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Publications, Microdynamic Systems Laboratory

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Integrating Planning and Control for Constrained Dynamical Systems
  D.C. Conner
  doctoral dissertation, tech. report CMU-RI-TR-08-01, Robotics Institute, Carnegie Mellon University, January, 2008. [Abstract]
  Download: pdf [5585 KB] copyrighted

• Context Identification for Efficient Multiple-Model State Estimation
  S. Skaff, H. Choset, and A. Rizzi
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), No. 2, November, 2007, pp. 2435-2440. [Abstract]
  Download: pdf [279 KB] copyrighted

• Valet Parking Without a Valet
  D.C. Conner, H. Kress-Gazit, H. Choset, A. Rizzi, and G.J. Pappas
  Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), IEEE, San Diego, CA, October, 2007, pp. 572-577. [Abstract]
  Download: pdf [187 KB] copyrighted

• Haptic Rendering and Psychophysical Evaluation of a Virtual Three-Dimensional Helical Spring
  V. Varadharajan
  master's thesis, tech. report CMU-RI-TR-07-21, Robotics Institute, Carnegie Mellon University, May, 2007. [Abstract]
  Download: pdf [866 KB] copyrighted

• A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running
  J.W. Hurst, B. Morris, J. Chestnutt, and A. Rizzi
  IEEE Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [162 KB], ps.gz [128 KB] copyrighted

• Design and Philosophy of the BiMASC, a Highly Dynamic Biped
  J.W. Hurst, J. Chestnutt, and A. Rizzi
  IEEE Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [386 KB], ps.gz [928 KB] copyrighted

• Automatic Transition of Ballbot from Statically Stable State to Dynamically Stable State
  A. Mampetta
  master's thesis, tech. report CMU-RI-TR-06-41, Robotics Institute, Carnegie Mellon University, September, 2006. [Abstract]

• Gait Regulation and Feedback on a Robotic Climbing Hexapod
  G. Haynes and A. Rizzi
  Proceedings of Robotics: Science and Systems, August, 2006. [Abstract]
  Download: pdf [1359 KB] copyrighted

• Integrated Planning and Control for Convex-bodied Nonholonomic systems using Local Feedback Control Policies
  D.C. Conner, H. Choset, and A. Rizzi
  tech. report CMU-RI-TR-06-34, Robotics Institute, Carnegie Mellon University, August, 2006. [Abstract]
  Download: pdf [1774 KB] copyrighted

• Integrated Planning and Control for Convex-bodied Nonholonomic Systems Using Local Feedback
  D.C. Conner, H. Choset, and A. Rizzi
  Proceedings of Robotics: Science and Systems II, MIT Press, Philadelphia, PA, August, 2006, pp. 57-64. [Abstract]
  Download: pdf [446 KB] copyrighted

• Modeling Dynamics and Exploring Control of a Single-Wheeled Dynamically Stable Mobile Robot with Arms
  E. Schearer
  master's thesis, tech. report CMU-RI-TR-06-37, Robotics Institute, Carnegie Mellon University, August, 2006. [Abstract]
  Download: pdf [1751 KB] copyrighted

• A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive
  T. Lauwers, G.A. Kantor, and R. Hollis
  Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006, pp. 2884 - 2889. [Abstract]
  Download: pdf [931 KB] copyrighted

• Gaits and Gait Transitions for Legged Robots
  G. Haynes and A. Rizzi
  Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006. [Abstract]
  Download: pdf [459 KB] copyrighted

• Towards Provable Navigation and Control of Nonholonomically Constrained Convex-BodiedSystems
  D.C. Conner, H. Choset, and A. Rizzi
  Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006. [Abstract]
  Download: pdf [150 KB] copyrighted

• Towards Automated Gait Generation for Dynamic Systems with Non-holonomic Constraints
  E.A. Shammas, H. Choset, and A. Rizzi
  In Proceedings of the International Conference on Robotics and Automation (ICRA '06), April, 2006. [Abstract]
  Download: pdf [663 KB] copyrighted

• One is Enough!
  T. Lauwers, G.A. Kantor, and R. Hollis
  Proc. Int'l. Symp. for Robotics Research, October, 2005. [Abstract]
  Download: pdf [487 KB] copyrighted

• Paint Deposition Modeling for Trajectory Planning on Automotive Surfaces
  D.C. Conner, A.L. Greenfield, P. Atkar, A. Rizzi, and H. Choset
  IEEE Transactions on Automation Science and Engineering, Vol. 2, No. 4, October, 2005, pp. 381 - 392. [Abstract]
  Download: pdf [1368 KB] copyrighted

