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Publications, H. Benjamin Brown

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 Robot Supervision Architecture for Safe and Efficient Space Exploration and Operation
  E. Halberstam, L.E. Navarro-Serment, R. Conescu, S. Mau, G. Podnar, A.D. Guisewite, H. Brown, A. Elfes, J. Dolan, and M. Bergerman
  Tenth Biennial International Conference on Engineering, Construction, and Operations in Challenging Environments: Earth & Space 2006 Conference, ASCE, March, 2006. [Abstract]
  Download: pdf [2853 KB] copyrighted

• A Robot Supervision Architecture for Safe and Efficient Space Exploration and Operation
  E. Halberstam, L.E. Navarro-Serment, R. Conescu, S. Mau, G. Podnar, A.D. Guisewite, H. Brown, A. Elfes, J. Dolan, and M. Bergerman
  PowerPoint Presentation at the Earth & Space 2006 Conference, March, 2006.
  Download: pdf [1948 KB] copyrighted

• Human Telesupervision of a Fleet of Autonomous Robots for Safe and Efficient Space Exploration
  G. Podnar, J. Dolan, A. Elfes, M. Bergerman, H. Brown, and A.D. Guisewite
  Proceedings of the 1st Annual Conference on Human-Robot Interaction, March, 2006. [Abstract]
  Download: pdf [752 KB] copyrighted

• A mobile hyper redundant mechanism for search and rescue tasks
  A. Wolf, H. Brown, R. Casciola, A. Costa, M. Schwerin, E. Shamas, and H. Choset
  Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, October, 2003, pp. 2889 - 2895. [Abstract]
  Download: pdf [612 KB] copyrighted

• New Joint Design for Three-dimensional Hyper Redundant Robots
  E.A. Shammas, A. Wolf, H. Brown, and H. Choset
  Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS '03), Vol. 4, October, 2003, pp. 3594 - 3599. [Abstract]
  Download: pdf [537 KB] copyrighted

• Millibot trains for enhanced mobility
  H. Brown, M. Vande Weghe, C. Bererton, and P. Khosla
  IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, December, 2002, pp. 452 - 461.
  Download: pdf [1135 KB] copyrighted

• Millibot Trains for Enhanced Mobility
  H. Brown, J.M.V. WEGHE, C.A. BERERTON, and P.K. KHOSLA
  IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, December, 2002, pp. 452-461. [Abstract]

• 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

• 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

• Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot
  H. Komsuoglu, R. Altendorfer, U. Saranli, D. Koditschek, H. Brown, M. Buehler, M.N. Moore, D. McMordie, and R. Full
  Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000.
  Download: pdf [377 KB] copyrighted

• Control of the Gyrover: a single-wheel gyroscopically stabilized robot
  E. Ferreira, S. Tsai, C. Paredis, and H. Brown
  Advanced Robotics, Vol. 14, No. 6, June, 2000, pp. 459 - 475.

• Dynamic mobility with single-wheel configuration
  Y. Xu, H. Brown, and K.W. Au
  International Journal of Robotics Research, Vol. 18, No. 7, July, 1999, pp. 728 - 738. [Abstract]
  Download: pdf [135 KB], ps.gz [178 KB] copyrighted

• Analysis of actuation and dynamic balancing for a single-wheel robot
  Y. Xu, K.W. Au, G.C. Nandy, and H. Brown
  Intelligent Robots and Systems, Vol. 3, October, 1998, pp. 1789 -1794. [Abstract]
  Download: pdf [399 KB] copyrighted

• Control of a Bow Leg Hopping Robot
  G. Zeglin and H. Brown
  Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium, May, 1998. [Abstract]
  Download: pdf [149 KB], ps.gz [58 KB] copyrighted

• The bow leg hopping robot
  H. Brown and G. Zeglin
  Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium, May, 1998. [Abstract]
  Download: pdf [102 KB], ps.gz [329 KB] copyrighted

• A single-wheel, gyroscopically stabilized robot
  H. Brown and Y. Xu
  IEEE Robotics and Automation Magazine, Vol. 4, No. 3, September, 1997, pp. 39-44. [Abstract]
  Download: pdf [1477 KB] copyrighted

• A rapidly deployable manipulator system
  C. Paredis, H. Brown, and P. Khosla
  Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Vol. 2, April, 1996, pp. 1434 - 1439. [Abstract]
  Download: pdf [892 KB] copyrighted

