Oussama Khatib
Weichai Professor and Professor, by courtesy, of Electrical Engineering
Computer Science
Bio
Robotics research on novel control architectures, algorithms, sensing, and human-friendly designs for advanced capabilities in complex environments. With a focus on enabling robots to interact cooperatively and safely with humans and the physical world, these studies bring understanding of human movements for therapy, athletic training, and performance enhancement. Our work on understanding human cognitive task representation and physical skills is enabling transfer for increased robot autonomy. With these core capabilities, we are exploring applications in healthcare and wellness, industry and service, farms and smart cities, and dangerous and unreachable settings -- deep in oceans, mines, and space.
Academic Appointments
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Professor, Computer Science
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Professor (By courtesy), Electrical Engineering
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Member, Bio-X
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Faculty Affiliate, Institute for Human-Centered Artificial Intelligence (HAI)
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Member, Wu Tsai Neurosciences Institute
Program Affiliations
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Stanford SystemX Alliance
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Symbolic Systems Program
Professional Education
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PhD, Sup-Aero, France (1980)
https://orcid.org/0000-0003-0482-14152024-25 Courses
- Advanced Robotic Manipulation
CS 327A, ME 323 (Spr) - Experimental Robotics
CS 225A (Spr) - Introduction to Robotics
CS 223A, ME 320 (Win) -
Independent Studies (16)
- Advanced Reading and Research
CS 499 (Aut, Win, Spr, Sum) - Advanced Reading and Research
CS 499P (Aut, Win, Spr, Sum) - Curricular Practical Training
CS 390A (Aut, Win, Spr, Sum) - Curricular Practical Training
CS 390B (Aut, Win, Spr, Sum) - Curricular Practical Training
CS 390C (Aut, Win, Spr, Sum) - Directed Research and Writing in Aero/Astro
AA 190 (Aut, Win, Spr, Sum) - Independent Project
CS 399 (Aut, Win, Spr, Sum) - Independent Project
CS 399P (Aut, Win, Spr, Sum) - Independent Study in Aero/Astro
AA 199 (Aut, Win, Spr, Sum) - Independent Work
CS 199 (Aut, Win, Spr, Sum) - Independent Work
CS 199P (Aut, Win, Spr, Sum) - Part-time Curricular Practical Training
CS 390D (Aut, Win, Spr, Sum) - Programming Service Project
CS 192 (Aut, Win, Spr, Sum) - Senior Project
CS 191 (Aut, Win, Spr, Sum) - Supervised Undergraduate Research
CS 195 (Aut, Win, Spr, Sum) - Writing Intensive Senior Research Project
CS 191W (Aut, Win, Spr)
- Advanced Reading and Research
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Prior Year Courses
2023-24 Courses
- Experimental Robotics
CS 225A (Spr) - Introduction to Robotics
CS 223A, ME 320 (Win)
2022-23 Courses
- Advanced Robotic Manipulation
CS 327A (Spr) - Experimental Robotics
CS 225A (Spr) - Introduction to Robotics
CS 223A, ME 320 (Win)
2021-22 Courses
- Experimental Robotics
CS 225A (Spr) - Introduction to Robotics
CS 223A, ME 320 (Win)
- Experimental Robotics
Stanford Advisees
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Doctoral Dissertation Reader (AC)
Adrian Piedra -
Postdoctoral Faculty Sponsor
Catie Cuan -
Doctoral Dissertation Advisor (AC)
William Chong, Chinmay Devmalya, Wesley Guo, Boyeon Kim, Adrian Piedra -
Master's Program Advisor
Abhinav Agarwal, Rohan Bansal, Aditri Bhagirath, Chet Bhateja, Praneet Bhoj, Jirayu Burapacheep, Xuheng Cai, Karthik Dharmarajan, Yoonjoo Hwang, Aditesh Kumar, Michelle Pan, Melanie Zhang, Baiting Zhu
All Publications
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Constraint-consistent task-oriented whole-body robot formulation: Task, posture, constraints, multiple contacts, and balance
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2022
View details for DOI 10.1177/02783649221120029
View details for Web of Science ID 000863460300001
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Local Autonomy-Based Haptic-Robot Interaction With Dual-Proxy Model
IEEE TRANSACTIONS ON ROBOTICS
2022
View details for DOI 10.1109/TRO.2022.3160053
View details for Web of Science ID 000785860400001
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Editorial
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
2021
View details for DOI 10.1007/s12369-021-00774-w
View details for Web of Science ID 000637690300001
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Understanding and Segmenting Human Demonstrations into Reusable Compliant Primitives
IEEE. 2021: 9437-9444
View details for DOI 10.1109/IROS51168.2021.9636523
View details for Web of Science ID 000755125507053
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Editorial
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
2020
View details for DOI 10.1007/s12369-020-00735-9
View details for Web of Science ID 000599793500001
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EB-RRT: Optimal Motion Planning for Mobile Robots
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
2020; 17 (4): 2063–73
View details for DOI 10.1109/TASE.2020.2987397
View details for Web of Science ID 000579640900031
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Contact-space resolution model for a physically consistent view of simultaneous collisions in articulated-body systems: theory and experimental results
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2020
View details for DOI 10.1177/0278364920955242
View details for Web of Science ID 000571181000001
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ISER 2018 Editorial
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2020; 39 (10-11): 1199–1200
View details for DOI 10.1177/0278364920960955
View details for Web of Science ID 000575837500001
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Controlling Ocean One: Human-robot collaboration for deep-sea manipulation
JOURNAL OF FIELD ROBOTICS
2020
View details for DOI 10.1002/rob.21960
View details for Web of Science ID 000536755700001
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Editorial
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
2020
View details for DOI 10.1007/s12369-020-00648-7
View details for Web of Science ID 000557292600001
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UniGrasp: Learning a Unified Model to Grasp With Multifingered Robotic Hands
IEEE ROBOTICS AND AUTOMATION LETTERS
2020; 5 (2): 2286–93
View details for DOI 10.1109/LRA.2020.2969946
View details for Web of Science ID 000526572000025
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Editorial
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
2020
View details for DOI 10.1007/s12369-019-00618-8
View details for Web of Science ID 000516171500001
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Controlling Muscle-Actuated Articulated Bodies in Operational Space
SPRINGER INTERNATIONAL PUBLISHING AG. 2020: 1037–53
View details for DOI 10.1007/978-3-030-28619-4_69
View details for Web of Science ID 000632686200069
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Editorial (vol 12, pg 1, 2020)
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
2020; 12 (1): 297
View details for DOI 10.1007/s12369-020-00630-3
View details for Web of Science ID 000520401300022
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Human-Robot Collaboration in Construction: Opportunities and Challenges
IEEE. 2020: 338-345
View details for Web of Science ID 000644404300061
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Editorial
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
2019; 11 (5): 691–92
View details for DOI 10.1007/s12369-019-00610-2
View details for Web of Science ID 000511670300001
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Editorial
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
2019; 11 (4): 539–40
View details for DOI 10.1007/s12369-019-00584-1
View details for Web of Science ID 000487644600001
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Editorial
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
2019; 11 (3): 371–72
View details for DOI 10.1007/s12369-019-00567-2
View details for Web of Science ID 000474401100001
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Editorial
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
2019; 11 (2): 209–10
View details for DOI 10.1007/s12369-019-00543-w
View details for Web of Science ID 000468508400001
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Editorial
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
2019; 11 (1): 1–3
View details for DOI 10.1007/s12369-019-00515-0
View details for Web of Science ID 000460006800001
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Contact-Driven Posture Behavior for Safe and Interactive Robot Operation
IEEE. 2019: 9243–49
View details for Web of Science ID 000494942306114
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Journal of Field Robotics special issue on MBZIRC 2017 Challenges in Autonomous Field Robotics
JOURNAL OF FIELD ROBOTICS
2019; 36 (1): 3–5
View details for DOI 10.1002/rob.21851
View details for Web of Science ID 000455132600001
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A hierarchically patterned, bioinspired e-skin able to detect the direction of applied pressure for robotics
SCIENCE ROBOTICS
2018; 3 (24)
View details for DOI 10.1126/scirobotics.aau6914
View details for Web of Science ID 000450814400002
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A hierarchically patterned, bioinspired e-skin able to detect the direction of applied pressure for robotics.
Science robotics
2018; 3 (24)
Abstract
Tactile sensing is required for the dexterous manipulation of objects in robotic applications. In particular, the ability to measure and distinguish in real time normal and shear forces is crucial for slip detection and interaction with fragile objects. Here, we report a biomimetic soft electronic skin (e-skin) that is composed of an array of capacitors and capable of measuring and discriminating in real time both normal and tangential forces. It is enabled by a three-dimensional structure that mimics the interlocked dermis-epidermis interface in human skin. Moreover, pyramid microstructures arranged along nature-inspired phyllotaxis spirals resulted in an e-skin with increased sensitivity, minimal hysteresis, excellent cycling stability, and response time in the millisecond range. The e-skin provided sensing feedback for controlling a robot arm in various tasks, illustrating its potential application in robotics with tactile feedback.
