Robotics Research, MIT Press, Vol 12, No 3, June 1993.
• Volpe, R., and Khosla, P. K., A Theoretical and Experimental Investigation of Impact Control for Manipulators, International Journal of Robotics Research, MIT Press, Vol 12, No 4, August 1993.
• Volpe, R., and Khosla, P. K., Theoretical Analysis and Experimental Investigation of Explicit Force Control Strategies for Manipulators, IEEE Transactions on Automatic Control, Vol 38, No 11, November 1993, pp. 1634-1650.
• Kim, J-O, Gertz, M. W., and Khosla, P. K., Exploiting Redundancy to Reduce Impact Force, Journal of Intelligent Robotic Systems, 9:273-290, 1994.
• Volpe, R., and Khosla, P. K., Analysis and Experimental Verificationof a Fourth Order Plant Model for Force Control, IEEE Magazine on Robotics and Automation, Vol 1, No 2, June 1994.
• Paredis, C., Au, F., and Khosla, P. K., Kinematic Design of Fault Tolerant Manipulators, Special Issue on Fault Tolerance in Robotics, Computers in Electrical Engineering, 20(3):211-220, 1994.
• Gertz, M.W., Stewart, D.B. and Khosla, P.K., A Human-Machine Interface for Distributed Virtual Laboratory, IEEE Robotics and Automation Magazine, Vol 1, No 4., December 1994.
• Volpe, R., and Khosla, P. K., Computational Considerations in Implementation of Force Control Strategies, Journal of Intelligent Robotic Systems: Theory and Applications, Special Issue on Computational Aspects of Robot Kinematics, Dynamics, and Control, Vol 9, 1994. pp121-148.
• Bodson, M., Sacks, A., and Khosla, P. K., Harmonic Generation in Adaptive Feedforward Cancellation Schemes, IEEE Transactions on Automatic Control, vol. 39, no. 9, 1994. pp. 1939-1944.
• R. Volpe and P. Khosla, "The Equivalence of Second-Order Impedance Control and Proportional Gain Explicit Force Control," The International Journal of Robotics Research, Vol. 14, No. 6, pp. 574-589, December 1995.
• Papanikolopoulos, N., Nelson, B., and Khosla, P. K., Six Degree-of-Freedom Hand/Eye Visual Tracking with Uncertain Parameters, IEEE Transactions on Robotics and Automation, Vol. 11, No. 5, October 1995. pp 725-732.
• S.W. Director, P.K. Khosla, R.A. Rohrer and R.A. Rutenbar, Reengineering and Curriculum: Design and Analysis of a New Undergraduate Electrical and Computer Engineering Degree at Carnegie Mellon University, Proceedings of IEEE, September, 1995.
• M.W. Gertz, R.A. Maxion and P.K. Khosla, Visual Programming and Hypermedia Implementation within a Distributed Laboratory Environment, Intelligent Automation and Soft Computing, Vol. 1, No. 1, pp. 43-62, 1995
• R. Mattikalli, D. Baraff, P. Khosla and B. Repetto, Gravitational Stability of Frictionless Assemblies, IEEE Trans. on Robotics and Automation, Vol.11, No. 3, pp.374-388, 1995.
• Nelson, B.J. and Khosla, P.K., Strategies for Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance, Int. Journal of Robotics Research, Vol. 14, No.3, pp. 255-269, June 1995.
• Y. Xu, Raju S. Mattikalli, and Pradeep K. Khosla, Determining two minimal circumscribing disks for a Polygon, International Journal of Computer Aided Design, Vol. 27, No. 3, pp. 223-234, 1995.
• Coste-Maniere, E.; Couvignou, P.; Khosla, P.K., Visual servoing in the task-function framework: A contour following task, Journal of Intelligent and Robotic Sys: Theory and Applications, vol.12, no.1, 1995. pp. 1-21.
• Y. Xu, R. Mattikalli, P. Khosla, "Generation of Partial Medial Axis for Disassembly Motion Planning", Journal of Design and Manufacturing, Vol.5, pp.89-102, 1995.
• R. Mattikalli, D. Baraff and P. Khosla, Finding All Stable Orientations of Assemblies with Friction, IEEE Trans. on Robotics and Automation, Vol 12., No 2, pp 290-301, April 1996.
• Nelson, B., Papanikolopoulos, N., and Khosla, P. K., Robotic Visual Servoing and Robotic Assembly Tasks, IEEE Robotics and Automation Magazine, Vol 3., No 2, June 1996. pp 23-31.
• Nelson, B., and Khosla, P. K., Force and Vision Resolvability for Assimilating Disparate Sensory Feedback, IEEE Transactions on Robotics and Automation, Vol 12, No 5, Oct. 1996. pp 714-731.
• P.A. Couvignou, N. Papanikolopoulos and P.K. Khosla, The Use of Active Deformable Models in Model-Based Robotic Visual Servoing, Journal of Intelligent and Robotic Systens, 17: 195-221, 1996.