• A separable combination of wheeled rover and arm mechanism: (DM)2.
  Y. Xu, C. Lee, and H. Brown
  1996 IEEE International Conference on Robotics and Automation, Vol. 3, April, 1996, pp. 2383-2388. [Abstract]
  Download: pdf [602 KB] copyrighted

• A single wheel, gyroscopically stabilized robot
  H. Brown and Y. Xu
  Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 4, April, 1996, pp. 3658-3663. [Abstract]
  Download: pdf [695 KB] copyrighted

• A Rapidly Deployable Manipulator System
  C. Paredis, H. Brown, R.W. Casciola, J.E. Moody, and P. Khosla
  Workshop on Some Critical Issues in Robotics, October, 1995.

• Control Systems of the Self-Mobile Space Manipulator
  Y. Xu, H. Brown, M. Friedman, and T. Kanade
  IEEE Trans. on Control Systems Technology, Vol. 2, No. 3, September, 1994, pp. 207-219. [Abstract]
  Download: pdf [1175 KB] copyrighted

• A Novel Gravity Compensation System for Space Robots
  H. Brown and J. Dolan
  Proceedings of the ASCE Specialty Conference on Robotics for Challenging Environments (Space94), February, 1994, pp. 250-258.
  Download: pdf [3399 KB] copyrighted

• A space station robot walker and its shared-control software
  Y. Xu and H. Brown
  Proceedings of the AIAA/NASA Conference on Intelligent Robots, Vol. 1, 1994, pp. 123-130.

• Dual-use Mobile Detachable Manipulator--DM^2
  Y. Xu, J. Yang, S. Aoki, and H. Brown
  Proceedings of the IEEE International Symposium on Intelligent Control, 1994, pp. 255-260.

• Mobility and manipulation of a light-weight space robot
  Y. Xu, H. Brown, S. Aoki, and T. Kanade
  Journal of Robotics and Autonomous Systems, Vol. 13, 1994, pp. 1-12.

• Control of flexible arms with friction in the joints
  V. Feliu, K. Rattan, and H. Brown
  IEEE Transactions on Robotics and Automation, Vol. 9, No. 4, August, 1993, pp. 467 - 475. [Abstract]
  Download: pdf [818 KB] copyrighted

• Manipulation and mobility of a light-weight space robot
  Y. Xu, H. Brown, S. Aoki, and T. Kanade
  Proceedings of the 1992 lEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '92), Vol. 1, July, 1992, pp. 11-19.
  Download: pdf [863 KB] copyrighted

• Control system of Self-Mobile Space Manipulator
  Y. Xu, H. Brown, M. Friedman, and T. Kanade
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '92), Vol. 1, May, 1992, pp. 866 - 871. [Abstract]
  Download: pdf [511 KB] copyrighted

• Modeling and Control of Single-Link Flexible Arms with Lumped Masses
  V. Feliu, K.S. Rattan, and H. Brown
  Journal of Dynamic Systems, Measurement, and Control, Vol. 114, March, 1992, pp. 59 - 70. [Abstract]
  Download: pdf [559 KB] copyrighted

• Design and control of a two-degree-of-freedom lightweight flexible arm
  V. Feliu, K.S. Rattan, and H. Brown
  Proceedings of the 30th IEEE Conference on Decision and Control, Vol. 2, December, 1991, pp. 1391 - 1395. [Abstract]
  Download: pdf [534 KB] copyrighted

• Development of a 5-DOF walking robot for Space Station application: overview
  H. Brown, M.B. Friedman, and T. Kanade
  Proceedings of the 1990 IEEE International Conference on Systems Engineering, August, 1990, pp. 194 - 197. [Abstract]
  Download: pdf [404 KB] copyrighted

• On Control and Planning of a Space Station Robot Walker
  H. Ueno, Y. Xu, H. Brown, M. Ueno, and T. Kanade
  Proceedings of the 1990 IEEE International Conference on Systems Engineering, August, 1990, pp. 220 - 223. [Abstract]
  Download: pdf [299 KB] copyrighted

• Tip position control of flexible arms using a control law partitioning scheme
  K.S. Rattan, V. Feliu, and H. Brown
  Proceedings of the 1990 IEEE International Conference on Robotics and Automation (ICRA '90), Vol. 3, May, 1990, pp. 1803 - 1808. [Abstract]
  Download: pdf [465 KB] copyrighted

• Adaptive control of a single-link flexible manipulator
  V. Feliu, K.S. Rattan, and H. Brown
  IEEE Control Systems Magazine, Vol. 10, No. 2, February, 1990, pp. 29 - 33. [Abstract]
  Download: pdf [450 KB] copyrighted

• Self Mobile Space Manipulator Project
  H. Brown, M. Friedman, T. Kanade, and Y. Xu
  Annual Research Review, 1990, pp. 66-77.