View details for DOI 10.1126/scirobotics.aau6914
View details for PubMedID 33141713
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Editorial
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
2018; 10 (5): 553–54
View details for DOI 10.1007/s12369-018-0505-4
View details for Web of Science ID 000451673100001
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Design strategy and issues of the Delthaptic, a new 6-DOF parallel haptic device
MECHANISM AND MACHINE THEORY
2018; 128: 395–411
View details for DOI 10.1016/j.mechmachtheory.2018.06.015
View details for Web of Science ID 000449286300025
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Editorial
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
2018; 10 (4): 385–86
View details for DOI 10.1007/s12369-018-0491-6
View details for Web of Science ID 000445226600001
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Progress and prospects of the human-robot collaboration
AUTONOMOUS ROBOTS
2018; 42 (5): 957–75
View details for DOI 10.1007/s10514-017-9677-2
View details for Web of Science ID 000431669800002
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Editorial
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
2018; 10 (1): 1–3
View details for DOI 10.1007/s12369-018-0464-9
View details for Web of Science ID 000423152900001
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Kinematic Analysis of the Delthaptic, a New 6-DOF Haptic Device
ADVANCES IN ROBOT KINEMATICS 2016
2018; 4: 181–89
View details for DOI 10.1007/978-3-319-56802-7_19
View details for Web of Science ID 000429958000021
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KABouM: Knowledge-Level Action and Bounding Geometry Motion Planner
JOURNAL OF ARTIFICIAL INTELLIGENCE RESEARCH
2018; 61: 323–62
View details for Web of Science ID 000432399000002
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Design Optimization of Hybrid Actuation Combining Macro-Mini Actuators
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
2017; 18 (4): 519-527
View details for DOI 10.1007/s12541-017-0062-z
View details for Web of Science ID 000399128900006
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The Ocean One hands: An adaptive design for robust marine manipulation
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2017; 36 (2): 150-166
View details for DOI 10.1177/0278364917694723
View details for Web of Science ID 000399558300003
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Haptic fMRI : A Novel Five DOF Haptic Interface for Multi-Axis Motor Neuroscience Experiments
IEEE. 2017: 13–18
View details for Web of Science ID 000426705900003
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Haptic fMRI : Reliability and Performance of Electromagnetic Haptic Interfaces For Motion and Force Neuroimaging Experiments
IEEE. 2017: 3930–35
Abstract
Haptic interfaces compatible with functional magnetic resonance imaging (Haptic fMRI) promise to enable rich motor neuroscience experiments that study how humans perform complex manipulation tasks. Here, we present a large-scale study (176 scans runs, 33 scan sessions) that characterizes the reliability and performance of one such electromagnetically actuated device, Haptic fMRI Interface 3 (HFI-3). We outline engineering advances that ensured HFI-3 did not interfere with fMRI measurements. Observed fMRI temporal noise levels with HFI-3 operating were at the fMRI baseline (0.8% noise to signal). We also present results from HFI-3 experiments demonstrating that high resolution fMRI can be used to study spatio-temporal patterns of fMRI blood oxygenation dependent (BOLD) activation. These experiments include motor planning, goal-directed reaching, and visually-guided force control. Observed fMRI responses are consistent with existing literature, which supports Haptic fMRI's effectiveness at studying the brain's motor regions.
View details for Web of Science ID 000427085304092
View details for PubMedID 29060757
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New Passivity Observers for Improved Robot Force Control
IEEE. 2017: 2177–84
View details for Web of Science ID 000426978202061
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Experimental Analysis of Human Control Strategies in Contact Manipulation Tasks
SPRINGER INTERNATIONAL PUBLISHING AG. 2017: 275–86
View details for DOI 10.1007/978-3-319-50115-4_25
View details for Web of Science ID 000418796400025
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A Novel Haptic fMRI Interface for Five-Axis Force and Motion Neuroimaging Experiments
IEEE. 2017: 899–905
View details for Web of Science ID 000426978201042
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Learning potential functions from human demonstrations with encapsulated dynamic and compliant behaviors
AUTONOMOUS ROBOTS
2017; 41 (1): 45-69
View details for DOI 10.1007/s10514-015-9528-y
View details for Web of Science ID 000392051600004
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Ocean One A Robotic Avatar for Oceanic Discovery
IEEE ROBOTICS & AUTOMATION MAGAZINE
2016; 23 (4): 20-29
View details for DOI 10.1109/MRA.2016.2613281
View details for Web of Science ID 000389874400004
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A Centrifugal Force-Based Configuration-Independent High-Torque-Density Passive Brake for Human-Friendly Robots
IEEE-ASME TRANSACTIONS ON MECHATRONICS
2016; 21 (6): 2827-2835
View details for DOI 10.1109/TMECH.2016.2575441
View details for Web of Science ID 000388801000022
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Adaptive human-inspired compliant contact primitives to perform surface-surface contact under uncertainty
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2016; 35 (13): 1651-1675
View details for DOI 10.1177/0278364916648389
View details for Web of Science ID 000385847500006
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A Depth Space Approach for Evaluating Distance to Objects with Application to Human-Robot Collision Avoidance
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
2015; 80: S7-S22
View details for DOI 10.1007/s10846-014-0146-2
View details for Web of Science ID 000368189000003
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Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space
IEEE TRANSACTIONS ON ROBOTICS
2015; 31 (3): 637-654
View details for DOI 10.1109/TRO.2015.2418582
View details for Web of Science ID 000356518700009
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Distributed Operational Space Formulation of Serial Manipulators
JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS
2014; 9 (2)
View details for DOI 10.1115/1.4025577
View details for Web of Science ID 000332062900012
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A new hybrid actuation scheme with artificial pneumatic muscles and a magnetic particle brake for safe human-robot collaboration
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2014; 33 (4): 507-518
View details for DOI 10.1177/0278364913509858
View details for Web of Science ID 000335548200003
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Mapping stiffness perception in the brain with an fMRI-compatible particle-jamming haptic interface.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference
2014; 2014: 2051-2056
Abstract
We demonstrate reliable neural responses to changes in haptic stiffness perception using a functional magnetic resonance imaging (fMRI) compatible particle-jamming haptic interface. Our haptic interface consists of a silicone tactile surface whose stiffness we can control by modulating air-pressure in a sub-surface pouch of coarsely ground particles. The particles jam together as the pressure decreases, which stiffens the surface. During fMRI acquisition, subjects performed a constant probing task, which involved continuous contact between the index fingertip and the interface and rhythmic increases and decreases in fingertip force (1.6 Hz) to probe stiffness. Without notifying subjects, we randomly switched the interface's stiffness (switch time, 300-500 ms) from soft (200 N/m) to hard (1400 N/m). Our experiment design's constant motor activity and cutaneous tactile sensation helped disassociate neural activation for both from stiffness perception, which helped localized it to a narrow region in somatosensory cortex near the supra-marginal gyrus. Testing different models of neural activation, we found that assuming indepedent stiffness-change responses at both soft-hard and hard-soft transitions provides the best explanation for observed fMRI measurements (three subjects; nine four-minute scan runs each). Furthermore, we found that neural activation related to stiffness-change and absolute stiffness can be localized to adjacent but disparate anatomical locations. We also show that classical finger-tapping experiments activate a swath of cortex and are not suitable for localizing stiffness perception. Our results demonstrate that decorrelating motor and sensory neural activation is essential for characterizing somatosensory cortex, and establish particle-jamming haptics as an attractive low-cost method for fMRI experiments.
View details for DOI 10.1109/EMBC.2014.6944019
View details for PubMedID 25570387
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Haptic fMRI : Using Classification to Quantify Task-Correlated Noise during Goal-Directed Reaching Motions
36th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC)
IEEE. 2014: 2046–2050
Abstract
Neuroimaging artifacts in haptic functional magnetic resonance imaging (Haptic fMRI) experiments have the potential to induce spurious fMRI activation where there is none, or to make neural activation measurements appear correlated across brain regions when they are actually not. Here, we demonstrate that performing three-dimensional goal-directed reaching motions while operating Haptic fMRI Interface (HFI) does not create confounding motion artifacts. To test for artifacts, we simultaneously scanned a subject's brain with a customized soft phantom placed a few centimeters away from the subject's left motor cortex. The phantom captured task-related motion and haptic noise, but did not contain associated neural activation measurements. We quantified the task-related information present in fMRI measurements taken from the brain and the phantom by using a linear max-margin classifier to predict whether raw time series data could differentiate between motion planning or reaching. fMRI measurements in the phantom were uninformative (2σ, 45-73%; chance=50%), while those in primary motor, visual, and somatosensory cortex accurately classified task-conditions (2σ, 90-96%). We also localized artifacts due to the haptic interface alone by scanning a stand-alone fBIRN phantom, while an operator performed haptic tasks outside the scanner's bore with the interface at the same location. The stand-alone phantom had lower temporal noise and had similar mean classification but a tighter distribution (bootstrap Gaussian fit) than the brain phantom. Our results suggest that any fMRI measurement artifacts for Haptic fMRI reaching experiments are dominated by actual neural responses.
