Publications

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IROS99

• RAVE: A Real and Virtual Environment for Multiple Mobile Robot Systems
  K. Dixon, J. Dolan,W. Huang, C. Paredis, P. Khosla
  in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Kyongju, Korea, October 17-21, 1999.
• Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot
  S.-J. Tsai, E.D. Ferreira, C.J.J. Paredis
  in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Kyongju, Korea, October 17-21, 1999.
• An Architecture for Gesture Based Control of Mobile Robots
  S. Iba, J.M. Vande Weghe, C.J.J. Paredis, P.K. Khosla
  in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Kyongju, Korea, October 17-21, 1999.

SPIE99

• Modularity in Small Distributed Robots
  L.E. Navarro-Serment, R. Grabowski, C.J.J. Paredis, P.K. Khosla
  in Proceedings of the SPIE conference on Sensor Fusion and Decentralized Control in Robotic Systems II, Boston, MA, September 19-22, 1999.

FSR99

• A Beacon System for the Localization of Distributed Robotic Teams
  L.E. Navarro-Serment, C.J.J. Paredis, P.K. Khosla
  in Proceedings of the International Conference on Field and Service Robotics, Pittsburgh, PA, August 29-31, 1999.

ISER99

• Continuous Probabilistic Mapping by Autonomous Robots
  J. Salido, C.J.J. Paredis, P.K. Khosla
  in Proceedings of the 1999 International Symposium on Experimental Robotics, Sydney, Australia, March 26-28, 1999.

Journal Articles/Book Contributions

• The Shape from Motion Approach to Rapid and Precise Force/Torque Sensor Calibration
  R. M. Voyles, Jr., J. D. Morrow, P. K. Khosla
  Journal of Dynamic Systems, Measurement and Control, June, 1997.
• A Rapidly Deployable Manipulator System
  C. J. J. Paredis, H. B. Brown, and P. K. Khosla
  Robotics and Autonomous Systems Vol. 21, pp. 289-304, 1997.

TSE97

• Design of dynamically reconfigurable real-time software using port-based objects
  David B. Stewart, R.A. Volpe, and Pradeep K. Khosla
  IEEE Trans. on Software Engineering, 23(12), pp. 759-776, December 1997.

ICRA97

• Collaborative Calibration: Extending Shape from Motion Calibration
  R.M. Voyles and P.K. Khosla
  Proceedings of 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, v. 4, pp. 2795-2800, Apr. 1997.
• Tropism-Based Cognition for the Interpretation of Context-Dependent Gestures
  R.M. Voyles, A. Agah, P.K. Khosla and G.A. Bekey
  Proceedings of 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, v. 4, pp. 3481-3486, Apr. 1997.
• Manipulation Task Primitives for Composing Robot Skills
  J. D. Morrow and Pradeep K. Khosla
  Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3354-3359, Albuquerque, NM, April, 1997.
• Agent-Based Design of Fault Tolerant Manipulators fro Satellite Docking
  C. J. J. Paredis, and P. K. Khosla
  Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, pp. 3473-3480, April 20-25, 1997.
• Augmenting the human-machine interface: improving manual accuracy
  C. N. Riviere and P. K. Khosla
  Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 20-25, 1997.
• RMMS: Reconfigurable Modular Manipulator System Project
  C. J. J. Paredis, and P. K. Khosla
  in Video Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 20-25, 1997.

HASE97

• Analytical Design of Evolutionary Control Flow Components
  C. L. Hoover and P. K. Khosla
  Proc. of the Second Workshop on High Assurance Systems Engineering (HASE'97), IEEE Computer Society Press, Los Alamitos, CA, Aug. 11-12, 1997.

DETC97

• Task-Based Design of Manipulators: An Agent-Based Approach
  C. J. J. Paredis, and P. K. Khosla
  Proceedings of the 1997 ASME Desing Engineering Technical Conference, paper no. DETC97-DAC-3853, Sacramento, CA, September 14-17, 1997.

EMBS97

• Characteristics of hand motion of eye surgeons
  C. N. Riviere, R. S. Rader, and P. K. Khosla
  Proceedings of the 19th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Chicago, Oct 30-Nov 2, 1997.

ISAM97

• Active handheld instrument for error compensation in microsurgery
  C. N. Riviere and P. K. Khosla
  Proceedings of Intelligent Systems and Advanced Manufacturing: Technical Conference on Microrobotics and Microsystem Fabrication, Pittsburgh, PA., 16-17 October 1997, pp. 86-95.

CACM97

• Mechanisms for detecting and handling timing errors
  D. B. Stewart and P. K. Khosla
  Communications of the ACM, vol. 40, no. 1, Jan 1997, pp. 87-94.

SPIE97

• A Modified Reactive Control Framework for Cooperative Mobile Robots
  J. Salido, J.M. Dolan, J. Hampshire and P. Khosla
  Proceedings on SPIE International Symposium on Sensor Fusion and Decentralized Control in Autonomous Robotic Systems; vol. 3209 pp. 90-100. 14-15 Oct. 1997, Pittsburgh.