• Bodson, M., Sacks, A., and Khosla, P. K., Experimental Results of Adaptive Periodic Disturbance Cancellation in a High Performance Magnetic Disk Drive, ASME Journal of Dynamics Systems, Measurement, and Control, Vol. 118, 1996. pp. 416-424.
• Nelson, B. J., and Khosla, P. K., Vision Resolvability for Visually Servoed Manipulation, Journal of Robotic Systems, 13(2), February, 1996. pp75-93
• Stewart, D. B., and Khosla, P. K., The Chimera Methodology: Designing Dynamically Reconfigurble and Reusable Real-Time Software Using Port Based Objects, International Journal of Software Engineering and Knowledge Engineering, Vol. 6, No. 2, 1996. pp 249-277.
• Nelson, B., Morrow, D., and Khosla, P. K., Robotic Manipulation Using High Bandwidth Force and Vision Feedback, Mathematical and Computer Modelling Journal, Special Issue: Modeling Issues on Visual Sensing, Vol 24, No 5/6, Sept 1996. pp 11-29.
• C. J. J. Paredis and P. K. Khosla, Fault Tolerant Task Execution through Global Trajectory Planning, Reliability Engineering and System Safety (Special Issue on Safety of Robotic Systems), Vol. 53, No. 3, pp. 225-35, Sept. 1996.
• C. J. J. Paredis and P. K. Khosla, Designing Fault Tolerant Manipulators: How Many Degrees-of-Freedom?, International Journal of Robotics Research, Vol. 15, No. 6, pp. 611-628, Dec. 1996, pp 289-304.
• Stewart, D., and Khosla, P. K., Mechanisms for Detecting and Handling Timing Errors, Communications of ACM, Vol 40, No 1, January, 1997.
• R.M. Voyles, J.D. Morrow, and P.K. Khosla, Shape from Motion Approach to Rapid and Precise Force/Torque Sensor Calibration, ASME Journal of Dynamic Systems, Measurement, and Control, June, 1997.
• C. J. J. Paredis and P. K. Khosla, Rapidly Deployable Manipulator System, Journal of Robotics and Autonomous Systems, Vol 21, No 3, Sept 1997.
• Stewart, D., Volpe, R., and Khosla, P. K., Design of Dynamically Reconfigurable Real-Time Software, IEEE Tran on Software Engineering, December 1997, pp 759-776.
• D. Baraff, R. Mattikalli and P. Khosla, Minimal Fixturing of Frictionless Assemblies: Complexity and Algorithms, Algorithmica, Special Issue on Computational Geometry in Manufacturing, Vol 19, December 1997, pp 4-39.
• Voyles, R. M., Morrow, D., and Khosla, P. K., Gesture Based Programming: Shape from Motion Primordial Learning of Sensorimotor Primitives, Journal of Robotics and Autonomous Systems (in press). Conference Articles (Reviewed)
• Hoover, C. L., and Khosla, P. K., Analytical Design of Evolutionary Control Flow Components, Proc. Second Wkshp on High Assurance Systems Engineering (HASE), Loas Alamitos, CA., Aug, 1997.
• Nelson, B., and Khosla, P. K., Visually Guided Manipulation Using Active Camera-lens Systems, 1997 IEEE Conference on Robotics and Automation, April, 1997, Albuquerque, NM.
• Voyles, R., and Khosla, P. K., Can Sensor Calibration Be Considered Learning?,1997 IEEE Conference on Robotics and Automation, April, 1997, Albuquerque, NM.
• Morrow, J., D., and Khosla, P. K., Manipulation Task Primitives for Composing Robot Skills, 1997 IEEE Conference on Robotics and Automation, April, 1997, Albuquerque, NM.
• Paredis, C. J., and Khosla, P. K., An Agent-based Approach to the Design of a Fault Tolerant Manipulator for a Satellite Docking Operation, 1997 IEEE Conference on Robotics and Automation, April, 1997, Albuquerque, NM
• Nelson, B., and Khosla, P. K., Integrating Force and Vision Feedback Within Virtual Environments for Telerobotic Systems, 1997 IEEE Conference on Robotics and Automation, April, 1997, Albuquerque, NM.
• Voyles, R., Agah, A., Khosla, P. K., and Bekey, G., Tropism-Based Cognition for the Interpretation of Context-Dependent Gestures,1997 IEEE Conference on Robotics and Automation, April, 1997, Albuquerque, NM.
• Riviere, C., and Khosla, P. K., Augmenting the human-machine Interface: Improving Manual Accuracy, 1997 IEEE Conference on Robotics and Automation, April, 1997, Albuquerque, NM.
• Hoover, C. L., and Khosla, P. K., An Analytical Approach to Change for the Design of Reusable Real-Time Software. In Proc. of Workshop on Object-Oriented Real-Time Dependable Systems (WORDS 96), February 1-2, 1996. CA.
• Voyles, R., and Khosla, P. K., Gesture-based Programming, Part I: A Multi-Agent Approach, In Proc ANNIE: Artificial Neural Networks, Fuzzy Logic and Evolutionary Programming for Designing Smart Engineering Systems, St. Louis, MO., Nov, 1996.