View details for Web of Science ID 000350044702009
View details for PubMedID 25570386
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Haptic fMRI : Accurately Estimating Neural Responses in Motor, Pre-Motor, and Somatosensory Cortex During Complex Motor Tasks
36th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC)
IEEE. 2014: 2040–2045
Abstract
Haptics combined with functional magnetic resonance imaging (Haptic fMRI) can non-invasively study how the human brain coordinates movement during complex manipulation tasks, yet avoiding associated fMRI artifacts remains a challenge. Here, we demonstrate confound-free neural activation measurements using Haptic fMRI for an unconstrained three degree-of-freedom motor task that involves planning, reaching, and visually guided trajectory tracking. Our haptic interface tracked subjects' hand motions, velocities, and accelerations (sample-rate, 350Hz), and provided continuous realtime visual feedback. During fMRI acquisition, we achieved uniform response latencies (reaching, 0.7-1.1s; tracking, 0.4-0.65s); minimized hand jitter (<;8mm); and ensured reliable motion trajectories (tracking, <;7mm root-mean-square error). In addition, our protocol decorrelated head motion from both hand speed (r=-0.03) and acceleration (r=-0.025), which reliably produced low head motion levels (<;0.4mm/s between scan volumes) and a low fMRI temporal noise-to-signal ratio (<;1%) across thirty-five scan runs. Our results address the primary outstanding Haptic fMRI confounds: motion induced low spatial-frequency magnetic field changes, which correlate neural activation across cortex; unreliable motions and response latencies, which reduce statistical power; and task-correlated head motion, which causes spurious fMRI activation. Haptic fMRI can thus reliably elicit and localize heterogeneous neural activation for different tasks in motor (movement), pre-motor (planning), and somatosensory (limb displacement) cortex, demonstrating that it is feasible to use the technique to study how the brain achieves three dimensional motor control.
View details for Web of Science ID 000350044702008
View details for PubMedID 25570385
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Circular Pulley Versus Variable Radius Pulley: Optimal Design Methodologies and Dynamic Characteristics Analysis
IEEE TRANSACTIONS ON ROBOTICS
2013; 29 (3): 766-774
View details for DOI 10.1109/TRO.2013.2242374
View details for Web of Science ID 000320137200016
- Experimental Robotics: The 12th International Symposium on Experimental Robotics edited by Khatib, O., Kumar, V., Sukhatme, G. 2013
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Haptic fMRI : Combining Functional Neuroimaging with Haptics for Studying the Brain's Motor Control Representation
35th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC)
IEEE. 2013: 4137–4142
Abstract
A challenging problem in motor control neuroimaging studies is the inability to perform complex human motor tasks given the Magnetic Resonance Imaging (MRI) scanner's disruptive magnetic fields and confined workspace. In this paper, we propose a novel experimental platform that combines Functional MRI (fMRI) neuroimaging, haptic virtual simulation environments, and an fMRI-compatible haptic device for real-time haptic interaction across the scanner workspace (above torso ∼ .65×.40×.20m(3)). We implement this Haptic fMRI platform with a novel haptic device, the Haptic fMRI Interface (HFI), and demonstrate its suitability for motor neuroimaging studies. HFI has three degrees-of-freedom (DOF), uses electromagnetic motors to enable high-fidelity haptic rendering (>350Hz), integrates radio frequency (RF) shields to prevent electromagnetic interference with fMRI (temporal SNR >100), and is kinematically designed to minimize currents induced by the MRI scanner's magnetic field during motor displacement (<2cm). HFI possesses uniform inertial and force transmission properties across the workspace, and has low friction (.05-.30N). HFI's RF noise levels, in addition, are within a 3 Tesla fMRI scanner's baseline noise variation (∼.85±.1%). Finally, HFI is haptically transparent and does not interfere with human motor tasks (tested for .4m reaches). By allowing fMRI experiments involving complex three-dimensional manipulation with haptic interaction, Haptic fMRI enables-for the first time-non-invasive neuroscience experiments involving interactive motor tasks, object manipulation, tactile perception, and visuo-motor integration.
View details for Web of Science ID 000341702104146
View details for PubMedID 24110643
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Adaptive Collision Checking for Continuous Robot Motions within Motion Constraints
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
IEEE. 2013: 5365–5372
View details for Web of Science ID 000331367405065
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Towards Online Trajectory Generation Considering Robot Dynamics and Torque Limits
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
IEEE. 2013: 5644–5651
View details for Web of Science ID 000331367405105
- Romansy 19 - Robot Design Dynamics, and Contol, Springer. edited by Padois, V., Bidaud, P., Khatib, O. CISM 544, Springer. 2013
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Virtual Whiskers - Highly Responsive Robot Collision Avoidance
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
IEEE. 2013: 5373–5379
View details for Web of Science ID 000331367405066
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Special Issue on The Fifteenth International Symposium on Robotics Research, 2011
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2012; 31 (11): 1217-1218
View details for DOI 10.1177/0278364912459463
View details for Web of Science ID 000308650000001
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Special Issue on the Twelfth International Symposium on Experimental Robotics, 2010
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2012; 31 (5): 571-572
View details for DOI 10.1177/0278364912445433
View details for Web of Science ID 000303022200001
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Muscle Force Transmission to Operational Space Accelerations During Elite Golf Swings
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2012: 1464–1469
View details for Web of Science ID 000309406701072
- Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait. Advances in Robot Kinematics. edited by Lenarcic, J., Husty, M. Springer, Berlin, Heidelberg, Germany. 2012: 301–308
- Special Issue of the Twelfth International Symposium on Experimental Robotics 2012
- JediBot - Experiments in Human-Robot Sword-Fighting. 2012
- Motor vs. Brake: Comparative Studies on Performance and Safety in Hybrid Actuations. In Experimental Robotics. Springer Tracts in Advanced Robotics, Springer, Berlin, Heidelberg, Germany. 2012: 1
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Motion Control of Redundant Robots under Joint Constraints: Saturation in the Null Space
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2012: 285–292
View details for Web of Science ID 000309406700043
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A Depth Space Approach to Human-Robot Collision Avoidance
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2012: 338–345
View details for Web of Science ID 000309406700051
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Prioritized Multi-Task Motion Control of Redundant Robots under Hard Joint Constraints
25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS)
IEEE. 2012: 3970–3977
View details for Web of Science ID 000317042704082
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Elastic Strips: Implementation on a Physical Humanoid Robot
25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS)
IEEE. 2012: 3369–3376
View details for Web of Science ID 000317042703148
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Global Localization of Objects via Touch
IEEE TRANSACTIONS ON ROBOTICS
2011; 27 (3): 569-585
View details for DOI 10.1109/TRO.2011.2138450
View details for Web of Science ID 000291404600017
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Variable Radius Pulley Design Methodology for Pneumatic Artificial Muscle-based Antagonistic Actuation Systems
IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE. 2011
View details for Web of Science ID 000297477502028
- Capacitive Skin Sensors for Robot Impact Monitoring. 2011
- Task-Level Reconstruction and Analysis of Dynamic Motions in Human Musculoskeletal Systems. 2011
- Controlling Biomechanical Models To Move Like Humans Do. 2011
- Grasping with Application to an Autonomous Checkout Robot. 2011
- Collision Avoidance in Depth Space. 2011
- A Depth Space Approach to Human-Robot Collision Avoidance. 2011
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Grasping with Application to an Autonomous Checkout Robot
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2011
View details for Web of Science ID 000324383402011
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Instantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots
IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE. 2011: 2998–3003
View details for Web of Science ID 000297477503054
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An Open Source Extensible Software Package to Create Whole-Body Compliant Skills in Personal Mobile Manipulators
IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE. 2011: 1036–1041
View details for Web of Science ID 000297477501059
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Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots
IEEE TRANSACTIONS ON ROBOTICS
2010; 26 (3): 483-501
View details for DOI 10.1109/TRO.2010.2043757
View details for Web of Science ID 000278541600007
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Special Issue on The Eleventh International Symposium on Experimental Robotics
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2010; 29 (5): 483-484
View details for DOI 10.1177/0278364910363633
View details for Web of Science ID 000276644400001
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Design and Control of a Bio-inspired Human-friendly Robot