Ph.D Thesis

• Toward Gesture-Based Programming: Agent-Based Haptic Skill Acquisition and Interpretation
  R. M. Voyles
  Technical Report CMU-RI-TR-97-36 (Ph.D. Thesis), Robotics Institute, Carnegie Mellon University, August 1997.
• Sensorimotor Primitives for Programming Robotic Assembly Skills
  J. D. Morrow
  Technical Report CMU-RI-TR-97-23 (Ph.D. Thesis), Robotics Institute, Carnegie Mellon University, May 1997.

Journal Articles/Book Contributions

• The Chimera Methodology: Designing Dynamically Reconfigurable and Reusable Real-Time Software using Port-Based Objects
  David B. Stewart and Pradeep K. Khosla
  International Journal of Software Engineering and Knowledge Engineering, vol 6, no. 2, June 1996, pp. 249-277.
• Gesture-Based Programming, Part 1: A Multi-Agent Approach
  R.M. Voyles and P.K. Khosla
  in Intelligent Engineering Systems through Artificial Neural Networks, Volume 6; Smart Engineering Systems: Neural Networks, Fuzzy Logic and Evolutionary Programming, ASME Press, 1996.
• Gesture-Based Programming, Part 2: Primordial Learning
  R.M. Voyles, J.D. Morrow and P.K. Khosla
  in Intelligent Engineering Systems through Artificial Neural Networks, Volume 6; Smart Engineering Systems: Neural Networks, Fuzzy Logic and Evolutionary Programming, ASME Press,1996.
• Fault Tolerant Task Execution through Global Trajectory Planning
  C. J. J. Paredis, and P. K. Khosla
  Reliability Engineering and System Safety (special issue on Safety of Robotic Systems), Vol. 53, No. 3, pp. 225-235, Sept. 1996.
• Designing Fault Tolerant Manipulators: How Many Degrees-of-Freedom?
  C. J. J. Paredis, and P. K. Khosla
  International Journal of Robotics Research, Vol. 15, No. 6, pp. 611-628, Dec. 1996.
• Robot Grasp Synthesis Algorithms: A Survey
  Shimoga, K.B.
  The International Journal of Robotics Research (MIT Press), June, 1996.
• Soft Robotic Fingers: Part~I. A Comparison of Construction Materials
  Shimoga, K.B. and Goldenberg A.A.
  International Journal of Robotics Research (MIT Press), August, 1996.
• Soft Robotic Fingers: Part~II. Modeling and Impedance Regulation
  Shimoga, K.B. and Goldenberg A.A.
  International Journal of Robotics Research (MIT Press), August, 1996.
• Robotic Manipulation Using High Bandwidth Force and Vision Feedback
  B.J. Nelson and P.K. Khosla
  Mathl. Comput. Modelling, 24(5/6), pp. 11-29, September, 1996.
• Robotic Visual Servoing and Robotic Assembly Tasks
  B.J. Nelson, N.P. Papanikolopoulos, and P.K. Khosla
  IEEE Robotics and Automation Magazine, 3(2), pp. 23-31, June, 1996.
• Force and Vision Resolvability for Assimilating Disparate Sensory Feedback
  B.J. Nelson and P.K. Khosla
  IEEE Transactions on Robotics and Automation, 12(5), pp. 714-731, October, 1996.

WORDS96

• An Analytical Approach to Change for the Design of Reusable Real-Time Software
  C. L. Hoover and P. K. Khosla
  Proc. of the Second Workshop on Object-Oriented Real-Time Dependable Systems (WORDS'96), IEEE Computer Society Press, Los Alamitos, CA, Feb. 1-2, 1996, pp. 144-151

ICRA96

• A Rapidly Deployable Manipulator System
  C. J. J. Paredis
  Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1434-1439, Minnesota, Minneapolis, April 22-28, 1996.
• A Modular Tactile Sensor and Actuator Based on an Electrorheological Gel
  R.M. Voyles, Jr., G. Fedder and P.K. Khosla
  in Proceedings of 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, Apr. 1996.

EMBS96

• Accuracy in positioning of handheld instruments
  C. N. Riviere and P. K. Khosla
  Proceedings of the 18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Amsterdam, 31 October-3 November 1996.

HASE96

• Policy-Independent Real-Time Operating System Mechanism for Timing Error Detection, Handling, and Monitoring
  David B. Stewart and Pradeep K. Khosla
  IEEE Workshop on High Assurance Systems Engineering, Niagara-on-the-Lake, Canada, Oct. 21-22, 1996.

MFI96

• Including Sensor Bias in Shape from Motion Calibration and Multisensor Fusion
  R.M. Voyles, J.D. Morrow and P.K. Khosla
  in Proceedings of the 1996 IEEE/SICE/RSJ Multisensor Fusion and Integration Conference, Washington, DC, December 8-10, 1996.

Technical Reports

• Model for Characterizing and Creating Certificate Programs in Technology-Specific Areas
  C. L. Hoover
  Technical Report: CMU-CS-96-128, Carnegie Mellon University, Pittsburgh, PA, 1996.

Ph.D Thesis

• An Agent-Based Approach to the Design of Rapidly Deployable Fault Tolerant Manipulators
  C. J. J. Paredis
  Ph.D. Thesis, Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, August 1996.