• Voyles, R., and Khosla, P. K., Gesture-based Programming, Part II: Primordial Learning, In Proc ANNIE: Artificial Neural Networks, Fuzzy Logic and Evolutionary Programming for Designing Smart Engineering Systems, St. Louis, MO., Nov, 1996.
• Voyles, R. M., Fedder, G., and Khosla, P. K., Design of a Modular Tactile Sensor and Actuator Based on an Electrorheological Gel, 1996 IEEE International Conference on Robotics and Automation, April, 1996, Minneapolis, MN.
• N.L. Overgaard, B.J. Nelson, and P.K. Khosla, A Multi-Agent Framework for Grasping Using Visual Servoing and Collision Avoidance, Proc. 1996 IEEE Int. Conf. on Robotics and Automation, pp. 2456-2461, Minneapolis, April 22-28, 1996.
• A. Diaz-Calderon, D. Navin-Chandra, and P. K. Khosla, "Measuring the difficulty of assembly tasks from tool access information", IEEE International Symposium on Assembly and Task Planning, Pittsburgh, PA, August, 1995.
• B.J. Nelson, J.D. Morrow, and P.K. Khosla, Fast Stable Contact Transitions with a Stiff Manipulator Using Force and Vision Feedback, Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Sys. (IROS95), Vol. 2, 90-95, Pittsburgh, August 5-9, 1995.
• C. J. J. Paredis and P. K. Khosla, "Global Trajectory Planning for Fault Tolerant Manipulators," in Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'95), Pittsburgh, PA, Vol. 2, pp. 428-434, August 5-9, 1995.
• Nelson, B. J., and Khosla, P. K., An Extendable Framework for Expectation-Based Visual Servoing Using Environment Models, in Proc. 1995 IEEE Int. Conf. on Robotics and Automation, Nagoya, May 21-27, 1995.
• J.D. Morrow, B.J. Nelson, and P.K. Khosla, Vision and Force Driven Sensorimotor Primitives for Robotic Assembly Skills, Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Sys. (IROS95), Vol. 3, 234-240, Pittsburgh, August 5-9, 1995.
• B.J. Nelson, J.D. Morrow, and P.K. Khosla, Improved Force Control Through Visual Servoing, Proc. 1995 American Control Conference (ACC95), 380-386, Seattle, June 21-23, 1995. One of five finalists for the Student Best Paper Award at ACC95.
• R.M. Voyles & P.K. Khosla, "Tactile Gestures for Human/Robot Interaction," in Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'95), Pittsburgh, PA, Vol. 2, August 5-9, 1995.
• K.B. Shimoga, 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.
• B.J. Nelson and P.K. Khosla, Visually Servoed Manipulation Using an Active Camera, Proc. of the Thirty-Third Annual Allerton Conf. on Communication, Control, and Computing, University of Illinois at Urbana-Champaign, Oct. 4-6, 1995.
• C. J. J. Paredis, H. B. Brown, R. W. Casciola, J. E. Moody, and P. K. Khosla, A Rapidly Deployable Manipulator System, in Proceedings of the Workshop on Some Critical Issues in Robotics, Singapore, 2-3 October, 1995.
• P.K. Khosla and P. Brown, A Vision for an Agile Design Environment, ASME Winter Annual Meeting, San Francisco, October, 1995.
• Shimoga, K.B., Khosla, P.K. and Sclabassi, R.J., Teleneurosurgery: An Approach to Enhance the Dexterity of Neurosurgeons, in Proc. Symp. on medicine Meets Virtual Reality II, San Diego, CA, p. 203, Jan. 27-30, 1994.
• Paredis, C.J.J. and Khosla, P.K., Design of Modular Fault Tolerant Manipulators, The First Workshop on the Algorithmic Foundations of Robotics, Boston, MA, February 17-19, 1994.
• Gertz, M.W. and Khosla, P.K., Onika, A Multilevel Human-Machine Interface for Real-Time Sensor-Based Robotics Systems, ASCE: SPACE 94, The 4th Intl. Conf. and Expo. on Engineering, Construction, and Operations in Space, Albuquerque, NM, Feb. 26-Mar. 3, 1994.
• Paredis, C.J.J. and Khosla, P.K., Mapping Tasks Into Fault Tolerant Manipulators, Proc. 12th Symp. Energy Eng. Sciences, Argonne, IL, April 27-29, 1994.
• Nelson, B.J. and Khosla, P.K., The Resolvability Ellipsoid for Visual Servoing, in Proc. 1994 IEEE Conf. on Computer Vision and Pattern Recognition, p. 829-832, 1994.
• Mattikalli, R., Baraff, D. and Khosla, P.K., Finding All Gravitationally Stable Orientations of Assemblies, in Proc. 1994 IEEE Int. Conf. on Robotics and Automation, San Diego, CA, May 8-13, 1994.