11th International Symposium on Experimental Robotics (ISER)
SAGE PUBLICATIONS LTD. 2010: 571–84
View details for DOI 10.1177/0278364909353956
View details for Web of Science ID 000276644400006
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The Robotics Community
IEEE ROBOTICS & AUTOMATION MAGAZINE
2010; 17 (1): 11-12
View details for DOI 10.1109/MRA.2010.935803
View details for Web of Science ID 000282381100006
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Analysis of Torque Capacities in Hybrid Actuation for Human-Friendly Robot Design
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2010: 799–804
View details for Web of Science ID 000284150003057
- Towards Dependable Perception: Guaranteed Inference for Global Localization. 2010
- Towards Dependable Perception: Guaranteed Inference for Global Localization. 2010
- Robots and the Human. 2010
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Robots and the Human
2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)
SPRINGER-VERLAG BERLIN. 2010: 3–4
View details for Web of Science ID 000329156800003
- Compliant Control of Multi-Contact and Center of Mass Behaviors in Humanoid Robots. IEEE Trans. on Robotics. 2010; 26 (3): 483-501
- Robotics-Based Human Dynamic Performance Analysis. 2010
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Human Motion Reconstruction and Synthesis of Human Skills
12th International Symposium on Advances in Robot Kinematics (ARK 2010)
SPRINGER-VERLAG BERLIN. 2010: 283–292
View details for DOI 10.1007/978-90-481-9262-5_30
View details for Web of Science ID 000307197500030
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A New Actuation Approach for Haptic Interface Design
10th International Symposium on Experimental Robotics (ISER)
SAGE PUBLICATIONS LTD. 2009: 834–48
View details for DOI 10.1177/0278364908097958
View details for Web of Science ID 000266827400011
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Special Issue on the Tenth International Symposium on Experimental Robotics
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2009; 28 (6): 683-684
View details for DOI 10.1177/0278364909105574
View details for Web of Science ID 000266827400001
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A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks
IEEE TRANSACTIONS ON ROBOTICS
2009; 25 (3): 670-685
View details for DOI 10.1109/TRO.2009.2020345
View details for Web of Science ID 000266878300020
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Robotics-based synthesis of human motion
JOURNAL OF PHYSIOLOGY-PARIS
2009; 103 (3-5): 211-219
Abstract
The synthesis of human motion is a complex procedure that involves accurate reconstruction of movement sequences, modeling of musculoskeletal kinematics, dynamics and actuation, and characterization of reliable performance criteria. Many of these processes have much in common with the problems found in robotics research. Task-based methods used in robotics may be leveraged to provide novel musculoskeletal modeling methods and physiologically accurate performance predictions. In this paper, we present (i) a new method for the real-time reconstruction of human motion trajectories using direct marker tracking, (ii) a task-driven muscular effort minimization criterion and (iii) new human performance metrics for dynamic characterization of athletic skills. Dynamic motion reconstruction is achieved through the control of a simulated human model to follow the captured marker trajectories in real-time. The operational space control and real-time simulation provide human dynamics at any configuration of the performance. A new criteria of muscular effort minimization has been introduced to analyze human static postures. Extensive motion capture experiments were conducted to validate the new minimization criterion. Finally, new human performance metrics were introduced to study in details an athletic skill. These metrics include the effort expenditure and the feasible set of operational space accelerations during the performance of the skill. The dynamic characterization takes into account skeletal kinematics as well as muscle routing kinematics and force generating capacities. The developments draw upon an advanced musculoskeletal modeling platform and a task-oriented framework for the effective integration of biomechanics and robotics methods.
View details for DOI 10.1016/j.jphysparis.2009.08.004
View details for Web of Science ID 000271395900009
View details for PubMedID 19665552
View details for PubMedCentralID PMC2782476
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Design Methodologies of a Hybrid Actuation Approach for a Human-Friendly Robot
IEEE International Conference on Robotics and Automation
IEEE. 2009: 3568–3573
View details for Web of Science ID 000276080401260
- Modeling and Control of Multi-Contact Centers of Pressure and Internal Forces in Humanoid Robots. 2009
- Reconstruction and EMG-Informed Control 2009
- Experimental Robotics: The Eleventh International Symposium edited by Khatib, V., Kumar 2009
- Large Scale Multi-Robot Coordination Under Networ k and Geographical Constraints 2009
- A Unified Framework for Whole-Body Humanoid Robot Control with Multiple Constraints and Contacts. Springer Tracts in Advanced Robotics edited by Bruyninckx, H., Preucil, L., Kulich, M. Springer, Berlin, Heidelberg, Germany. 2009: 303–312
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Design and Control of a Bio-inspired Human-Friendly Robot
11th International Symposium on Experimental Robotics (ISER)
SPRINGER-VERLAG BERLIN. 2009: 43–52
View details for Web of Science ID 000268803300005
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Large Scale Multi-Robot Coordination Under Network and Geographical Constraints
IEEE International Symposium on Industrial Electronics (ISIE 2009)
IEEE. 2009: 1035–1042
View details for Web of Science ID 000276815500188
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Compliant Humanoid Robot Control by the Torque Transformer
IEEE RSJ International Conference on Intelligent Robots and Systems
IEEE. 2009: 3011–3018
View details for Web of Science ID 000285372901180
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Reconstruction and EMG-Informed Control, Simulation and Analysis of Human Movement for Athletics: Performance Improvement and Injury Prevention
Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society
IEEE. 2009: 6534–6537
Abstract
In this paper we present methods to track and characterize human dynamic skills using motion capture and electromographic sensing. These methods are based on task-space control to obtain the joint kinematics and extract the key physiological parameters and on computed muscle control to solve the muscle force distribution problem. We also present a dynamic control and analysis framework that integrates these metrics for the purpose of reconstructing and analyzing sports motions in real-time.
View details for Web of Science ID 000280543605089
View details for PubMedID 19964175
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Robot multiple contact control
ROBOTICA
2008; 26: 667-677
View details for DOI 10.1017/S0263574708004281
View details for Web of Science ID 000259621300010
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Dynamic performance and modular design of redundant macro-/minimanipulators
JOURNAL OF MECHANICAL DESIGN
2008; 130 (9)
View details for DOI 10.1115/1.2936892
View details for Web of Science ID 000258583800007
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Least action principles and their application to constrained and task-level problems in robotics and biomechanics
MULTIBODY SYSTEM DYNAMICS
2008; 19 (3): 303-322
View details for DOI 10.1007/s11044-007-9097-8
View details for Web of Science ID 000253528900006
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Large workspace haptic devices - A new actuation approach
16th Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems
IEEE COMPUTER SOC. 2008: 185–192
View details for Web of Science ID 000254949300027
- Design and Control of a Bioinspired Human-Friendly Robot. 2008
- The Handbook of Robotics edited by Siciliano, B., Khatib, O. Springer. 2008
- A Unified Framework for Whole-Body Humanoid Robot Control With Multiple Constraints and Contacts 2008
- Compliant motion control for a humanoid robot in contact with the environment and humans. 2008
- Experimental Robotics 2008
- Dynamic performance in the modular design of redundant macro/mini manipulators. ASME Journal of Mechanical Design 2008; 130 (9): 092301(1-11)
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Results of coring from a low mass rover
2008 IEEE Aerospace Conference
IEEE. 2008: 53–59
View details for Web of Science ID 000258321200005
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A new actuation approach for haptic interface design
10th International Symposium on Experimental Robotics (ISER)
SPRINGER-VERLAG BERLIN. 2008: 441–450
View details for Web of Science ID 000255550200041
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A hybrid actuation approach for human-friendly robot design
IEEE International Conference on Robotics and Automation
IEEE. 2008: 1747–1752
View details for Web of Science ID 000258095001065
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Torque-position transformer for task control of position controlled robots
IEEE International Conference on Robotics and Automation
IEEE. 2008: 1729–1734
View details for Web of Science ID 000258095001062
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Identifying physical properties of deformable objects by using particle filters
IEEE International Conference on Robotics and Automation
IEEE. 2008: 1112–1117
View details for Web of Science ID 000258095000176
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Continuous control law from unilateral constraints
IEEE International Conference on Robotics and Automation
IEEE. 2008: 3359–3364
View details for Web of Science ID 000258095002101
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A unified framework for whole-body humanoid robot control with multiple constraints and contacts
2nd European Robotics Symposium