Journal Articles/Book Contributions

• Gravitational Stability of Frictionless Assemblies
  R. Mattikalli, D. Baraff, P. Khosla, B. Repetto
  IEEE Trans. on Robotics and Automation, 11(3), pp. 374-388, June 1995.
• Finding All Stable Orientations of Assemblies with Friction
  R. Mattikalli, D. Baraff and P. Khosla
  IEEE Trans. on Robotics and Automation,1995.
• Minimal Fixturing of Frictionless Assemblies: Complexity and Algorithms
  D. Baraff, R. Mattikalli and P. Khosla
  Algorithmica, Special issue on Computational Geometry in Manufacturing, 1995.
• Determining Two Minimal Circumscribing Disks for a Polygon
  Y. Xu, R. Mattikalli and P. Khosla
  Computer-Aided Design, 27(3), pp.223-234, 1995.
• Generation of Partial Medial Axis for Disassembly Motion Planning
  Y. Xu, R. Mattikalli and P. Khosla
  Journal of Design and Manufacturing, Vol 5, pp. 89-102, 1995.
• Design of Modular Fault Tolerant Manipulators
  C. J. J. Paredis, and P. K. Khosla
  The Algorithmic Foundations of Robotics, eds. K. Goldberg et al., A. K. Peters, Boston, Ma, pp. 373-383, 1995.
• Six Degree-of-Freedom Hand/Eye Visual Tracking with Uncertain Parameters
  N.P. Papanikolopoulos, B.J. Nelson, and P.K. Khosla
  IEEE Transactions on Robotics and Automation, 11(5), pp. 725-732, October, 1995.
• Strategies for Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance
  B.J. Nelson and P.K. Khosla
  International Journal of Robotics Research, 14(3), pp. 225-269, June, 1995.
• On the Equivalence of Second Order Impedance Control and Proportional Gain Explicit Force Control
  R. Volpe and P. Khosla
  International Journal of Robotics Research, 14(6), December, 1995.

ACC95

• Improved Force Control Through Visual Servoing
  B.J. Nelson, J.D. Morrow, and P.K. Khosla
  American Control Conference, Seattle, June 21-23, 1995.

IROS95

• Fast Stable Contact Transitions with a Stiff Manipulator Using Force and Vision Feedback
  B.J. Nelson, J.D. Morrow, and P.K. Khosla
  IEEE/RSJ Int. Conf. on Intelligent Robots and Sys., Pittsburgh, August 5-9, 1995.
• Vision and Force Driven Sensorimotor Primitives for Robotic Assembly Skills
  J.D. Morrow, B.J. Nelson, and P.K. Khosla
  IEEE/RSJ Int. Conf. on Intelligent Robots and Sys., Pittsburgh, August 5-9, 1995.
• Global Trajectory Planning for Fault Tolerant Manipulators
  C. J. J. Paredis, and P. K. Khosla
  Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, PA, Vol. 2, pp. 428-434, August 5-9, 1995.
• Tactile Gestures for Human/Robot Interaction
  R.M. Voyles, Jr. and P.K. Khosla
  in Proceedings of 1995 IEEE/RSJ Conf. on Intelligent Robots and Systems, Pittsburgh, PA, Aug. 1995.
• A Touch Reflection system for Interaction with Remote and Virtual Environments
  Shimoga, K.B., A.M. Murray and P.K. Khosla
  Presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, PA, August 5-9, 1995.
• Rapid Development of Robotic Applications using Component-Based Real-Time Software
  David B. Stewart and Pradeep K. Khosla
  Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, PA., August 1995, pp. 465-470.

ICRA95

• Sensorimotor Primitives for Robotic Assembly Skills
  J.D. Morrow and P.K. Khosla
  IEEE Int. Conf. on Robotics and Automation, Nagoya, Japan, May 21-27, 1995.
• An Extendable Framework for Expectation-Based Visual Servoing Using Environment Models
  B. Nelson and P.K. Khosla
  IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 21-27, 1995.

ISATP95

• Meassuring the difficulty of assembly tasks from tool access information
  Dz-Calder A., D. Navin-Chandra, and P. K. Khosla
  IEEE International Symposium on Assembly and Task Planning, Pittsburgh, PA, August, 1995.

CSEE95

• The Role of the Software Engineer in Real-Time Software Development: An Introductory Course
  C. L. Hoover
  Proc. of the Eighth SEI Conference on Software Engineering Education, Mar. 29-Apr. 1, 1995, Springer-Verlag, Berlin, pp. 167-186.

ISATP95

• Developing Compatible Grasp and Fixture Plans
  W. Carriker, R. Mattikalli and P. Khosla
  in IEEE International Symposium on Assembly and Task Planning , pp. 354-361, August 1995, Pittsburgh.

IMECE95

• Shape from Motion Approach to Rapid and Precise Force/Torque Sensor Calibration
  R.M. Voyles, Jr., J.D. Morrow and P.K. Khosla
  in Proceedings of 1995 ASME International Mechanical Engineering Congress and Exposition, San Francisco, CA, Nov. 1995.

SMC95

• Shape from Motion Decomposition as a Learning Approach for Autonomous Agents
  R.M. Voyles, Jr., J.D. Morrow and P.K. Khosla
  Proceedings of 1995 IEEE Conf. on Systems, Man, and Cybernetics, Vancouver, B.C., Oct. 1995.