• Papanikolopoulos, N.P., Nelson, B.J. and Khosla, P.K., Six Degree-of-Freedom Hand/Eye Visual Tracking with Uncertain Parameters, in Proc. 1994 IEEE Int. Conf. on Robotics and Automation, San Diego, CA, May 8-13, 1994. pp174-179.
• Nelson, B. J., and Khosla, P. K., Integrating Sensor Placement and Visual Tracking Strategies, in Proc. 1994 IEEE Int. Conf. on Robotics and Automation, pp. 1351-1356, 1994.
• Paredis, C.J.J. and Khosla, P.K., Mapping Tasks into fault Tolerant Manipulators, proc. 1994 IEEE Int. Conf. Robot. Autom., San Diego, CA, May 8-13, 1994. One of five finalists for the Anton Phillips Best Student Paper Award.
• Gertz, M.W. and Khosla, P.K., Visual Programming and Program Visualization Techniques for Port-Based Objects, ANS: 1994 Annual Meeting of the American Nuclear Society, New Orleans, LA, June 19-23, 1994.
• Stewart, D.B., Gertz, M.W. and Khosla, P.K., Software Assembly for Real Time Applications Based on a Distributed Shared Memory Model, in Proc. of the 1994 Complex Systems Engineering Synthesis and Assessment Technology Workshop (CSESAW 94), Silver Spring, MD, p. 214-224, July 1994.
• Gertz, M.W., Stewart, D.B., Nelson, B.J. and Khosla, P.K., Using Hypermedia and Reconfigurable Software Assembly to Support Virtual Laboratories and Factories, Fifth International Symposium on Robotics and Manufacturing, Maui, HI, pp. 493-500, August 15-17, 1994.
• Paredis, C.J.J. and Khosla, P.K.,Syntehsis Methodology for Task Based Reconfiguration of Modular Manipulator Systems, Proceedings Int. Symp. Robot Res., Hidden Valley, PA, October 1994.
• Kim, J-O. and Khosla, P. K., Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design, Proceedings 1993 IEEE Conference on Robotics and Automation, Atlanta, GA., May, 1993.
• Nelson, B. and Khosla, P. K., Increasing the Tracking Region of an Eye-in-hand System by Singularity and Joint Limit Avoidance, Proceedings 1993 IEEE Conference on Robotics and Automation, Atlanta, GA., May, 1993. pp 418-423.
• Bodson, M. Sacks, A., and Khosla, P. K., Experimental Results of Adaptive Feedforward Cancellation in High Performance Magnetic Disk Drives, Proceedings 1993 Automatic Control Conference, June, 1993.
• B. Nelson, N.P. Papanikolopoulos, and P.K. Khosla, Dynamic Sensor Placement Using Controlled Active Vision, in Proc. of the 1993 Int. Federation of Automatic Control World Congress (IFAC93), 1993.
• Raju Mattikalli, Pradeep Khosla, Bruno Repetto and David Baraff. Stability of Assemblies. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan pages 652-661, July 1993.
• Bodson, M. Sacks, A., and Khosla, P. K., Harmonic Generation in Feedforward Adaptive Cancellation Schemes, Proceedings of 31-st. CDC, Tucson, Arizona, December, 1992.
• Papanikolopoulos, N., and Khosla, P. K., Adaptive Control Techniques for Dynamic Visual Repositioning of Hand-Eye Robotic Systems, IEEE Workshop on Applications of Computer Vision, Palm Springs, FL., November 1992.
• Nelson, B., and Khosla, P. K., Increasing Tracking Region of an Eye-in-Hand System Using Controlled Active Vision, of 1-st. International Conference on Control Applications, Dayton, OH., September, 1992.
• Papanikolopoulos, N., Nelson, B., and Khosla, P. K., Full 3-D Tracking Using the Controlled Active Vision Paradigm, 1992 IEEE International Conference on Intelligent Control, Glasgow, Scotland, August, 1992.
• Kim, J-O, and Khosla, P. K., Synthesis of Optimal Manipulator for Tasks, Proceedings Japan-USA Symposium, San Francisco, July, 1992.
• Volpe, R., and Khosla, P. K., An Experimental Evaluation and Comparison of Explicit Force Control Strategies for Robotic Manipulators, American Control Conference, Chicago, IL., June, 1992.
• Papanikolopoulos, N., and Khosla, P. K., Robotic Visual Servoing around a Static Target: An Example of Controlled Active Vision, American Control Conference, Chicago, IL., June, 1992.
• Couvigno, P., Papanikolopoulos, N., and Khosla, P. K., Hand-Eye Robotic Visual Servoing around Moving Objects Using Active Deformable Models, Proceedings of 1992 Intelligent Robotic Systems Conference (IROS), Raleigh, NC, August, 1992.
• Kim, J-O, and Khosla, P. K., A Multi-Population Genetic Algorithm and its Application to Manipulator Design, Proceedings of 1992 Intelligent Robotic Systems Conference (IROS), Raleigh, NC, August, 1992.