SPRINGER-VERLAG BERLIN. 2008: 303–312
View details for Web of Science ID 000255550400031
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Human Motion Reconstruction by Direct Control of Marker Trajectories
11th International Symposium on Advances in Robot Kinematics
SPRINGER. 2008: 263–272
View details for Web of Science ID 000261597700028
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Special issue on the first IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006)
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2007; 26 (11--12): 1157-1158
View details for DOI 10.1177/0278364907085652
View details for Web of Science ID 000251085000001
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A hybrid actuation approach for haptic devices
2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
IEEE COMPUTER SOC. 2007: 367–372
View details for Web of Science ID 000246105200061
- A Hybrid Actuation Approach for Haptic Interfaces. 2007
- Special Issue on BioRobotics. I. J. Robotic Res. 2007; 11-12 (26)
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Probabilistic estimation of whole body contacts for multi-contact robot control
IEEE International Conference on Robotics and Automation
IEEE. 2007: 568–573
View details for Web of Science ID 000250915300091
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Human-centered robotics
11th International Conference on Intelligent Engineering Systems
IEEE. 2007: 11–11
View details for Web of Science ID 000250359600002
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Air muscle controller design in the Distributed Macro-Mini (DM2) Actuation approach
IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE. 2007: 1828–1833
View details for Web of Science ID 000254073201065
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Real-time adaptive control for haptic telemanipulation with Kalman active observers
IEEE TRANSACTIONS ON ROBOTICS
2006; 22 (5): 987-999
View details for DOI 10.1109/TRO.2006.878787
View details for Web of Science ID 000241080500010
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Task-level approaches for the control of constrained multibody systems
MULTIBODY SYSTEM DYNAMICS
2006; 16 (1): 73-102
View details for DOI 10.1007/s11044-006-9017-3
View details for Web of Science ID 000239300200005
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A haptic teleoperation approach based on contact force control
9th International Symposium on Experimental Robotics (ISER)
SAGE PUBLICATIONS LTD. 2006: 575–91
View details for DOI 10.1177/0278364906065385
View details for Web of Science ID 000238146600011
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Concept for coring from a low-mass rover
2006 IEEE Aerospace Conference
IEEE. 2006: 80–89
View details for Web of Science ID 000241583100007
- Experimental Robotics IX 2006
- A new actuation approach for haptic interface design. 2006
- A Whole-Body Control Framework for Humanoid Operating in Human Environments 2006
- Special Issue on the 9th International Symposium on Robotics Research. 2006
- Real-Time Adaptive Control for Haptic Tele-Manipulation with Kalman Active Observers. IEEE Transactions on Robotics 2006; 22 (5): 987-999
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The control of kinematically constrained shoulder complexes: Physiological and humanoid examples
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2006: 2952–2959
View details for Web of Science ID 000240886906039
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Robust haptic teleoperation of a mobile manipulation platform
9th International Symposium on Experimental Robotics (ISER)
SPRINGER-VERLAG BERLIN. 2006: 543–554
View details for Web of Science ID 000236887500052
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Predicting reaching postures using a kinematically constrained shoulder model
10th International Symposium on Advances in Robot Kinematics
SPRINGER. 2006: 209–218
View details for Web of Science ID 000239958800023
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Contact consistent control framework for humanoid robots
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2006: 1963–1969
View details for Web of Science ID 000240886904026
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The human frontier: Robotics new quest and challenge
16th Symposium on Theory and Practice of Robots and Manipulators
SPRINGER-VERLAG WIEN. 2006: 5–6
View details for Web of Science ID 000240912500002
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A whole-body control framework for humanoids operating in human environments
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2006: 2641–2648
View details for Web of Science ID 000240886905061
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Bayesian estimation for autonomous object manipulation based on tactile sensors
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2006: 707–714
View details for Web of Science ID 000240886901042
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The actuation efficiency, a measure of acceleration capability for nonredundant robotic manipulators
JOURNAL OF ROBOTIC SYSTEMS
2005; 22 (12): 759-766
View details for DOI 10.1002/rob.20097
View details for Web of Science ID 000234350700004
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Editorial - Special Issue on the 11th International Symposium on Robotics Research
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2005; 24 (9): 689-689
View details for DOI 10.1177/02783649505058569
View details for Web of Science ID 000232274300001
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Simulating the task-level control of human motion: a methodology and framework for implementation
VISUAL COMPUTER
2005; 21 (5): 289-302
View details for DOI 10.1007/s00371-005-0284-4
View details for Web of Science ID 000229935100002
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The dynamic capability equations: A new tool for analyzing robotic manipulator performance
IEEE TRANSACTIONS ON ROBOTICS
2005; 21 (1): 115-123
View details for DOI 10.1109/TRO.2004.837243
View details for Web of Science ID 000228335600011
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Compliant motion using a mobile manipulator: an operational space formulation approach to aircraft canopy polishing
ADVANCED ROBOTICS
2005; 19 (5): 613-634
View details for Web of Science ID 000230324900008
- The Actuation Efficiency, a Measure of Acceleration Capability for Non-Redundant Robotic Manipulators. 2005
- The dynamic capability equations: A new tool for analyzing manipulator dynamic performance IEEE Transactions on Robotics 2005; 1 (21): 115 - 123
- Synthesis of whole-body behaviors through hierarchical control of behavioral primitives International Journal of Humanoid Robotics 2005; 4 (2): 505-518
- Special Issue on the 11th International Symposium on Robotics Research. I. J. Robotic Res. 2005; 9 (24)
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Telepresence and stability analysis for haptic tele-manipulation with short time delay
IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE. 2005: 3146–3151
View details for Web of Science ID 000235632103011
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Operational space control of multibody systems with explicit holonomic constraints
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2005: 2950–2956
View details for Web of Science ID 000235460102092
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Control of free-floating humanoid robots through task prioritization
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2005: 1718–1723
View details for Web of Science ID 000235460101083
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Spanning large workspaces using small haptic devices
1st Joint Eurohaptics Conference/Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
IEEE COMPUTER SOC. 2005: 183–188
View details for Web of Science ID 000228426200026
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Feedforward global/inertial sensor fusion algorithm for accurate global positioning of a mobile robot
IEEE/ASME International Conference on Advanced Intelligent Mechatronics
IEEE. 2005: 504–509
View details for Web of Science ID 000232003500086
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Multi-link multi-contact force control for manipulators
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2005: 3613–3618
View details for Web of Science ID 000235460103010
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Playing it safe
IEEE ROBOTICS & AUTOMATION MAGAZINE
2004; 11 (2): 12-21
View details for Web of Science ID 000222429600004
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A new actuation approach for human friendly robot design
8th International Symposium on Experimental Robotics (ISER 02)
SAGE PUBLICATIONS LTD. 2004: 379–98
View details for DOI 10.1177/0278364904042193
View details for Web of Science ID 000221631700007
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Human-centered robotics and interactive haptic simulation
10th International Symposium on Robotics Research (ISRR 2001)
SAGE PUBLICATIONS LTD. 2004: 167–78
View details for DOI 10.1177/0278364904041325
View details for Web of Science ID 000188890700007
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A new actuation approach for human friendly robot design
IEEE International Conference on Robotics and Automation
IEEE. 2004: 249–254
View details for Web of Science ID 000221794800040
- Task-Oriented Control of Humanoid Robots Through Prioritization 2004
- A New Actuation Approach for Humanfriendly Robot Design International Journal of Robotics Research 2004; 1/5 (23): 379-398
- Towards a Human-centered Intrinsically-Safe Robotic Manipulator IEEE Robotics and Automation Magazine 2004; 2 (11): 12-21
- A New Actuation Approach for Human-friendly Robot Design 2004
- Whole Body Dynamic Behavior and Control of Human-Like Robots International Journal of Humanoid Robotics 2004; 1 (1): 29-44
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Multi-contact compliant motion control for robotic manipulators
IEEE International Conference on Robotics and Automation
IEEE. 2004: 4789–4794