Technical Reports

• Real-Time Specialization Track: Masters of Software Engineering (MSE) Program
  C. L. Hoover
  Technical Report: CMU-CS-95-122, Carnegie Mellon University, Pittsburgh, PA, 1995.
• Human-Computer Interaction Specialization Track: Masters of Software Engineering (MSE) Program
  C. L. Hoover
  Technical Report: CMU-CS-95-123, Carnegie Mellon University, Pittsburgh, PA, 1995.
• Business Specialization Track: Masters of Software Engineering (MSE) Program
  C. L. Hoover
  Technical Report: CMU-CS-95-124, Carnegie Mellon University, Pittsburgh, PA, 1995.
• Force and Vision Resolvability for Assimilating Disparate Sensory Feedback
  B. J. Nelson and P. K. Khosla
  Technical Report: CMU-RI-TR-95-11, Carnegie Mellon University, Pittsburgh, PA, 1995.

Journal Aritcles/Book Contributions

• Comparison of some computer-based task management approaches
  Dz-Calder A. and C. Hendrickson
  Journal of Artificial Intelligence for Engineering Design, Analysis and Manufacturing, Vol. 8, Num 3, Summer 1994.
• Kinematic Design of Fault Tolerant Manipulators
  C. J. J. Paredis, W. K. F. Au, and P. K. Khosla
  Computers & Electrical Engineering, Vol. 20, No. 3, pp. 211-220, 1994.
• A Human-Machine Interface to Support Reconfigurable Software Assembly for Virtual Laboratories
  Matthew W. Gertz, David B. Stewart, and Pradeep K. Khosla
  IEEE Robotics and Automation Magazine, vol. 1, no. 4, December 1994.
• Analysis and Experimental Verification of a Fourth Order Plant Model for Manipulator Force Control
  R. Volpe and P. Khosla
  IEEE Robotics and Automation Magazine, vol. 1, no. 2, June 1994.
• Computational Considerations in the Implementation of Force Control Strategies
  R. Volpe and P. Khosla
  Journal of Intelligent and Robotic Systems: Theory and Applications. Special Issue on Computational Aspects of Robot Kinematics, Dynamics, and Control, Volume 9, pp. 121-148, 1994.
• Exploiting Redundancy To Reduce Impact Force
  J.-O. Kim, M. Gertz, P.K. Khosla
  Journal of Intelligent and Robotic System, Vol. 9, pp. 273-280, 1994.

ICRA94

• Six Degree-of-Freedom Hand/Eye Visual Tracking with Uncertain Parameters
  N.P. Papanikolopoulos, B.J. Nelson, and P.K. Khosla
  International Conference on Robotics and Automation, 1994.
• Finding all gravitationally stable orientations of assemblies
  R. Mattikalli, D. Baraff and P. Khosla
  International Conference on Robotics and Automation, pages 251-257, May 1994.
• Mapping Tasks into Fault Tolerant Manipulators
  C. J. J. Paredis, and P. K. Khosla
  Proc. of the 1994 IEEE International Conference on Robotics and Automation, Vol. 1, pp. 696-703, San Diego, CA, May 9-13, 1994.

MMVR II

• Teleneurosurgery: An Approach to Enhance the Dexterity of Neurosurgeons
  Shimoga, K.B., P.K. Khosla, and R.J. Sclabassi
  Proceedings of the Symposium on Medicine Meets Virtual Reality II, San Diego, CA, January 27-30, 1994, p. 203.

MRCAS94

• Teleneurosurgery: An Approach to Enhance the Dexterity of Neurosurgeons
  Shimoga, K.B., P.K. Khosla, and R.J. Sclabassi
  1st International Symposium on Medical Robotics and Computer Assisted Surgery, Pittsburgh, PA, Sep 22-24, 1994 (poster).

EMBS94

• Touch and Force Reflection for Telepresence Surgery
  Shimoga, K.B. and P.K. Khosla
  Proc. IEEE Engineering in Medicine and Biology Society (EMBS) Conference, Baltimore MD, November 3-6, 1994.
• Visual and Force Feedback to Aid Neurosurgical Probe Insertion
  Shimoga, K.B. and P.K. Khosla
  Proc. IEEE Engineering in Medicine and Biology Society (EMBS) Conference, Baltimore MD, November 3-6, 1994.

CVPR94

• The Resolvability Ellipsoid for Visual Servoing
  B. Nelson and P.K. Khosla
  Conference on Computer Vision and Pattern Recognition, Seattle, WA., June 20-24, 1994.

WORDS94

• The Chimera Methodology: Designing Dynamically Reconfigurable Real-Time Software using Port-Based Objects
  David B. Stewart and Pradeep K. Khosla
  The First Workshop on Object-Oriented Real-Time Dependable Systems, Dana Point, CA., October 1994, pp. 46-53.

ISRAM94

• Using Hypermedia and Reconfigurable Software Assembly to Support Virtual Laboratories and Factories
  M. W. Gertz, D. B. Stewart, B. J. Nelson, and P. K. Khosla
  5th International Symposium on Robotics and Manufacturing, Maui, Hawaii., August 15-17, 1994.

CSESAW94

• Software Assembly for Real-Time Applications based on a Distributed Shared Memory Model
  D. B. Stewart, M. W. Gertz, and P. K. Khosla
  Complex Systems Engineering Synthesis and Assessment Technology Workshop, Silver Spring, MD., July 1994, pp. 217-224.