• Stewart, D, Volpe, R., and Khosla, P. K., Integration of Reusable Software Control Modules for Multiprocessor Systems, Proceedings of 1992 Intelligent Robotic Systems Conference (IROS), Raleigh, NC, August, 1992.
• Volpe, R., and Khosla, P. K., An Analysis of Manipulator Force Control Strategies Applied to an Experimentally Derived Model, Proceedings of 1992 Intelligent Robotic Systems Conference (IROS), Raleigh, NC, August, 1992.
• Volpe, R., and Khosla, P. K., Theoretical Investigation and Experimental Evaluation of Force Control Strategies, In Proceedings of IEEE Conference on Robotics and Automation, Nice, France, May, 1992.
• N.P. Papanikolopoulos, B. Nelson, and P.K. Khosla, Monocular 3-D Visual Tracking of a Moving Target by an Eye-in-Hand Robotic System, in Proc. of the 1992 IEEE Int. Conf. on Decision and Control (31st CDC), 3805-3810, 1992.
• Papanikolopoulos, N., and Khosla, P. K., Telerobotic Visual Servoing, In Proceedings of IEEE Conference on Robotics and Automation, Nice, France, May, 1992.
• Mattikali, R., and Khosla, P. K., Motion Constraints from Geometry of Contact: Representation and Analysis, In Proceedings of IEEE Conference on Robotics and Automation, Nice, France, May, 1992.
• Volpe, R. and Khosla, P. K., The Equivalence of Second Order Impedance Control and Proportional Gain Explicit Force Control: Theory and Experiments, Proceedings of Second International Symposium on Experimental Robotics, Toulouse, France, June, 1991.
• Paredis, C. J., and Khosla, P. K., An Approach for Mapping Kinematic Task Specifications into a Manipulator Design, Fifth International Conference on Advanced Robotics, Pisa, Italy, June, 1991.
• Papanikolopoulos, N., Khosla, P. K., and Kanade, T., Adaptive Robotic Visual Tracking, In Proceedings 1991 American Control Conference, Boston, MA., June, 1991.
• Volpe, R., and Khosla, P. K., Experimental Verification of a Strategy for Impact Control, In Proceedings 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA., April, 1991.
• Papanikolopoulos, N., Khosla, P. K., and Kanade, T., Vision and Control Techniques for Robotic Visual Tracking, In Proceedings 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA., April, 1991. This paper was one of the five finalists for the Phillips Anton Award.
• Kim, J., and Khosla, P. K., Real-Time Obstacle Avoidance Using Harmonic Potential Functions, In Proceedings 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA., April, 1991.
• Stewart, D., Schmitz, D., and Khosla, P. K., Implementing Real-Time Robotic Systems Using CHIMERA II, Proceedings IEEE International Conference on Robotics and Automation, Cicinnati, Ohio, May 1990, Pages 598-603. (Also in IEEE International Conference on Systems Engineering, August 9-11, 1990. Invited.)
• Carriker, W. C., Khosla, P. K., and Krogh, B. H., The Use of Simulated Annealing to Solve the Mobile Manipulator Path Planning Problem, Proceedings IEEE International Conference on Robotics and Automation, Cicinnati, Ohio, May 1990, Pages 204-209.
• Schmitz, D., Hoffman, R., Khosla, P. K. and Kanade, T., CHIMERA: A Real Time Programming Environment for Manipulator Control, 1989 IEEE International Conference on Robotics and Automation, May 1989, Phoenix, AZ.
• Khosla, P. K., Kanade, T., and Schmitz, D., A Novel Technology for Manipulators, Advances in Instrumentation, Volume 43, Part 4, Pages 1763-1774, November 1988.
• Schmitz, D., Khosla, P. K., and Kanade, T., The CMU Reconfigurable Modular Manipulator System, In Proceedings of 19-th ISIR, November 1988, Australia. Khosla, P. K., Some Experimental Results on Model-Based Control Schemes, In Proceedings IEEE Conference on Robotics and Automation, April 1988, Philadelphia, PA. Pages 1380-1385.
• Kelmar, L., and Khosla, P. K., Kinematics of Reconfigurable Manipulators, In Proceedings IEEE Conference on Robotics and Automation, April 1988, Philadelphia, PA, Pages 663-668.
• Khosla, P. K. and Volpe, R., Superquadric Avoidance Potentials for Obstacle Avoidance, In Proceedings IEEE Conference on Robotics and Automation, April 1988, Philadelphia, PA, Pages 1778-1784.
• Khosla, P. K. and Ramos, S., A Comparative Evaluation of Hardware Complexity of Robot Dynamics Algorithms, In Proceedings IEEE Conference on Robotics and Automation, April 1988, Philadelphia, PA, Pages 291-296.
• Schmitz, D., Khosla, P. K. and Kanade, T., Development of CMU Direct-Drive Arm II. In Hasegawa, Y. (editor), Proceedings of the 15th International Symposium on Industrial Robotics, pages 471-478, Tokyo, Japan. September 1985.