• A New Approach to Control Single-Link Flexible Arms, Part II: Control of the Tip Position in the Presence of Joint Friction
  V. Feliu, K.S. Rattan, and H. Brown
  tech. report CMU-RI-TR-89-14, Robotics Institute, Carnegie Mellon University, July, 1989. [Abstract]
  Download: pdf [2461 KB] copyrighted

• Design and Control of a Two-Degree-of-Freedom Lightweight Flexible Arm
  V. Feliu, H. Brown, and K.S. Rattan
  tech. report CMU-RI-TR-89-21, Robotics Institute, Carnegie Mellon University, July, 1989. [Abstract]
  Download: pdf [980 KB] copyrighted

• Adaptive control of a single-link flexible manipulator in the presence of joint friction and load changes
  V. Feliu, K.S. Rattan, and H. Brown
  Proceedings of the 1989 IEEE International Conference on Robotics and Automation (ICRA '89), Vol. 2, May, 1989, pp. 1036 - 1041. [Abstract]
  Download: pdf [425 KB] copyrighted

• A New Approach to Control Single-Link Flexible Arms
  V. Feliu, K.S. Rattan, and H. Brown
  tech. report CMU-RI-TR-89-08, Robotics Institute, Carnegie Mellon University, March, 1989. [Abstract]
  Download: pdf [869 KB] copyrighted

• Identification and control of a single-link flexible manipulator
  K.S. Rattan, V. Feliu, and H. Brown
  Proceedings of the 27th IEEE Conference on Decision and Control, Vol. 3, December, 1988, pp. 2278 - 2279. [Abstract]
  Download: pdf [199 KB] copyrighted

• Running on Four Legs As Though They Were One
  M.H. Raibert, M. Chepponis, and H. Brown
  IEEE Journal of Robotics and Automation, Vol. RA-2, No. 2, June, 1986, pp. 70 - 82.
  Download: pdf [2100 KB] copyrighted

• Legs That Deform Elastically
  H. Brown and M.H. Raibert
  Proceedings of RoManSy'86: Theory and Practice of Robots and Manipulators, MIT Press, 1986.

• 3D Balance Using 2D Algorithms?
  M.H. Raibert, H. Brown, and S.S. Murthy
  First International Symposiun of Robotics Research, MIT Press, 1984, pp. 279-301.

• Experiments in Balance With a 2D One-Legged Hopping Machine
  M.H. Raibert and H. Brown
  ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 106, 1984, pp. 75-81.

• Experiments in Balance With a 3D One-Legged Hopping Machine
  M.H. Raibert, M.A. Chepponis, and H. Brown
  International Journal of Robotics Research, Vol. 3, 1984, pp. 75-92.

• Dynamically Stable Legged Locomotion Progress Report: October 1982 - October 1983
  M.H. Raibert, H. Brown, M. Chepponis, E. Hastings, J. Koechling, K.N. Murphy, S.S. Murthy, and A. Stentz
  tech. report CMU-RI-TR-83-20, Robotics Institute, Carnegie Mellon University, December, 1983. [Abstract]
  Download: pdf [6432 KB] copyrighted

• Dynamically Stable Legged Locomotion: Second Report to DARPA, October 1,1981 - December 31,1982
  M. Raibert, H. Brown, M.A. Chepponis, E.F. Hastings, S. Murthy, and F.C. Wimberly
  tech. report CMU-RI-TR-83-01, Robotics Institute, Carnegie Mellon University, January, 1983. [Abstract]
  Download: pdf [5609 KB] copyrighted

• Dynamically Stable Legged Locomotion
  M. Raibert, H. Brown, M. Chepponis, E. Hastings, S. Shreve, and F.C. Wimberly
  tech. report CMU-RI-TR-81-09, Robotics Institute, Carnegie Mellon University, November, 1981.
  Download: pdf [8307 KB] copyrighted

• Model Applications by a Consulting Engineering Firm
  H. Brown and J.R. Verna
  Scale Models in Engineering and Design: the Next Ten, American Engineering Model Society, May, 1980.