ASCE94

• Onika: A Multilevel Human-Machine Interface for Real-Time Sensor-Based Systems
  M. W Gertz
  The 4th Int'l Conf. and Expo on Engineering, Construction and Operations in Space, Albuquerque NM., Feb 1994.

SPIE

• Real-time vision-based detection of wire gapping on a rotating transformer core
  C.J. Taylor, E. Evans, J. Dolan, P.K. Khosla
  Proc. SPIE Vol. 2349, p. 235-246, Industrial Optical Sensors for Metrology and Inspection, November 1994.

CCE

• A computer-based advisor for environmentally conscious, "green" product design
  Dz-Calder A., S. Fenves, J. Garrett and C Hendrickson
  ASCE First Congress on Computing in Civil Engineering, Washington D. C., June 1994.

Technical Reports

• Minimal Fixturing of Frictionless Assemblies: Complexity and Algorithms
  D. Baraff, R. Mattikalli and P. Khosla
  Technical Report CMU-RI-TR-94-08, Robotics Institute, Carnegie Mellon University, 1994.
• Multi-Agent Perception for Human/Robot Interaction: A Framework for Intuitive Trajectory Modification
  R.M. Voyles, Jr. and P.K. Khosla
  CMU-RI-TR-94-33, The Robotics Institute, Carnegie Mellon University, Sept., 1994.

Ph.D Thesis

• A Visual Programming Environment for Real-Time Control Systems
  Matthew W. Gertz
  Ph.D. Dissertation, ECE Dept., Carnegie Mellon University, Pittsburgh, PA 15213, November 24, 1994.
• Real-Time Software Design and Analysis of Reconfigurable Multi-Sensor Based Systems
  D. B. Stewart
  Ph.D. Dissertation, ECE Dept., Carnegie Mellon University, Pittsburgh, PA 15213, April 1994.

AIAA93

• A Human-Machine Interface For Reconfigurable Sensor-Based Control Systems
  Matthew W. Gertz, David B. Stewart, and Pradeep K. Khosla
  American Institute of Aeronautics and Astronautics Conference on Space Programs and Technologies, Huntsville, Alabama. September 21-23, 1993

IFAC93

• Dynamic Sensor Placement Using Controlled Active Vision
  B.J. Nelson, N. P. Papanikolopolous, P.K. Khosla
  Proceedings of the International Federatoin of Automatic Control, Sydney, Australia, July 18-23, 1993.

Journal Articles/Book Contributions

• Visual Servoing for Robotic Assembly
  B.J. Nelson, N. P. Papanikolopolous, P.K. Khosla
  Visual Servoing Real-Time Control of Robot Manipulators Based on Visual Sensory Feedback, K. Hashimoto, ed., River Edge, NJ, World Scientific Publishing, 1993, pp. 139-164.
• Kinematic Design of Serial Link Manipulators From Task Specifications
  C. J. J. Paredis, and P. K. Khosla
  International Journal of Robotics Research, Vol. 12, No. 3, pp. 274-287, June 1993.
• Experimental Determination of the Dynamic Parameters of a Closed-chain Robotic Arm
  Lu, Z., Shimoga, K.B. and Goldenberg A.A.
  Journal of Robotic Systems (John-Wiley), October, 1993.
• A Theoretical and Experimental Investigation of Impact Control for Manipulators
  R. Volpe and P. Khosla
  International Journal of Robotics Research, 12(4), August 1993.
• A Theoretical and Experimental Investigation of Explicit Force Control Strategies for Manipulators
  R. Volpe and P. Khosla
  IEEE Transactions on Automatic Control, 38(11), November 1993.

ICRA93

• Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance
  B.J. Nelson and P.K. Khosla
  International Conference on Robotics and Automation, vol.3, pp. 418-423, 1993.
• Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design
  J.-O. Kim and P. Khosla
  IEEE international conference on Robotics and Automation, Vol.3, pp.867-874, Atlanta, GA, USA, May, 1993.

ICER93

• Itegrating Sensor Placement and Visual Tracking Strategies
  B.J. Nelson and P.K. Khosla
  The Third International Symposium on Experimental Robotics III, Kyoto, Japan, Oct. 28-30 1993.

IROS93

• Stability of Assemblies
  R. Mattikalli, P. K. Khosla, B. Repetto and D. Baraff
  Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan pages 652-661, July 1993.
• A Formulation of Task Based Design of Robot manipulators
  J.-O. Kim and P. Khosla
  IEEE/RSJ International workshop on Intelligent Robots and Systems, Yokohama, Japan, July, 1993.

ISRR93

• Synthesis Methodology for Task Based Reconfiguration of Modular Manipulator Systems
  C. J. J. Paredis, and P. K. Khosla
  in Proc. of International Symposium on Robotics Research, Hidden Valley, PA, Oct. 2-5, 1993.

ACC93

• Grasp Admittance Center Concept: An Experimental Demonstration
  Goldenberg A.A. and Shimoga K.B.
  In Proc. of the 1993 American Control Conference, San Francisco, CA, June 2-4, 1993, pp. 331-335 (Paper in an Invited Session).