Conference Articles (Invited or Abstract Reviewed)

• Salido, J., Dolan, J., Hampshire, J., and Khosla, P. K., A Modified reactive Control Framework for Cooperative Mobile Robots, Proc of Intelligent Systems and Adv Manufacturing, Pittsburgh, PA., Oct. 1997.
• Riviere, C., and Khosla, P. K, Active Handheld Instrument for Error Compensation in Microsurgery, Proc of Intelligent Systems and Adv Manufacturing, Pittsburgh, PA., Oct. 1997.
• Riviere, C., Rader, R. S., and Khosla, P. K., Characteristics of Hadn Motion of Eye Surgeons, Proc of the19-th Annual Conf of the IEEE Engg in Medicine and Biology Scoiety, Chicago, IL., Nov. 1997.
• Murray, A., Klatzky, R., Shimoga, K., and Khosla, P. K., Touch Feedback Using Binary Tactor Displays: Unexpected Results and Insights, Sixth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, November 17-18, 1997, Dallas, Texas.
• Barron-Cano, O., Diaz-Calderon, A., and Khosla, P. K., An Internet based Assembly Tool Suite for Collaborative Design, International COnference on Engineering Design (ICED), Tampere, Aug, 1997.
• Christiaan J.J. Paredis and Pradeep K. Khosla, "Task Based Design of Manipulators: An Agent-Based Approach," in Proceedings of the 23rd Design Automation Conference, Sacramento, CA, September, 1997.
• Riviere, C., and Khosla, P. K., Accuracy in Positioning Handheld Instruments, Proc of the18-th Annual Conf of the IEEE Engg in Medicine and Biology Society, Amsterdam, Nov. 1996.
• Shimoga, K., Murray, A., and Khosla, P. K., A Touch Display System for Interaction with Remote and Virtual Environments, Fifth Annual Symposiumon Haptic Interfaces for Virtual Environments and Teleoperators, ASME, November, 1996, Atlanta.
• Stewart, D., B., and Khosla, P. K., Policy-Independent Real-Time Operating System Mechanism for Timing Error Detection, Handling, and Monitoring, IEEE Workshop on High Assurance Systems Engineering (HASE '96), Niagara-on-the-Lake, Canada , Oct. 21-22, 1996.
• Voyles, R., Morrow, D., and Khosla, P. K., Including Sensor Bias in Shape from Motion Calibration, Proc of 1996 IEEE Multi-Sensor Fusion and Integration Conference, Oct., 1996, Washington D. C.
• Teraji, S., and Khosla, P. K., A Nonlinear Observer Approach to Depth Estimation, In proc. 1996 ICARV, Singapore, Nov., 1996.
• R.M. Voyles, & P.K. Khosla, "Multi-Agent Gesture Interpretation for Robotic Cable Harnessing," 1995 IEEE Systems, Man & Cybernetics Conf., November 1995, Vancouver, Canada.
• W. Carriker, R. Mattikalli and P. Khosla, Developing Compatible Grasp and Fixture Plans, in IEEE International Symposium on Assembly and Task Planning , pp. 354-361, August 1995, Pittsburgh.
• R.M. Voyles, J.D. Morrow, & P.K. Khosla, "Shape from Motion Decomposition for Autonomous Agents," 1995 IEEE Systems, Man & Cybernetics Conf., November 1995, Vancouver, Canada.
• R.M. Voyles, J.D. Morrow, & P.K. Khosla, "Shape from Motion Approach to Rapid and Precise Force/Torque Sensor Calibration," 1995 ASME Int. Mech. E. Conf. and Exposition.
• Kume, M., and Khosla, P. K., A Manipulator Control System for Creating Radiation Maps using Mercuric Iodide Detectors, Proceedings of 5-th Topical Meeting on Robotics and Remote Systems, April, 1993, Knoxville, TN.
• Matthew Gertz, David B. Stewart, Pradeep K. Khosla, A Human Machine Interface for Reconfigurable Sensor-Based Control Systems, Space Programs and Technologies Conference, September, 1993, Huntsville, AL.
• Gertz, M., and Khosla, P. K., Onika: A Multi-level Human-Machine Interface for Robot Programming, 4-th International Expo on Engineering, Construction, and Operations in Space, March, 1994, Albuquerque, NM.
• Papanikolopoulos, N., and Khosla, P. K., Integration of Human Operator with Autonomous Robotic Visual Tracking Modules, Proceedings of 5-th Topical Meeting on Robotics and Remote Systems, April, 1993, Knoxville, TN.
• Dolan, J., Khosla, P. K., Talukdar, S. N., Surface Coverage Algorithms for Filament Winding of Non-Axisymmetric Cylindrical Parts, 25-th International SAMPE Technical Conference, October, 1993, Philadelphia, PA.
• DaCosta, F., Hwang, V., Khosla, P. K., Lumia, R., Integrated Prototyping Environment for Programmable Automation, Proceedings of SPIE Conference, November, 1992, Boston, MA.