• A Context-Based State Estimation Technique for Hybrid Systems
  S. Skaff, A. Rizzi, H. Choset, and P. Lin
  Proceedings of the 2005 IEEE International Conference on Robotics and Automation, IEEE, April, 2005, pp. 3935-3940. [Abstract]
  Download: pdf [202 KB] copyrighted

• Calibrating Courier/Overhead Manipulator Pairs in Minifactory
  R. Schlender
  master's thesis, Robotics Institute, Carnegie Mellon University, 2005.
  Download: pdf [1126 KB] copyrighted

• Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot
  U. Saranli, A. Rizzi, and D.E. Koditschek
  International Journal of Robotics Research, Vol. 23, No. 9, September, 2004, pp. 903-918. [Abstract]
  Download: pdf [586 KB] copyrighted

• Physically Variable Compliance in Running
  J.W. Hurst and A. Rizzi
  CLAWAR, SPRINGER-VERLAG, www.springeronline.com, September, 2004. [Abstract]
  Download: pdf [118 KB], ps.gz [155 KB] copyrighted

• Teleoperation Mediated Through Magnetic Levitation: Recent Results
  B. Unger, R. Klatzky, and R. Hollis
  Proceedings of Mechatronics and Robotics (MechRob '04), September, 2004, pp. 1453 - 1457. [Abstract]
  Download: pdf [478 KB] copyrighted

• Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod Robot
  U. Saranli, A. Rizzi, and D.E. Koditschek
  Proceedings of the Sixth International Workshop on the Algorithmic Foundations of Robotics (WAFR '04), July, 2004, pp. 75-90. [Abstract]
  Download: pdf [295 KB] copyrighted

• An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion
  J.W. Hurst, J. Chestnutt, and A. Rizzi
  Proceedings of the 2004 International Conference on Robotics and Automation, Vol. 5, May, 2004, pp. 4662 - 4667. [Abstract]
  Download: pdf [758 KB] copyrighted

• Design and operation of a force-reflecting magnetic levitation coarse-fine teleoperation system
  B. Unger and R. Hollis
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 4, May, 2004, pp. 4147 - 4152. [Abstract]
  Download: pdf [458 KB] copyrighted

• Free-roaming planar motors: toward autonomous precision planar mobile robots
  T. Lauwers, Z.K. Edmondson, and R. Hollis
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 5, May, 2004, pp. 4498 - 4503. [Abstract]
  Download: pdf [909 KB] copyrighted

• An Actuator with Mechanically Adjustable Series Compliance
  J.W. Hurst, J. Chestnutt, and A. Rizzi
  tech. report CMU-RI-TR-04-24, Robotics Institute, Carnegie Mellon University, April, 2004. [Abstract]
  Download: pdf [663 KB], ps.gz [856 KB] copyrighted

• Sequential Composition for Control of Underactuated Systems
  G.A. Kantor and A. Rizzi
  tech. report CMU-RI-TR-03-23, Robotics Institute, Carnegie Mellon University, December, 2003. [Abstract]
  Download: pdf [381 KB], ps.gz [853 KB] copyrighted

• Construction and Automated Deployment of Local Potential Functions for Global Robot Control and Navigation
  D.C. Conner, A. Rizzi, and H. Choset
  tech. report CMU-RI-TR-03-22, Robotics Institute, Carnegie Mellon University, November, 2003. [Abstract]
  Download: pdf [4316 KB], ps.gz [1904 KB] copyrighted

• Composition of local potential functions for global robot control and navigation
  D.C. Conner, A. Rizzi, and H. Choset
  Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), IEEE, Vol. 4, October, 2003, pp. 3546- 3551. [Abstract]
  Download: pdf [567 KB] copyrighted

• Inertial navigation and visual line following for a dynamical hexapod robot
  S. Skaff, G.A. Kantor, D. Maiwand, and A. Rizzi
  2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol. 2, October, 2003, pp. 1808-1813. [Abstract]
  Download: pdf [478 KB] copyrighted

• Towards optimal coverage of 2-dimensional surfaces embedded in IR/sup 3/: choice of start curve
  P. Atkar, H. Choset, and A. Rizzi
  2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 4, October, 2003, pp. 3581 - 3587. [Abstract]
  Download: pdf [562 KB] copyrighted

• A Telemanipulation System for Psychophysical Investigation of Haptic Interaction
  B. Unger, R. Klatzky, and R. Hollis
  Proc. Int'l Conf. on Robotics and Automation (ICRA '03), September, 2003, pp. 1253 - 1259. [Abstract]
  Download: pdf [488 KB] copyrighted