ISIC93

• A Software Architecture-Based Human-Machine Interface for Reconfigurable Sensor-Based Control Systems
  Matthew W. Gertz, David B. Stewart and Pradeep K. Khosla
  8th IEEE International Symposium on Intelligent Control, Chicago, Ill., August 25-26, 1993, pp. 75-80.

VRAIS93

• Perceptual feedback issues in dexterous telemanipulation: Part~I. Finger force feedback
  Shimoga K.B.
  Proc. IEEE International Symposium on Virtual Reality}, Seattle, WA, Sept 18-22, 1993.
• Perceptual feedback issues in dexterous telemanipulation: Part~II. Finger touch feedback
  Shimoga K.B.
  Proc. IEEE International Symposium on Virtual Reality, Seattle, WA, Sept 18-22, 1993.

ISIR93

• Integration of Real-Time Software Modules for Reconfigurable Sensor-Based Control Systems
  David B. Stewart, Richard A. Volpe, and Pradeep K. Khosla
  International Symposium on Intelligent Robotics, Bangalore, India., January 1993.

SAMPE93

• Surface-Closure Algorithms for Filament Winding of Non-Axisymmetric Cylindrical Parts
  Dolan, J.M., Khosla, P.K., Talukdar, S.N.
  Proceedings of the 25th International SAMPE Technical Conference, Vol 25, pp.680-691, October 1993.

CAD

• Modeling and Compensation of Friction in Direct-Drive Robotic Arms
  Popovic M., Shimoga K.B., Hui R. and Goldenberg A. A.
  Proc. of International Conference on CAD/CAM, Robotics and Factories of the Future, St. Petersburgh, Russia, May 17-19, 1993.

ICSCS93

• Model-Based Compensation of Friction in Direct-Drive Robotic Arms
  Popovic M., Shimoga K.B., and Goldenberg A.A.
  the International Conference on Control Systems and Computer Science, Bucharest, Romania, November, 1993.

Techinical Reports

• The Resolvability Ellipsoid for Sensor Based Manipulation
  B. Nelson and P.K. Khosla
  CMU-RI-TR-93-28, The Robotics Institute, Carnegie Mellon University, 1993.
• A comparison of task management approaches for engineering design processes
  Dz-Calder A. and C. Hendrickson
  Technical Report EDRC 12-59-93, Engineering Design Research Center, Carnegie Mellon University, 1993.
• TAP-D: A Model for Developing Specialization Tracks in Graduate Software Engineering Education
  C. L. Hoover
  Technical Report: CMU-CS-93-181, Carnegie Mellon University, Pittsburgh, PA, 1993.
• Impending Motion Direction of Contacting Rigid Bodies
  D. Baraff and R. Mattikalli
  Technical Report CMU-RI-TR-93-15, Robotics Institute, Carnegie Mellon University, 1993.
• Finding Stable Orientations of Assemblies with Linear Programming
  D. Baraff, R. Mattikalli, B. Repetto, and P. Khosla
  Technical Report CMU-RI-TR-93-13, Robotics Institute, Carnegie Mellon University, 1993.
• Design of Dynamically Reconfigurable Real-time Software Using Port-based Objects
  D. B. Stewart, R. A Volpe, and P. K. Khosla
  Technical Report: CMU-RI-TR-93-11, The Robotics Institute, Carnegie Mellon University, July 1993

Program Documentation

• Chimera 3.1: The Real-Time Operating System for Reconfigurable Sensor-Based Control Systems
  David B. Stewart and Pradeep K. Khosla
  Advanced Manipulators Laboratory, The Robotics Institute and Department of Electrical and Computer Engineering, Carnegie Mellon University, January 1993.

Journal Articles/Book Contributions

• Real-time Computational Aspects of Multiple Manipulator Systems, Journal of Intelligent and Robotic Systems: Theory and Applications
  Kircanski, N., Hui, R., Shimoga, K.B., and Goldenberg, A.A.
  Special Issue on Computational Aspects of Robot Kinematics, Dynamics, and Control (Kluwer Academic), 1992.
• Real-Time Scheduling of Sensor-Based Control Systems
  D. B. Stewart and P. K. Khosla
  Real-Time Programming, W. Halang and K. Ramamritham, Pergamon Press Inc., 1992, pp. 139-144.
• Real-Time Obstacle Avoidance Using Harmonic Potential Functions
  J.-O. Kim and P. Khosla
  IEEE Transaction on Robotics and Automation, Vol.8, No.3, pp.338-349, June, 1992.
• Static Modeling and Control of Redundant Manipulators
  J.-O. Kim and P. Khosla and W.K. Chung Robotics and Computer-Integrated Manufacturing, Pergamon Press, Vol. 9, No.2, pp.145-157, 1992.
• Framework for Task Based Design of Manipulators
  J.-O. Kim and P. Khosla
  Robotics and Manufacturing, ASME Press Series, edited by M. Jamshidi, et al., Vol.4, 1992.

ICCA92

• Increasing the Tracking Region of an Eye-in-Hand System Using Controlled Active Vision
  B. Nelson and Pradeep K. Khosla
  IEEE International Conference on Control Application, pp. 1128-1133, 1992.

