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Bradley Nelson
PhD Student

No longer a member of RI.

Jump to: Projects | Publications

Past Projects

Distributed Robotics Systems - CyberScout - Tactical surveillance collaborative robotics.	High Bandwidth Visual Feedback for Robust Manipulation - Sensor-based robotic system that can robustly perform manipulation tasks in dynamically varying and imprecisely calibrated environments.
Interactive Robot Programming - We are developing human-machine interfaces to allow non-experts to interact in a human manner with robots.

Recent publications [View all 28 publications]

• Integrating Force and Vision Feedback Within Virtual Environments for Telerobotic Systems
  B. Nelson and P. Khosla
  IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 2, April, 1997, pp. 1588-1593. [Abstract]
  Download: pdf [750 KB] copyrighted

• Robotic Manipulation Using High Bandwidth Force and Vision Feedback
  B. Nelson and P. Khosla
  Mathl. Comput. Modelling, Vol. 24, No. 5/6, September, 1996, pp. 11-29.

• Robotic Visual Servoing and Robotic Assembly Tasks
  B. Nelson, N.P. Papanikolopoulos, and P. Khosla
  IEEE Robotics and Automation Magazine, Vol. 3, No. 2, June, 1996, pp. 23-31. [Abstract]
  Download: pdf [14 KB] copyrighted

• Six Degree-of-Freedom Hand/Eye Visual Tracking with Uncertain Parameters
  N. Papanikolopoulos, B. Nelson, and P. Khosla
  IEEE Transactions on Robotics and Automation, Vol. 11, No. 5, October, 1995, pp. 725 - 732.
  Download: pdf [182 KB], ps.gz [173 KB] copyrighted

• Visually Servoed Manipulation Using an Active Camera
  B. Nelson and P. Khosla
  Thirty-Third Annual Allerton Conf. on Communication, Control, and Computing, October, 1995. [Abstract]
  Download: pdf [208 KB] copyrighted

• Fast Stable Contact Transitions with a Stiff Manipulator Using Force and Vision Feedback
  B. Nelson, J. Morrow, and P. Khosla
  Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, August, 1995, pp. 90 - 95. [Abstract]
  Download: pdf [557 KB] copyrighted

• Object Schemas and Port-based Agents for Assimilating Disparate Sensory Feedback
  B. Nelson
  doctoral dissertation, Robotics Institute, Carnegie Mellon University, August, 1995.

• Vision and Force Driven Sensorimotor Primitives for Robotic Assembly Skills
  J. Morrow, B. Nelson, and P. Khosla
  IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, August, 1995, pp. 234-240.
  Download: pdf [71 KB], ps.gz [110 KB] copyrighted

• Improved Force Control Through Visual Servoing
  B. Nelson, J. Morrow, and P. Khosla
  American Control Conference, June, 1995.
  Download: pdf [166 KB], ps.gz [311 KB] copyrighted

• Strategies for Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance
  B. Nelson and P. Khosla
  International Journal of Robotics Research, Vol. 14, No. 3, June, 1995.
  Download: pdf [97 KB], ps.gz [92 KB] copyrighted