• Template Based Control of Hexapedal Running
  U. Saranli and D.E. Koditschek
  Proceedings of the IEEE International Conference On Robotics and Automation, September, 2003. [Abstract]
  Download: pdf [0 KB], ps.gz [1308 KB] copyrighted

• Experimental Verification of Deposition Models for Automotive Painting with Electrostatic Rotating Bell Atomizers
  D.C. Conner, A. Rizzi, and H. Choset
  Experimental Robotics VIII (proceedings of ISER '02), Springer-Verlag, Berlin, Heidelberg, 2003, pp. 136-145. [Abstract]

• Deposition Modeling for Paint Application on Surfaces Embedded in R^3
  D.C. Conner, P. Atkar, A. Rizzi, and H. Choset
  tech. report CMU-RI-TR-02-08, Robotics Institute, Carnegie Mellon University, October, 2002. [Abstract]
  Download: pdf [2036 KB] copyrighted

• Development of Deposition Models for Paint Application on Surfaces Embedded in R^3 for Use in Automated Path Planning
  D.C. Conner, P. Atkar, A. Rizzi, and H. Choset
  Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002. [Abstract]
  Download: pdf [502 KB] copyrighted

• Virtual Peg-In-Hole Performance using a 6-DOF Magnetic Levitation Haptic Device: Comparison with Real Forces and with Visual Guidance Alone
  B. Unger, A. Nicolaidis, P. Berkelman, A. Thompson, S. Lederman, R. Klatzky, and R. Hollis
  Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2002), March, 2002, pp. 263 - 270. [Abstract]
  Download: pdf [408 KB] copyrighted

• RHex: A Biologically Inspired Hexapod Runner
  R. Altendorfer, E.Z. Moore, H. Komsuoglu, M. Buehler, H. Brown, D. McMordie, U. Saranli, R. Full, and D.E. Koditschek
  Autonomous Robots, Vol. 11, November, 2001, pp. 207 - 213. [Abstract]
  Download: pdf [441 KB] copyrighted

• Comparison of 3D Haptic Peg-In-Hole Tasks in Real and Virtual Environments
  B. Unger, A. Nicolaidis, P. Berkelman, A. Thompson, R. Klatzky, and R. Hollis
  Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), Vol. 3, September, 2001, pp. 1751 - 1756. [Abstract]
  Download: pdf [383 KB] copyrighted

• RHex: A Simple and Highly Mobile Hexapod Robot
  U. Saranli, M. Buehler, and D.E. Koditschek
  International Journal of Robotics Research, Vol. 20, No. 7, July, 2001, pp. 616 - 631. [Abstract]
  Download: pdf [263 KB] copyrighted

• A high-performance network infrastructure and protocols for distributed automation
  S. Kume and A. Rizzi
  Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), Vol. 3, May, 2001, pp. 3121 - 3126. [Abstract]
  Download: pdf [516 KB] copyrighted

• Proprioception Based Behavioral Advances in Hexapod Robot
  H. Komsuoglu, D. McMordie, U. Saranli, N. Moore, M. Buehler, and D.E. Koditschek
  IEEE Int. Conf. Robotics and Automation (ICRA '01), May, 2001.
  Download: pdf [447 KB] copyrighted

• Force-based Interaction for Distributed Precision Assembly
  R. DeLuca, A. Rizzi, and R. Hollis
  Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, January, 2001.
  Download: pdf [373 KB], ps.gz [636 KB] copyrighted

• A precision manipulator module for assembly in a minifactory environment
  H. Brown, P. Muir, A. Rizzi, M.C. Sensi, and R. Hollis
  Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), Vol. 2, 2001, pp. 1030 - 1035. [Abstract]
  Download: pdf [541 KB] copyrighted

• Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot
  R. Altendorfer, U. Saranli, H. Komsuoglu, D.E. Koditschek, H. Brown, M. Buehler, N. Moore, D. McMordie, and R. Full
  Experimental Robotics VII, D. Rus and S. Singh, ed., Springer-Verlag, 2001, pp. 291 - 302. [Abstract]
  Download: pdf [346 KB] copyrighted

• A Planar Robot for High-Performance Manipulation
  A. Quaid
  doctoral dissertation, tech. report CMU-RI-TR-00-19, Robotics Institute, Carnegie Mellon University, December, 2000.
  Download: pdf [4176 KB], ps.gz [5171 KB] copyrighted