IROS92

• Integration of Real-Time Software Modules for Reconfigurable Sensor-Based Control Systems
  David B. Stewart, Richard A. Volpe, and Pradeep K. Khosla
  International Conference on Intelligent Robots and Systems, Raleigh, NC., pp. 325-332, July 7-10, 1992.
• A Multi-Population Genetic Algorithm and Its Application to Design of Manipulators
  J.-O. Kim and P. Khosla
  IEEE/RSJ international workshop on Intelligent Robots and Systems, Rayleigh, NC, USA, July, 1992.

ICRA92

• Motion Constraints from Contact geometry : Representation and Analysis
  Raju Mattikalli and Pradeep Khosla
  In Proc. IEEE International Conference on Robotics and Automation, pages 2178-85, May 1992.

SMC92

• Experimental Demonstration of the Grasp Admittance Center Concept
  Shimoga K.B. and Goldenberg A.A.
  In Proc. of the 1992 IEEE International Conference on Systems, Man, and Cybernetics, Chicago, IL, October 18-21, 1992, pp.~1116-1121.
• The Chimera II Real-Time Operating System for Advanced Sensor-Based Control Applications
  David B. Stewart, Donald E. Schmitz, and Pradeep K. Khosla
  IEEE Trans. on Systems, Man, and Cybernetics, vol. 22, no. 6, November/December 1992, pp. 1282-1295.

ISCIE92

• Task Based Synthesis of Optimal Manipulator Configurations
  J.-O. Kim and P. Khosla
  1992 Japan-USA Symposium on Flexible Automation - A Pacific Rim Conference-ISCIE, San Francisco, CA, July, 1992.

ISRAM92

• Framework for Task Based Design of Manipulators
  J.-O. Kim and P. Khosla
  The 4th ISRAM conference, Santa FE, NM, November, 1992.

ISRMMS92

• Adaptive Control of Robotic Systems: Experimental Hardware Issues
  Goldenberg A.A., Shimoga K.B., Hu Y.-R. and Zhou C.
  In Proceedings of the International Symposium on Robotics, Mechatronics, and Manufacturing Systems, Kobe, Japan, September 16-20, 1992 (Paper in an Invited Session).

KACC92

• Framework for Task Based Design of Robot Manipulators
  J.-O. Kim and P. Khosla
  Korean Automatic Control Conference, Seoul, Korea, October, 1992 (in Korean).

SOAR92

• An Iconic Programming Language for Sensor-Based Robots
  Matthew Gertz, David B. Stewart, and Pradeep K. Khosla
  SOAR Conference, Houston, Texas. , August 4-6, 1992.

NASA-CIRSSE

• Finger Force and Touch Feedback Issues in Dexterous Telemanipulation: A Survey
  Shimoga K.B.
  Proceedings of the NASA-CIRSSE International Conference on Intelligent Robotic Systems for Space Exploration, Troy, NY., Sept 30 - Oct 2, 1992, pp. 159-178.

Flexible Automation

• Regulating the Impedance of a Soft Finger
  Shimoga K.B. and Goldenberg A.A.
  In Proceedings of the 1992 Japan-USA Symposium on Flexible Automation, San Francisco, CA, July 7-12, 1992.

Technical Reports

• Filament Winding Algorithms for Arbitrary Convex Mandrel Shapes
  Dolan, J.M., Gatenholm, M., Khosla, P.K., Talukdar, S.N.
  TR - The Robotics Institute/Engineering Design Research Center, July, 1992.

Ph.D Thesis

• Task Based Kinematic Design of Robot Manipulators
  Jin-Oh Kim
  Ph.D. Thesis, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, August 1992.

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1991

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RTOS91

• Real-Time Scheduling of Sensor-Based Control Systems
  David B. Stewart and Pradeep K. Khosla
  IEEE Workshop on Real-Time Operating Systems and Software, Atlanga GA., pp. 144-150. May 1991.

IROS91

• Exploiting Redundancy to Reduce Impact Force
  M. W. Gertz, Jin-Oh Kim and Pradeep K Khosla
  Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems, Osaka, Japan, Nov 1991.
• Dexterity Measures for Design and Control of Manipulators
  J.-O. Kim and P. Khosla
  IEEE/RSJ international workshop on Intelligent Robots and Systems (IROS '91), Osaka, Japan, November 2-5, 1991.

ASME91

• Analysis of Restraints to Translational and Rotational Motion from the Geometry of Contact
  Raju Mattikalli and Pradeep Khosla
  In Proc. ASME Winter Annual Meeting, DE-Vol.39, pages 65-71, December 1991.

SMC91

• Two-Disk Motion Planning Strategy
  Y. Xu, R. Mattikalli and P. Khosla
  IEEE Int. Conf. on Systems, Man and Cybernetics, 991-996, Charlottesville VA, Oct. 1991.
• Generation of Partial Medial Axis for Disassembly Motion Planning
  Y. Xu, R. Mattikalli and P. Khosla
  IEEE Int. Conf. on Systems, Man and Cybernetics, pp. 997-1003, Charlottesville VA, Oct. 1991.

ICSE91

• Real-Time Scheduling of Dynamically Reconfigurable Systems
  David B. Stewart and Pradeep K. Khosla
  IEEE International Conference on Systems Engineering, Dayton Ohio., August 1991, pp. 139-142.

ICRA91

• Real-Time Obstacle Avoidance Using Harmonic Potential Functions
  J.-O. Kim and P. Khosla IEEE/RSJ international Conference on Robotics and Automation, pp.790-796, Sacremento, CA, April, 1991.