View details for Web of Science ID 000221794800771
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Robots for the human and interactive simulations
11th World Congress in Mechanism and Machine Science
CHINA MACHINE PRESS. 2004: 1572–1576
View details for Web of Science ID 000222469600326
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Human-like motion from physiologically-based potential energies
9th International Symposium on Advances in Robot Kinematics
SPRINGER. 2004: 145–154
View details for Web of Science ID 000222855800016
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Prioritized multi-objective dynamics and control of robots in human environments
4th IEEE/RAS International Conference on Humanoid Robots
IEEE. 2004: 764–780
View details for Web of Science ID 000228484200047
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Human-like motion from physiologically-based potential field
18th World Computer Congress
SPRINGER. 2004: 747–748
View details for Web of Science ID 000226961300077
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Actuation methods for human-centered robotics and associated control challenges
2nd International Workshop on Control Problems in Robotics and Automation
SPRINGER-VERLAG BERLIN. 2003: 105–119
View details for Web of Science ID 000181073300007
- Teleoperation for Compliant Motion Task 2003
- Interactive rendering of deformable objects based on a filling sphere modeling approach 2003
- Actuations Method for Human-Centered Robotics and Associated Control Challenges Control Problems in Robotics edited by Bicchi, A., Christensen, H., Prattichizzo, D. STAR, Springer. 2003: 105–120
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Non-redundant robotic manipulator acceleration capability and the actuation efficiency measure
IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE. 2003: 3325–3330
View details for Web of Science ID 000187883300539
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Robust and adaptive teleoperation for compliant motion tasks
11th International Conference on Advanced Robotics (ICAR 2003)
UNIV COIMBRA, FAC CIENCIAS & TECHNOL. 2003: 513–519
View details for Web of Science ID 000184782300089
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Real-time adaptive control for haptic manipulation with active observers
IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE. 2003: 2938–2943
View details for Web of Science ID 000187883300476
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Interactive rendering of deformable objects base on a filling sphere modeling approach
20th IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2003: 3716–3721
View details for Web of Science ID 000187419900597
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Human-centered robotics and interactive haptic simulation
10th International Symposium on Robotics Research (ISRR 2001)
SPRINGER-VERLAG BERLIN. 2003: 239–253
View details for Web of Science ID 000183013700016
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Dynamic loading criteria in actuator selection for desired dynamic performance
ADVANCED ROBOTICS
2003; 17 (7): 641-656
View details for Web of Science ID 000185703400005
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A new actuation approach for human friendly robot design
8th International Symposium on Experimental Robotics (ISER 02)
SPRINGER-VERLAG BERLIN. 2003: 113–122
View details for Web of Science ID 000181801300009
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Elastic strips: A framework for motion generation in human environments
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2002; 21 (12): 1031-1052
View details for Web of Science ID 000181468600002
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Robotics and interactive simulation
COMMUNICATIONS OF THE ACM
2002; 45 (3): 46-51
View details for Web of Science ID 000177577600016
- Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation 2002
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Simulation with contact for haptic interaction
TOUCH IN VIRTUAL ENVIRONMENTS
2002: 32-46
View details for Web of Science ID 000176954200002
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The Operational Space Formulation implementation to aircraft canopy polishing using a mobile manipulator
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS
2002: 400-405
View details for Web of Science ID 000178573200064
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Integration of torque controlled arm with velocity controlled base for mobile manipulation
ROMANSY 14 - THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS
2002: 189-199
View details for Web of Science ID 000183594700022
- Towards A Human-Centered Intrinsically- Safe Robotic Manipulator 2002
- Potential Fields and Neural Networks The Handbook of Brain, Theory and Neural Networks edited by Arbib, Michael, A. MIT Press. 2002; 2nd: 1
- Efficient algorithms for robots with human-like structures and interactive haptic simulation Advances in Robot Kinematics: Theory and Applications edited by Lenarcic, J., Thomas, F. Kluwer Academic Publishers. 2002: 89–98
- Task-Consistent Obstacle Avoidance for Mobile Manipulation 2002
- Human-Centered Robotics and Interactive Haptic Simulation. edited by Jarvis, R., A., Zelinsky, A. 2002
- A New Actuation Approach for Human Friendly Robot Design edited by Siciliano, B., Dario, P. 2002
- Reactive Collision Avoidance for Navigation with Dynamic Constraints 2002
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Human-centered robotics and haptic interaction: From assistance to surgery, the emerging applications
3rd International Workshop on Robot Motion and Control
POZNAN UNIV TECHNOLOGY. 2002: 137–139
View details for Web of Science ID 000181863000023
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Actuator selection for desired dynamic performance
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002)
IEEE. 2002: 1966–1973
View details for Web of Science ID 000179289100321
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Task-consistent obstacle avoidance and motion behavior for mobile manipulation
19th IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2002: 388–393
View details for Web of Science ID 000178573200062
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Haptic display for human interaction with virtual dynamic environments
JOURNAL OF ROBOTIC SYSTEMS
2001; 18 (12): 769-783
View details for Web of Science ID 000172540300011
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Efficient recursive algorithm for the operational space inertia matrix of branching mechanisms
ADVANCED ROBOTICS
2001; 14 (8): 703-715
View details for Web of Science ID 000168417600004
- Simulation with Contact for Haptic Interaction Touch in Virtual Environments edited by McLaughlin, M., Hespanha, J., P., Sukhatme, G., S. Prentice-Hall. 2001: 32–46
- Haptically Augmented Teleoperation 2001
- Robots in Human Environments Archives of Control Sciences, special issue on Recent Developments in Robotics, Part I 2001; 11 (XLVII) (3/4): 123-138
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Haptically augmented teleoperation
7th International Symposium on Experimental Robotics
SPRINGER-VERLAG BERLIN. 2001: 1–10
View details for Web of Science ID 000175560500001
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Human-centered robotics and haptic interactions
2nd International Workshop on Robot Motion and Control
WYDAWNICTWO POLITECHNIKI POZNANSKIEJ. 2001: 11–12
View details for Web of Science ID 000175367900001
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Development and control of a holonomic mobile robot for mobile manipulation tasks
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2000; 19 (11): 1066-1074
View details for Web of Science ID 000089992700007
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Elastic strips: A framework for integrated planning and execution
6th International Symposium on Experimental Robotics
SPRINGER-VERLAG LONDON LTD. 2000: 329–338
View details for Web of Science ID 000086068500032
- A Powered-Caster Holonomic Robotic Vehicle forMobile Manipulation Tasks 2000
- Robot Acceleration Capability: The Actuation Efficiency Measure 2000
- Operational Space Dynamics: Efficient Algorithms for Modeling and Control of Branching Mechanisms 2000
- The Augmented Object Model: Cooperative Manipulation and Parallel Mechanism Dynamics 2000
- Real-Time Replanning in High-Dimensional Configuration Spaces Using Sets of Homotopic Paths 2000
- ‘Gauss’ Principle and the Dynamics of Redundant and Constrained Manipulators 2000
- Robots in Human Environments 2000
- Integrated Planning and Execution: Elastic Strips 2000
- High-Speed Navigation Using the Global Dynamic Window Approach 2000
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Collision/contact models for dynamic simulation and haptic interaction
9th International Symposium of Robotics Research (ISRR 99)
SPRINGER-VERLAG LONDON LTD. 2000: 185–194
View details for Web of Science ID 000087440500023
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A powered-caster holonomic robotic vehicle for mobile manipulation tasks
13th CISM IFoMM Romansy Symposium
SPRINGER-VERLAG WIEN. 2000: 157–67
View details for Web of Science ID 000170385500016
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A framework for multi-contact multi-body dynamic simulation and haptic display
7th International Symposium on Advances in Robot Kinematics
SPRINGER. 2000: 175–186
View details for Web of Science ID 000166633200019
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A framework for multi-contact multi-body dynamic simulation and haptic display
IEEE/Robotics-Society-of-Japan International Conference on Intelligent Robots and Systems (IROS 2000)
IEEE. 2000: 1322–1327
View details for Web of Science ID 000166948600214
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A portable programming framework
6th International Symposium on Experimental Robotics
SPRINGER-VERLAG LONDON LTD. 2000: 379–389
View details for Web of Science ID 000086068500037
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Robots in human environments: Basic autonomous capabilities