• Kim, J-O., and Khosla, P. K., Task-Based Design and Control of Redundant Manipulators, 4-th International Symposium on Robotics and Manufacturing, Santa Fe, NM., November, 1992.
• Nelson, B. and Khosla, P. K., CMU Rapid Assembly System, IFAC International Workshop on Intelligent Manufacturing Systems, Dearborn, MI, October, 1992.
• Mattikali, R., and Khosla, P. K., Analysis of Restraints to Translational and Rotational Motion from the Geometry of Contact, ASME Winter Annual Meeting, Atlanta, December, 1991. Invited.
• Xu. Y., Raju, M., and Khosla, P. K., Two Disk Motion Planning Strategy, Proceedings IEEE Conference on Systems, Man and Cybernetics, VA, November, 1991.
• Xu. Y., Raju, M., and Khosla, P. K., Generation of Partial Medial Axis, Proceedings IEEE Conference on Systems, Man and Cybernetics, VA, November, 1991.
• Gertz, M., Kim, J. O., and Khosla, P. K., Exploiting Redundancy to Reduce Impact Force, Proceedings of IEEE International Workshop Intelligent Robot Systems, Osaka, Japan, November, 1991.
• Kim, J. O. and Khosla, P. K., Dexterity Measures for Design and Control of Manipulators, Proceedings of IEEE International Workshop Intelligent Robot Systems, Osaka, Japan, November, 1991.
• Stewart, D. B., and Khosla, P. K., Real-Time Scheduling of Sensor-Based Control Systems, In Proceedings of Eighth IEEE Workshop on Real-Time Operating Systems and Software, Atlanta, GA., May, 1991.
• Schneiderman, H., and Khosla, P. K., Implementation of Traded and Shared Control Strategies for Exploration Using a Tactile Sensor, Fourth ANS Topical Meeting on Robotics and Remote Systems, Albuquerque, NM, February 24-28, 1991.
• Paredis, C., J., and Khosla, P. K., On Kinematic Design of Serial Link Manipulators, Proceedings of International Symposium on Intelligent Robotics, Bangalore, India, January 3-5, 1991.
• Volpe, R., and Khosla, P. K., Theoretical Analysis and Experimental Verification of an Arm/Sensor/Environment Model for Force Control, In Proceedings 1990 IEEE International Conference on Systems, Man and Cybernetics, Los Angeles, CA, November 1990. Invited
• Mattikali, R, Khosla, P. K. and Xu, Y., Subassembly Identification and Motion Generation for Assembly: A Geometric Approach, IEEE International Conference on Systems Engineering, Pittsburgh, August 9-11, 1990. Invited.
• Kim, J, Khosla, P. K., and Chung, W., Modeling Static Behavior of Redundant Manipulators, Third International Symposium on Robotics and Manufacturing, British Columbia, Canada, July, 1990.
• Hering, D., Khosla, P. K., and Kumar, B. V. K., The Use of Modular Neural Networks in Tactile Sensing, Proceedings IJCNN, Washington, D.C., December 1989.
• Krishnan, A. and Khosla, P. K., A Methodology for Determining the Dynamic Configuration of a Reconfigurable Manipulator System, Proceedings of 5-th Annual Aerospace Applications of AI Conference, Dayton, OH, October 23-27, 1989. Invited. Also in, Proceedings of 1990 ISMCR, Houston, TX, June 1990. Invited.
• Chung, W., Kim, J. O., and Khosla, P. K., A Study of the Pre-Multiplier Model for Redundant Manipulators, Korean Automatic Control Conference, Seoul, Korea, October 1989, (in Korean).
• Stewart, D., Schmitz, D. and Khosla, P. K., CHIMERA II: A Real-Time Multiprocessor Environment for Sensor-Based Robot Control, Fourth IEEE International Symposium on Intelligent Control, Albany, NY, September 1989. Invited. Also in Proceedings of 5-th Annual Aerospace Applications of AI Conference, Dayton, OH, October 23-27, 1989.
• Carriker, W., Khosla, P. K. and Krogh, B., An Approach for Coordinating Mobility and Manipulation, IEEE International Conference on Systems Engineering, Dayton, OH, August 1989.
• Raju, M. and Khosla, P. K., Determining the Assembly Sequence from a 3-D Description of an Assembly, Third Annual Expert Systems Conference, Detroit, MI, April 1989.
• Berger A., Volpe, R. and Khosla, P. K., Real-Time Edge Tracking Using a Tactile Sensor, In Proceedings of the NASA/JPL Workshop on Space Telerobotics, Pasadena, CA, February 1989. Pages 261-272.
• Berger, A. and Khosla, P. K., Edge Detection for Tactile Sensing, In Space Station Automation, Volume 1006, W. C. Chiou (editor), Boston, MA, November 1988, Pages 163-172.
• Ramos, S. and Khosla, P. K., Scheduling Parallel Computation of Inverse Dynamics Formulation, Second International Symposium on Robotics and Manufacturing Research, Education and Applications, Albuquerque, NM, November 1988.