• Force-Based Interaction for Distributed Precision Assembly
  R. DeLuca
  master's thesis, tech. report CMU-RI-TR-00-29, Robotics Institute, Carnegie Mellon University, December, 2000.
  Download: pdf [669 KB], ps.gz [1159 KB] copyrighted

• Distributed Coverage of Rectilinear Environments
  Z. Butler
  doctoral dissertation, tech. report CMU-RI-TR-00-23, Robotics Institute, Carnegie Mellon University, September, 2000.
  Download: pdf [1453 KB], ps.gz [2501 KB] copyrighted

• Cooperative Coverage of Rectilinear Environments
  Z. Butler, A. Rizzi, and R. Hollis
  IEEE International Conference on Robotics and Automation 2000, Vol. 3, April, 2000, pp. 2722 - 2727. [Abstract]
  Download: pdf [260 KB], ps.gz [257 KB] copyrighted

• Optical Coordination Sensor for Precision Cooperating Robots
  W. Ma, A. Rizzi, and R. Hollis
  IEEE International Conference on Robotics and Automation 2000, Vol. 2, April, 2000, pp. 1621 - 1626. [Abstract]
  Download: pdf [465 KB], ps.gz [393 KB] copyrighted

• Robust and Efficient Motion Planning for a Planar Robot Using Hybrid Control
  A. Quaid and A. Rizzi
  IEEE International Conference on Robotics and Automation 2000, Vol. 4, April, 2000, pp. 4021 - 4026. [Abstract]
  Download: pdf [246 KB], ps.gz [227 KB] copyrighted

• Visually Guided Coordination for Distributed Precision Assembly
  M. Chen, S. Kume, A. Rizzi, and R. Hollis
  IEEE International Conference on Robotics and Automation 2000, Vol. 2, April, 2000, pp. 1651 - 1656. [Abstract]
  Download: pdf [424 KB], ps.gz [386 KB] copyrighted

• Contact Sensor-based Coverage of Rectilinear Environments
  Z. Butler, A. Rizzi, and R. Hollis
  IEEE Int'l Symposium on Intelligent Control, September, 1999, pp. 266 - 271. [Abstract]
  Download: pdf [202 KB], ps.gz [140 KB] copyrighted

• A Miniature Mobile Parts Feeder: Operating Principles and Simulation Results
  A. Quaid
  IEEE International Conference on Robotics and Automation, May, 1999, pp. 2221 - 2226.
  Download: pdf [328 KB], ps.gz [271 KB] copyrighted

• An Integrated Interface Tool for the Architecture for Agile Assembly
  J. Gowdy and Z. Butler
  IEEE International Conference on Robotics and Automation, Vol. 4, May, 1999, pp. 3097 - 3102. [Abstract]
  Download: pdf [315 KB], ps.gz [681 KB] copyrighted

• Fluorescent Dye Based Optical Position Sensing for Planar Linear Motors
  G. Fries, A. Rizzi, and R. Hollis
  IEEE International Conference on Robotics and Automation, Vol. 2, May, 1999, pp. 1614 - 1619. [Abstract]
  Download: pdf [375 KB], ps.gz [527 KB] copyrighted

• Interaction with a Realtime Dynamic Environment Simulation using a Magnetic Levitation Haptic Interface Device
  P. Berkelman, R. Hollis, and D. Baraff
  IEEE International Conference on Robotics and Automation, May, 1999, pp. 3261 - 3266.
  Download: pdf [480 KB], ps.gz [748 KB] copyrighted

• Programming in the Architecture for Agile Assembly
  J. Gowdy and A. Rizzi
  IEEE International Conference on Robotics and Automation, Vol. 4, May, 1999, pp. 3103 - 3108. [Abstract]
  Download: pdf [187 KB], ps.gz [86 KB] copyrighted

• Tool-Based Haptic Interaction with Dynamic Physical Simulations using Lorentz Magnetic Levitation
  P. Berkelman
  doctoral dissertation, tech. report CMU-RI-TR-99-11, Robotics Institute, Carnegie Mellon University, May, 1999.
  Download: pdf [4344 KB], ps.gz [7947 KB] copyrighted

• Mechatronic objects for real-time control software development
  P. Muir and J. Horner
  Proceedings of the 1998 SPIE International Symposium on Intelligent Systems and Advanced Manufacturing: Mechatronics Conference, November, 1998.
  Download: pdf [496 KB], ps.gz [616 KB] copyrighted