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
1999; 18 (7): 684-696
View details for Web of Science ID 000081048600005
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Mobile manipulation: The robotic assistant
ROBOTICS AND AUTONOMOUS SYSTEMS
1999; 26 (2-3): 175-183
View details for Web of Science ID 000079653000007
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A general contact model for dynamically-decoupled force/motion control
International Conference on Robotics and Automation (ICRA '99)
IEEE. 1999: 3281–3286
View details for Web of Science ID 000081625700521
- The Stanford Robotics Platforms 1999
- Robots in Human Environments:Basic Autonomous Capabilities International Journal of Robotics Research 1999; 18 (7): 684-696
- Real-Time Obstacle Avoidance and Motion Coordination in a Multi-Robot Workcell 1999
- Haptics for Virtual Prototyping 1999
- Practical connection between potential fields and neural networks 1999
- Dynamics Identification and Control of an Industrial Robot. 1999
- A general Contact Model for Dynamically- Decoupled Force/Motion Control 1999
- ProVAR Assistive Robot System Architecture 1999
- Robots in Human Environments 1999
- Efficient Algorithm for Extended Operational Space Inertia Matrix 1999
- Robots in Human Environment 1999
- Collision/Contact Models for Dynamic Simulation and Haptic Interaction 1999
- Dancing with Juliet 1999
- Development of a Holonomic Mobile Robot for Mobile Manipulation Tasks 1999
- Haptics for Virtual Prototyping Recent Advances in Mechatronics edited by Kaynak, O., Tosunoglu, S., Ang Jr, M. Springer. 1999: 294–303
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High-speed navigation using the global dynamic window approach
International Conference on Robotics and Automation (ICRA '99)
IEEE. 1999: 341–346
View details for Web of Science ID 000081625700057
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The motion isotropy hypersurface: A characterization of acceleration capability
IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE. 1998: 965–971
View details for Web of Science ID 000077035300153
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Hardware-software run-time systems and robotics: A case study
24th EUROMICRO Conference
IEEE COMPUTER SOC. 1998: 162–167
View details for Web of Science ID 000075882900028
- Modular Redundant Manipulator Design for Dynamic Performance 1998
- The Motion Isotropy Hypersurface: A characterization of Acceleration 1998
- Mobile Manipulation: Collision-Free Path Modification and Motion Coordination. 1998
- Elastic Strip: Real-Time Path Modification for Mobile Manipulation edited by Shirai, Y., Hirose, S. 1998
- Robots in Human Environment: Basic Autonomous Capabilities 1998
- Haptics for Multi-Scale Virtual Prototyping 1998
- Mobile Manipulator System Autonomous Robotic Systems edited by de Almeida, A., T., Khatib, O. Springer-Verlag. 1998: 141–148
- Autonomous Robotic Systems Springer-Verlag. 1998
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A general contact model for dynamically-decoupled force/motion control
5th Intenational Symposium pm Experimental Robotics (ISER)
SPRINGER-VERLAG LONDON LTD. 1998: 128–139
View details for Web of Science ID 000087841800011
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Dynamic models for haptic rendering systems
6th International Symposium on Advances in Robot Kinematics
SPRINGER. 1998: 523–532
View details for Web of Science ID 000079126800053
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Executing motion plans for robots with many degrees of freedom in dynamic environments
IEEE International Conference on Robotics and Automation
IEEE. 1998: 1–6
View details for Web of Science ID 000074368900001
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Cooperative tasks in mobile manipulation systems
IFAC Workshop on Intelligent Components for Vehicles
PERGAMON PRESS LTD. 1998: 245–250
View details for Web of Science ID 000078240200042
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Modeling and learning robot manipulation strategies
5th Intenational Symposium pm Experimental Robotics (ISER)
SPRINGER-VERLAG LONDON LTD. 1998: 687–700
View details for Web of Science ID 000087841800057
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Robot planning and control
ROBOTICS AND AUTONOMOUS SYSTEMS
1997; 21 (3): 249-261
View details for Web of Science ID A1997YH06500005
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Load independence of the dynamically consistent inverse of the Jacobian matrix
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
1997; 16 (2): 168-170
View details for Web of Science ID A1997WW38700003
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Design of macro/mini manipulators for optimal dynamic performance
1997 IEEE International Conference on Robotics and Automation (ICRA97) - Teaming to Make an Impact
IEEE. 1997: 449–454
View details for Web of Science ID A1997BJ42X00072
- Elastic Strips: Real-Time Path Modification for Mobile Manipulation 1997
- The Stanford Robotic Platforms 1997
- Robot learning and planning based on discrete-event systems models 1997
- The Haptic Display of Complex Graphical Environments 1997
- Mobile Manipulators: Expending the Frontiers of Robot Applications 1997
- Mobile Robotic Manipulation 1997
- Experimental Robotics IV 1997
- Load-Independence of the Dynamically-Consistent Inverse of the Jacobian Matrix International Journal of Robotics Research 1997; 16 (2): 168–170
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Design of non-redundant manipulators for optimal dynamic performance
8th International Conference on Advanced Robotics (ICAR 97)
IEEE. 1997: 865–872
View details for Web of Science ID A1997BJ29H00131
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Coordination and decentralized cooperation of multiple mobile manipulators
2nd World Automation Congress (WAC 96)
JOHN WILEY & SONS INC. 1996: 755–64
View details for Web of Science ID A1996VL83200007
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The impact of redundancy on the dynamic performance of robots
LABORATORY ROBOTICS AND AUTOMATION
1996; 8 (1): 37-48
View details for Web of Science ID A1996UN16900006
- The Robust Haptic Display of Graphical Environments 1996
- Design of Digital Adaptive Algorithm for Torque-Controlled Robotic Joints 1996
- Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems edited by Giralt, G., Hirzinger, G. 1996
- An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot 1996
- The Robotic Assistant 1996
- Wrist Force Sensor Feedback for Improved Actuation Performance in Conventional Arms 1996
- Manipulator Design for Dynamic Performance 1996
- Cooperative Tasks in Multiple Mobile Manipulation Systems 1996
- Decentralized Cooperation of Multiple Mobile Manipulators 1996
- Mobile Manipulator Systems 1996
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Modular decomposition for optimal dynamic design of redundant macro/mini manipulators
5th International Symposium on Advances in Robot Kinematics
KLUWER ACADEMIC PUBL. 1996: 29–38
View details for Web of Science ID A1996BH34D00003
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Haptic interaction in virtual environments
1997 IEEE/RSJ International Conference on Intelligent Robot and Systems - Innovative Robotics for Real-World Applications (IROS 97)
IEEE. 1996: 128–133
View details for Web of Science ID 000072064200019
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Vehicle/arm coordination and multiple mobile manipulator decentralized cooperation
1996 IEEE/RSJ International Conference on Intelligent Robots and Systems - Robotic Intelligence Interacting with Dynamic Worlds (IROS 96)
IEEE. 1996: 546–553
View details for Web of Science ID A1996BH13L00076
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Decentralized cooperation between multiple manipulators
5th IEEE International Workshop on Robot and Human Communication (RO-MAN 96)
I E E E. 1996: 183–188
View details for Web of Science ID A1996BH08C00031
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Design of a digital adaptive algorithm for torque-controlled robotic joints
6th Cairo-University International MDP Conference - Current Advances in Mechanical Design and Production VI (MDP-6)
PERGAMON PRESS LTD. 1996: 461–468
View details for Web of Science ID A1996BF88E00039
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Optimization of the inertial and acceleration characteristics of manipulators
IEEE International Conference on Robotics and Automation
IEEE. 1996: 2883–2889
View details for Web of Science ID A1996BF68P00453
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DESIGN AND DEVELOPMENT OF HIGH-PERFORMANCE TORQUE-CONTROLLED JOINTS
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
1995; 11 (4): 537-544
View details for Web of Science ID A1995RR51100006
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INERTIAL PROPERTIES IN ROBOTIC MANIPULATION - AN OBJECT-LEVEL FRAMEWORK
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
1995; 14 (1): 19-36
View details for Web of Science ID A1995QH13700003
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Extended operational space formulation for serial-to-parallel chain (branching) manipulators
1995 IEEE International Conference on Robotics and Automation
I E E E. 1995: 1056–1061
View details for Web of Science ID A1995BD82F00166
- Cooperative Manipulation in Mobile Robotic Systems 1995
- Robot Planning and Control 1995
- Improved Force Control for Conventional Arms Using Wrist-Based Torque Feedback 1995
- Sensor-Based Control of Robots 1995
- Inertial Properties in Robotics Manipulation: An Object-Level Framework International Journal of Robotics Research 1995; 14 (1): 19-36
- An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot 1995
- Analysis of the Acceleration Characteristics of Manipulators. edited by Morecki, A., Bianchi, G., Jaworek, K. 1995
- Extended Operational Space Formulation for Serialto-parallel Chain (Branching) Manipulators 1995
- Improved Force Control for Conventional Arms Using Wrist- Based Torque Feedback 1995
- An Operational Space Formulation for Free-Flying, Multi-Arm Space Robot 1995
- Multi-Grasp Manipulation 1995
