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Publications, Patrick Muir

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

• 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

• 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

• Minifactory: A Precision Assembly System that Adapts to the Product Life Cycle
  P. Muir, A. Rizzi, and J. Gowdy
  SPIE Symposium on Intelligent Systems and Advanced Manufacturing, October, 1997.
  Download: pdf [89 KB], ps.gz [110 KB] copyrighted

• Linearizing the Joint Torque Characteristics of an Electric Direct-Drive Robot for High Performance Control of In-Contact Operation
  P. Muir
  1992 IEEE International Conference on Robotics and Automation, Vol. 2, May, 1992, pp. 1866 - 1874. [Abstract]
  Download: pdf [1219 KB] copyrighted

• Torque Linearizing Hardware for the Electric Joint Motors of a Direct-Drive Robot
  P. Muir and J.R. Bryan
  Proceedings of the Fourteenth Annual Ideas in Science & Electronics Exposition and Symposium, May, 1992.

• Converting a Commercial Electric Direct-Drive Robot to Operate from Joint Torque Commands
  P. Muir
  July, 1991.

• Kinematic Modeling of Wheeled Robots
  P. Muir
  Introduction to Robotics, P.J., McKerrow, ed., Addison-Wesley Publishing Company, New York, 1991, pp. 402-421.

• A Virtual Sensor Approach to Robot Kinematic Identification
  P. Muir
  Proceedings of the 1990 IEEE International Conference on Systems Engineering, August, 1990, pp. 440-445. [Abstract]
  Download: pdf [488 KB] copyrighted

• Resolved Motion Rate and Resolved Acceleration Servo-Control of Wheeled Mobile Robots
  P. Muir and C.P. Neuman
  Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Vol. 2, May, 1990, pp. 1133-1140. [Abstract]

• Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot
  P. Muir
  Autonomous Robot Vehicles, I.J. Cox and G.T. Wilfong, ed., Springer-Verlag, New York, 1990, pp. 25-31.

• Modeling and Control of Wheeled Mobile Robots
  P. Muir
  doctoral dissertation, tech. report CMU-RI-TR-88-20, Robotics Institute, Carnegie Mellon University, August, 1988.
  Download: pdf [16232 KB] copyrighted

• Dynamic Modeling of Multibody Robotic Mechanisms: Incorporating Closed-Chains, Friction, Higher-Pair Joints, and Unactuated and Unsensed Joints
  P. Muir and C.P. Neuman
  Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Vol. 3, April, 1988, pp. 1546 - 1551. [Abstract]
  Download: pdf [472 KB] copyrighted

• From Linear Algebraic Equations to Wheeled Mobile Robot Modeling
  C.P. Neuman and P. Muir
  Proceedings of the Fifth Yale Workshop on Applications of Adaptive Systems Theory, May, 1987.

• Kinematic Modeling of Wheeled Mobile Robots
  P. Muir and C.P. Neuman
  Journal of Robotic Systems, Vol. 4, No. 2, April, 1987, pp. 281-340.

• Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot
  P. Muir and C.P. Neuman
  Proceedings of the 1987 IEEE International Conference on Robotics and Automation, March, 1987, pp. 1772-1778.

• Kinematic Modeling of Wheeled Mobile Robots
  P. Muir and C.P. Neuman
  tech. report CMU-RI-TR-86-12, Robotics Institute, Carnegie Mellon University, June, 1986.
  Download: pdf [6093 KB] copyrighted

• Pulsewidth Modulation Control of Brushless DC Motors for Robotic Applications
  P. Muir and C.P. Neuman
  IEEE Transactions on Industrial Electronics, Vol. IE-32, No. 3, August, 1985, pp. 222-229.

• Autonomous Mobile Robots, Annual Report
  H. Moravec, A. Elfes, C. Thorpe, L. Matthies, R.S. Wallace, P. Muir, D.H. Shin, and G. Podnar
  tech. report CMU-RI-TR-86-04, Robotics Institute, Carnegie Mellon University, February, 1985.
  Download: pdf [10391 KB] copyrighted

• Pulse-Width Modulation Control of Brushless DC Motors for Robotic Applications
  P. Muir and C.P. Neuman
  Proceedings of the 27th Midwest Symposium on Circuits and Systems, June, 1984.

• Digital Servo Controller Design for Brushless DC Motors
  P. Muir
  master's thesis, Robotics Institute, Carnegie Mellon University, April, 1984.