• CC R: A Complete Algorithm for Contact-Sensor Based Coverage of Rectilinear Environments
  Z. Butler
  tech. report CMU-RI-TR-98-27, Robotics Institute, Carnegie Mellon University, October, 1998. [Abstract]
  Download: pdf [165 KB], ps.gz [69 KB] copyrighted

• Hybrid Control as a Method for Robot Motion Programming
  A. Rizzi
  IEEE Int'l. Conf. on Robotics and Automation, Vol. 1, May, 1998, pp. 832 - 837. [Abstract]
  Download: pdf [154 KB], ps.gz [59 KB] copyrighted

• Integrated Precision 3-DOF Position Sensor for Planar Linear Motors
  Z. Butler, A. Rizzi, and R. Hollis
  Proc. of IEEE Int'l. Conf. on Robotics and Automation, Vol. 4, May, 1998, pp. 3109-3114. [Abstract]
  Download: pdf [284 KB], ps.gz [492 KB] copyrighted

• A Miniature Mobile Parts Feeder: Operating Principles and Simulation Results
  A. Quaid
  tech. report CMU-RI-TR-98-26, Robotics Institute, Carnegie Mellon University, 1998. [Abstract]
  Download: pdf [440 KB], ps.gz [424 KB] copyrighted

• Opportunities for Increased Intelligence and Autonomy in Robotic Systems for Manufacturing
  A. Rizzi and R. Hollis
  Robotics Research, the Eighth International Symposium of Robotics Research, Springer-Verlag, October, 1997, pp. 141 - 151.
  Download: pdf [236 KB], ps.gz [169 KB] copyrighted

• Dynamic performance of a hemispherical magnetic levitation haptic interface device
  P. Berkelman and R. Hollis
  SPIE Int'l Symposium on Intelligent Systems and Intelligent Manufacturing, Vol. 3602, September, 1997.
  Download: pdf [518 KB], ps.gz [1520 KB] copyrighted

• Agile Assembly Architecture: An Agent-Based Approach to Modular Precision Assembly Systems
  A. Rizzi, J. Gowdy, and R. Hollis
  IEEE Int'l. Conf. on Robotics and Automation, Vol. 2, April, 1997, pp. 1511 - 1516. [Abstract]
  Download: pdf [235 KB], ps.gz [150 KB] copyrighted

• Design of a Hemispherical Magnetic Levitation Haptic Interface Device
  P. Berkelman, Z. Butler, and R. Hollis
  Proceedings of the ASME IMECE Haptic Symposium, Vol. 58, November, 1996, pp. 483 - 488.
  Download: pdf [271 KB], ps.gz [248 KB] copyrighted

• Whither Microbots?
  R. Hollis
  Proc. 7th Int'l. Symp. on Micromachine and Human Science, October, 1996.
  Download: pdf [516 KB], ps.gz [563 KB] copyrighted

• What you can see is what you can feel. - Development of a visual/haptic interface to virtual environment
  Y. Yokokohji, R. Hollis, and T. Kanade
  Proceedings of the IEEE Virtual Reality Annual International Symposium 1996 (VRAIS '96), April, 1996, pp. 46-53. [Abstract]
  Download: pdf [248 KB], ps.gz [551 KB], ps.z [666 KB] copyrighted

• An Architecture for Agile Assembly
  R. Hollis and A. Quaid
  American Society of Precision Engineering 10th Annual Mtg, October, 1995.
  Download: pdf [383 KB], ps.gz [468 KB] copyrighted

• Magnetic and Optical-Fluorescence Position Sensing for Planar Linear Motors
  A.E. Brennemann and R. Hollis
  International Conference on Intelligent Robots and Systems, IROS '95, August, 1995.
  Download: pdf [325 KB], ps.gz [631 KB] copyrighted

• Interactive simulation of solid rigid bodies
  D. Baraff
  IEEE Computer Graphics and Applications, Vol. 15, 1995, pp. 63 - 75.

• Accurate Alignment of Laminate Materials using Sensor-Based Robot Techniques
  A.E. Brennemann, R. Hammer, R. Hollis, and W.V. Jecusco
  IEEE Int'l Conf. on Robotics and Automation, Vol. 3, May, 1994, pp. 2273-2278. [Abstract]
  Download: pdf [452 KB] copyrighted

• Lorentz Levitation Technology: a New Approach to Fine Motion Robotics, Teleoperation, Haptic Interfaces, and Vibration Isolation
  R. Hollis and S.E. Salcudean
  Int'l Symposium for Robotics Research, October, 1993.
  Download: pdf [489 KB], ps.gz [490 KB] copyrighted