- Design and Development of High Performance Torque Controlled Joints IEEE Transactions on Robotics and Automation 1995; 11 (4): 537-544
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Mobile robotic manipulation
26th International Symposium on Industrial Robots - Competitive Automation: New Frontiers, New Opportunities
MECHANICAL ENGINEERING PUBL. 1995: 7–12
View details for Web of Science ID A1995BE97F00002
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Analysis of the acceleration characteristics of non-redundant manipulators
1995 IEEE/RSJ International Conference on Intelligent Robots and Systems - Human Robot Interaction and Cooperative Robots
I E E E, COMPUTER SOC PRESS. 1995: 323–328
View details for Web of Science ID A1995BE13K00051
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Optimization of the inertial and acceleration characteristics of non-redundant manipulators
3rd Conference on Mechatronics and Robotics - From Design Methods to Industrial Applications
B G TEUBNER VERLAGS GESELL. 1995: 500–510
View details for Web of Science ID A1995BE55D00037
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Manipulator control at kinematic singularities: A dynamically consistent strategy
1995 IEEE/RSJ International Conference on Intelligent Robots and Systems - Human Robot Interaction and Cooperative Robots
I E E E, COMPUTER SOC PRESS. 1995: 84–88
View details for Web of Science ID A1995BE13L00014
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DYNAMIC SIMULATION OF INTERACTIVE ROBOTIC ENVIRONMENT
1994 IEEE International Conference on Robotics and Automation
IEEE COMPUTER SOC. 1994: 1147–1152
View details for Web of Science ID A1994BA72M00169
- Real-Time Motion Vision for Robot Control in Unstructured Environment. edited by Demsetz, L., Klarer, P. 1994
- Dynamically Consistent Strategy for Manipulator Control at Singularities. 1994
- Towards Integrated Planning and Control 1994
- Experiments in Multi-Grasp Manipulation. edited by Hayward, V. 1994
- Experiments with Dynamic Skills. 1994
- Experiments in Multi-Grasp Manipulation. edited by Yoshikawa, T. 1994
- A Framework for Task-Level Robotics Manipulation edited by Kanade, T., Paul, R. 1994
- Cooperative Mobile Robotic Manipulation 1994
- Modeling and Control of Internal Force Dynamics in Multi-Grasp Manipulation. edited by Jamshidl, M., Nauyen, C., Lumia, R. 1994
- Sensor-Based Robotic Manipulation 1994
- Robotic Manipulation 1994
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A DYNAMICALLY CONSISTENT STRATEGY FOR MANIPULATOR CONTROL AT SINGULARITIES
4th Workshop on Advances in Robot Kinematics/1st Workshop on Computational Geometry in Kinematics
SPRINGER. 1994: 221–228
View details for Web of Science ID A1994BB28W00022
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THE OPERATIONAL SPACE FRAMEWORK
JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING
1993; 36 (3): 277-287
View details for Web of Science ID A1993MD97300001
- Elastic Bands: Connecting Path Planning and Robot Control. 1993
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ELASTIC BANDS - CONNECTING PATH PLANNING AND CONTROL
1993 IEEE INTERNATIONAL CONF ON ROBOTICS AND AUTOMATION
I E E E, COMPUTER SOC PRESS. 1993: B802–B807
View details for Web of Science ID A1993BY79J00285
- A New Actuation System for High-Performance Torque-Controlled Manipulators edited by Morecki, A., Bianchi, G., Jaworek, K. 1993
- missing title edited by Khatib, O., Hayward, V., Chatila, R. 1993
- Towards Real-Time Execution of Motion Tasks edited by Hayward, V., Chatila, R. 1993
- The Virtual Linkage: A Model for Internal Forces in Multi-Grasp Manipulation. 1993
- A Unified Approach to Motion and Force Control of Robot Manipulators: The Operational Space Formulation Robot Control: Dynamics, tionPlanning and Analysis edited by Spong, M., W., Lewis, F., L., Abdallah, C., T. IEEE Press. 1993: 277–287
- Design and Development of Torque-Controlled Joints edited by Khatib, O., Hayward, V., Chatila, R. 1993
- A Framework for Task-Level Robotics Manipulation edited by Kanade, T., Paul, R. 1993
- Towards Real-Time Execution of Motion Tasks edited by Chatila, R., Hirzinger, G. 1993
- A Task-Level Framework for Robotics Manipulation. 1993
- Mobile Robotic Manipulation. 1993
- Robotics Review 2 MIT Press. 1992
- Inertial Properties in Robotics Manipulation Department of Computer Science 1992
- A New Control Structure for Free-Flying Space Robots. 1992
- Characterization of Internal Forces in Multi-Grasp Manipulation. 1992
- Towards a New Generation of Force-Controlled Robot Manipulators 1991
- The Design of a High-Performance Force-Controlled Manipulator 1991
- New Robot Mechanisms for New Robot Capabilities 1991
- Real-Time Obstacle Avoidance for Manipulators and Mobile Robots Autonomous Mobile Robots: Perception, Mapping, and Navigation edited by Iyengar, S., S., Elfes, A. IEEE Computer Society Press. 1991: 428–436
- Object Level Manipulation 1990
- Motion/Force Redundancy of Manipulators 1990
- Design and Construction of Torque-Controlled Joints edited by Hayward, V., Khatib, O. 1990
- Experimental Robotics I 1990
- Real-Time Obstacle Avoidance for Manipulators and Mobile Robots Autonomous Robot Vehicles edited by Cox, I., Wilfong, G. Springer-Verlag Berlin Heidelberg. 1990: 389–404
- Reduced Effective Inertia in Macro-/Mini-Manipulator Systems 1990
- Performance Evaluation of Force/Torque Feedback Control Methodologies 1990
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JOINT TORQUE SENSORY FEEDBACK IN THE CONTROL OF A PUMA MANIPULATOR
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
1989; 5 (4): 418-425
View details for Web of Science ID A1989AH26200003
- The Robotics Review 1 MIT Press. 1989
- Dynamic Control of Multi-Structure Robot Systems at the Manipulated Object Level edited by Kabil, Y., Said, M. 1989
- Isotropic and Uniform Inertial and Acceleration Characteristics: Issues in the Design of Manipulators edited by Schweitzer, G., Mansour, M. 1989
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OBJECT LOCALIZATION WITH MULTIPLE SENSORS
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
1988; 7 (6): 34-44
View details for Web of Science ID A1988R173700004
- Object Manipulation in a Multi-Effector Robot System 1988
- Force-Based Motion Control of Robot Manipulators 1988
- Robust Operational Space Control for Goal Positioned Manipulator Tasks International Journal of Robotics and Automation 1988; 3 (1): 28-34
- Inertial Characteristics and Dextrous Dynamic Coordination of Macro/Micro-Manipulator Systems 1988
- Kinematic Structure for a Force Controlled Redundant Manipulator 1988
- The Augmented Object and Reduced Effective Inertia in Robot Systems 1988
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A UNIFIED APPROACH FOR MOTION AND FORCE CONTROL OF ROBOT MANIPULATORS - THE OPERATIONAL SPACE FORMULATION
IEEE JOURNAL OF ROBOTICS AND AUTOMATION
1987; 3 (1): 43-53
View details for Web of Science ID A1987G396500005
- A Unified Approach to Motion and Force Control of Robot Manipulators: The Operational Space Formulation IEEE Journal on Robotics and Automation 1987; 3 (1): 43-53
- Redundant Manipulators and Kinematic Singularities: The Operational Space Approach edited by Morecki, A., Binachi, G., Kedzior, K. 1987
- Sensor-Based Robot Control 1987
- Optimization of Dynamics in Manipulator Design: The Operational Space Formulation International Journal of Robotics and Automation 1987; 2 (2): 90-98
- Force Control of Robot Manipulators 1987
- Robust Operational Space Control for Goal Positioned Manipulator Tasks 1987
- Force Strategies in Real-Time Fine Motion Assembly 1987
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REAL-TIME OBSTACLE AVOIDANCE FOR MANIPULATORS AND MOBILE ROBOTS
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
1986; 5 (1): 90-98
View details for Web of Science ID A1986C354100006
- Joint Torque Sensory Feedback in the Control of a PUMA Manipulator 1986
- Robot Manipulator Control in Operational Space 1986
- Active Force Control 1986
- Sensor Fusion and Object Localization 1986
- The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm 1986
- Constrained Motion and Redundancy in Robot Manipulator Control 1986
- The Operational Space Formulation in the Analysis, Design, and Control of Manipulators 1986
- The Potential Field Approach and Operational Space Formulation in Robot Control Adaptive and Learning Systems: Theory and Applications edited by Narendra, K., S. Plenum Press. 1986: 367–377
- Motion and Force Control of Robot Manipulators 1986
- Force Control Research at Stanford Intelligent Task Automation Interim Report, Honeywell Inc., Technology Strategy Center 1985: 6/33-6/42
- The Operational Space Formulation in Robot Manipulator Control 1985
- Dynamic Optimization in Manipulator Design: The Operational Space Formulation edited by Donath, M., Leu, M. 1985
- Real-Time Obstacle Avoidance for Manipulators and Mobile Robots 1985
- Robotics in Three Acts - Part II 1985
- The Potential Field Approach and Operational Space Formulation in Robot Control 1985
- COSMOS Control System Intelligent Task Automation Interim Report, Honeywell Inc., Technology Strategy Center 1984: 6/10-18
- Real-Time Control of Manipulators in Operational Space 1984
- Force Control Implementation in COSMOS Intelligent Task Automation Interim Report, Honeywell Inc., Technology Strategy Center 1984: 6/9-6/13
- Robotics in Three Acts 1984
- Dynamic Control of Manipulators in Operational Space 1983
- Cartesian Path Planning and Estimation Intelligent Task Automation Interim Report, Honeywell Inc., Technology Strategy Center 1983: 5/59-5/83
- Stanford’s Contribution to Active Force Control for ITA Intelligent Task Automation Interim Report, Honeywell Inc., Technology Strategy Center 1983: 5/50-5/59
- Dynamic Control of Manipulators Operating in a Complex Environment 1978
- Fonction D´ecision-Commande d’un Robot Industriel Rapport Principal, DERA-CERT 1978
- Fonction D´ecision-Commande d’un Robot Manipulateur Rapport Scientifique, DERA-CERT 1978
- Circular Pulley vs. Variable Radius Pulley: Optimal Design Methodologies and Dynamic Characteristics Analysis. IEEE Transactions on Robotics, TRO 12-0331 (in print).