ICAR91

• An Approach for Mapping Kinematic Task Specifications into a Manipulator Design
  C. J. J. Paredis, and P. K. Khosla
  in Proc. of 5th International Conference on Advanced Robotics, Vol. 1, pp. 556-561, Pisa, Italy, June 1991.
• Grasp Admittance Center: How Sensitive is it to Parameter Imprecision
  Shimoga K.B. and Goldenberg A.A.
  In Proc. 5th International Conference on Advanced Robotics, Pisa, Italy, June 2-4, 1991, pp. 619-624

Adv. Manufacturing Engineering

• Efficient Static Force Transformation Algorithms for the PUMA Type Robots
  Shimoga K.B.
  In Proceedings of the 1st Atlantic Congress on Advanced Manufacturing Engineering, Halifax, Nova Scotia, Canada, September 10-12, 1991, pp. 110-120.

Masters Thesis

• Simulation of Strategies to Minimize the Force of Impact Between a Redundant Manipulator and an Obstacle
  Matthew W. Gertz
  Master's Thesis, Dept. of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, 1991.

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1990

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Journal Articles/Book Contributions

• Modeling Static Behavior of Redundant Manipulators
  J.-O. Kim, P. Khosla and W.K. Chung
  Robotics and Manufacturing, ASME Press Series, edited by M. Jamshidi, et al., Vol.3, 1990.

Journal Articles

• Manipulator Control with Superquadric Artificial Potential Functions: Theory and Experiments
  R. Volpe and P. Khosla
  IEEE Transactions on Systems, Man, and Cybernetics. Special Issue on Unmanned Vehicles and Intelligent Systems, 20(6), November/December 1990.

ICRA90

• Implementing Real-Time Robotic Systems Using CHIMERA II
  David B. Stewart, Donald E. Schmitz, and Pradeep K. Khosla
  IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, May 1990, pp. 598-603.

CSE90

• Subassembly Identification and Motion Generation for Assembly: A Geometric Approach
  R. Mattikalli, P. Khosla and Y. Xu
  in Proc. of IEEE Conf. on System Engineering, 399-403, Pittsburgh PA, Aug. 1990.

HSBR

• A finite element model of the Hybrid III ribcage
  C. N. Riviere
  Proceedings of the Eighteenth International Workshop on Human Subjects for Biomechanical Research, Orlando, FL, pp. 55-59, 1990.

ISRAM90

• Modeling Static Behavior of Redundant Manipulators
  J.-O. Kim and P. Khosla and W.K. Chung The 3rd ISRAM conference, BC, Canada, 1990.

Ph.D Thesis

• Real and Artificial Forces in the Control of Manipulators: Theory and Experiments
  R. Volpe
  Ph.D. Dissertation, Department of Physics, Carnegie Mellon University, September 1990.

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1989

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Journal Articles/Book Contributions

• Determining the Assembly Sequence from a 3-D Model
  P. Khosla and R. Mattikalli
  in Journal of Mechanical Working Technology, Elsevier Press 20, 153-162, Sept. 1989.

ESCE

• Determining the Assembly Sequence from a 3-D Model
  R. Mattikalli and P. Khosla.
  in 3rd Anual Expert Systems Conference and Exposition, Detroit , April, 1989.

ISIC89

• CHIMERA II: A Real-Time Multiprocessing Environment For Sensor-Based Robot Control
  David B. Stewart, Donald E. Schmitz, and Pradeep K. Khosla,
  IEEE International Symposium on Intelligent Control, Albany, New York, September 1989, pp. 265-271

ISRAM89

• Practical Electrorheological Fluid-Based Fingertips for Robotic Applications
  R.M. Voyles, Jr., B.L. Stavnheim, and B. Yap
  in Proceedings of 1989 IASTED International Symposium on Robotics and Manufacturing, Santa Barbara, CA, Nov. 1989.

KACC89

• A Study on the Premultiplier Model for Redundant Manipulators
  W.K. Chung, J.-O. Kim and P. Khosla
  Korean Automatic Control Conference, Seoul, Korea, October, 1989(in Korean).

Technical Reports

• A System to Determine Assembly Sequences
  R. Mattikalli and P. Khosla.
  Technical Report EDRC-24-16-89, Engineering Design Research Center, Carnegie-Mellon University, 1989.
• CHIMERA II: A Real-time UNIX-compatible Multiprocessor Operating System for Sensor-based Control Applications
  D. B. Stewart, D. E. Schmitz, and P. K. Khosla
  Tech. Report CMU- RI-TR-89-24, Carnegie Mellon University, September 1989.

Master's Thesis

• CHIMERA II: A Real-time UNIX-compatible Multiprocessor Environment for Sensor-based Robot Control
  David B. Stewart
  Master's Thesis, Dept. of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, December 1989.

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1988

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ISIC88

• Contact Stability in Model-Based Force Control Systems of Robot Manipulators
  Shimoga K.B. and Goldenberg A.A.
  In Proceedings of the 3rd IEEE International Symposium on Intelligent Control, Arlington, VA, August 25-27, 1988, pp. 412-417.

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Soshi Iba <iba+@ri.cmu.edu>

Last modified: Sat Oct 9 02:24:13 EDT 1999

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