• Volpe, R. and Khosla, P. K., Artificial Potentials with Elliptical Isopotential Contours, In Proceedings 26-th IEEE Conference on Decision and Control, Los Angeles, CA, December 1987. Invited.
• Ramos, S. and Khosla, P. K., A Computational Architecture for the Recursive Lagrange-Euler Formulation, 30-th Midwest Symposium on Circuits and Systems, Syracuse, NY, August 1987. Invited.
• Khosla, P. K., and Tourassis, V. D., Adaptive Control Strategies for Manipulators, 30-th Midwest Symposium on Circuits and Systems, Syracuse, NY, August 1987. Invited.
• Khosla, P. K., Persistently Exciting Trajectories for Estimation, In Proceedings of the Second International Conference on Robotics and Factories of the Future, San Diego, CA, July 1987.
• Khosla, P. K., Choosing Control Sampling Rates for Model-Based Manipulator Control Schemes, 1987 IEEE Conference on Robotics and Automation, Raleigh, NC, March 1987. Invited.
• Khosla, P. K., Effect of Control Sampling Rates on Model-Based Manipulator Control Schemes, Workshop on Space Telerobotics, Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, January 1987.
• Khosla, P. K., Model-Based Control of CMU DD Arm II, In Proceedings of the Platinum Jubilee Conference on Systems and Signal Processing, Indian Institute of Science, Bangalore, India, December 1986. Invited.
• Khosla, P. K., Estimation of Robot Dynamics Parameters: Theory and Application, Proceedings of the Second IASTED International Conference on Applied Control and Identification, pages 129-133, Los Angeles, CA, December 1986.
• Khosla, P. K., Kanade, T. and Schmitz, D., Real-Time Model-Based Control of Manipulators. In Proceedings of the Japan-USA Symposium on Flexible Automation, Osaka, Japan, July 1986. Invited.
• Khosla, P. K. and Kanade, T., Experimental Evaluation of the Feedforward Compensation and Computed-Torque Control Schemes. Proceedings of the ACC, Seattle, WA, June 1986. Invited.
• Khosla, P. K. and Kanade, T., Real-Time Implementation and Evaluation of Model-Based Controls on CMU DD Arm II. Proceedings of the IEEE Conference on Robotics and Automation, San Francisco, CA, April 1986. Invited.
• Khosla, P. K. and Kanade, T., An Algorithm to Determine the Identifiable Parameters in the Dynamic Robot Model. Proceedings of the IEEE Conference on Robotics and Automation, San Francisco, CA, April 1986. Invited.
• Khosla, P. K. and Kanade, T., Parameter Identification of Robot Dynamics. In Franklin, G. F. (editor), Proceedings of the 24th IEEE Conference on Decision and Control, Pages 1754-1760, Fort Lauderdale, FL, December 1985. Invited.
• Neuman, C. P. and Khosla, P. K., Parameter Identification for Robot Control. Proceedings of the 1985 ASME Winter Annual Meeting, Miami Beach, FL, November 1985. Invited.
• Neuman, C. P. and Khosla, P. K., Identification of Robot Dynamics: An Application of Recursive Estimation. In Narendra, K. S. (editor), Proceedings of the Fourth Yale Workshop on Applications of Adaptive Systems Theory, Pages 42-49, Yale University, New Haven, CT, May 1985. Invited.
• Kanade, T. K., Khosla, P. K. and Tanaka, N., Real-Time Control of the CMU DD Arm II Using Customized Inverse Dynamics. In Polis, M. P. (editor), Proceedings of the 23rd IEEE Conference on Decision and Control, pages 1345-1352, Las Vegas, NV, December 1984. Invited.

Video Proceedings

• B. Nelson and P.K. Khosla, Visually Servoed Manipulation, in Video Proc. of the Third Int. Symp. on Experimental Robotics, 1993.
• P.K. Khosla, R.S. Mattikalli, B. Nelson, and Y. Xu, CMU Rapid Assembly System, in Video Proc. of the 1992 IEEE Int. Conf. on Robotics and Automation, 1992.
• Paredis, C., Brown, B., and Khosla P. K., The CMU Reconfigurable Modular Manipulator System, in Video Proc. of the 1997 IEEE Int. Conf. on Robotics and Automation, 1997.

Other Publications

• Kanade, T., Schmitz, D., Hoffman, R., and Khosla P., The CMU DD Arm II Project, In The Robotics Institute 1984 Annual Research Review, Carnegie-Mellon University, Pittsburgh, PA 15213, January 1985. Invited.
• Khosla, P. K., Kanade, T., Schmitz, D., Hoffman, R. and Delouis, M., The CMU Reconfigurable Modular Manipulator System Project, In The Robotics Institute 1988 Annual Research Review, Carnegie Mellon University, Pittsburgh, PA 15213, January 1989. Invited.
• Khosla, P. K., and Director, S. W., A Freshman Course in Electrical and Computer Engineering, ECE Exchange, Addison Wesley Publication, Vol. 1, No. 2, Fall 1991. Invited.

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