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Publications, Yangsheng Xu

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

• Decoupled dynamics and stabilization of single wheel robot
  K.W. Au and Y. Xu
  Proceedings of the 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '99), Vol. 1, October, 1999, pp. 197 - 203. [Abstract]
  Download: pdf [447 KB] copyrighted

• Modeling human strategy in controlling a dynamically stabilized robot
  Y. Xu, W. Yu, and K.W. Au
  Proceedings of the 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '99), Vol. 1, October, 1999, pp. 507 - 512. [Abstract]
  Download: pdf [418 KB] copyrighted

• 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

• Reduced-dimension representations of human performance data for human-to-robot skill transfer
  C. Lee and Y. Xu
  IEEE/RSJ International Conference on Intelligent Robotic Systems, October, 1998. [Abstract]
  Download: pdf [159 KB], ps.gz [217 KB] copyrighted

• Robust control of cooperative underactuated manipulators
  M. Bergerman, Y. Xu, and Y. Liu
  Proceedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems, October, 1998, pp. 443 - 448. [Abstract]
  Download: pdf [125 KB], ps.gz [217 KB] copyrighted

• Control of cooperative underactuated manipulators: a robustness comparison study
  M. Bergerman, Y. Xu, and Y. Liu
  First Workshop on Robotics and Mechatronics, Vol. 1, September, 1998, pp. 279 - 286. [Abstract]
  Download: pdf [137 KB], ps.gz [353 KB] copyrighted

• Stochastic similarity for validating human control strategy models
  M. Nechyba and Y. Xu
  IEEE Trans. on Robotics and Automation, Vol. 14, No. 3, June, 1998, pp. 437-451. [Abstract]
  Download: pdf [834 KB] copyrighted

• Dynamic model of a gyroscopic wheel
  G.C. Nandy and Y. Xu
  Proc. 1998 IEEE Int'l Conference on Robotics and Automation (ICRA '98), Vol. 3, May, 1998, pp. 2683 - 2688. [Abstract]
  Download: pdf [482 KB] copyrighted

• Message-based evaluation for high-level robot control
  C. Lee and Y. Xu
  1998 IEEE International Conference on Robotics and Automation, Vol. 1, No. 844-849, May, 1998. [Abstract]
  Download: pdf [136 KB] copyrighted

• On Discontinuous Human Control Strategies
  M. Nechyba and Y. Xu
  Proc. IEEE Int. Conference on Robotics and Automation, Vol. 3, May, 1998, pp. 2237 - 2243. [Abstract]
  Download: pdf [389 KB] copyrighted

• Two Performance Measures for Evaluating Human Control Strategy
  J. Song, Y. Xu, M. Nechyba, and Y. Yam
  Proc. IEEE Int. Conference on Robotics and Automation, Vol. 3, May, 1998, pp. 2250 - 2255. [Abstract]
  Download: pdf [150 KB] copyrighted

• Mapping a free-floating space manipulator to a dynamically equivalent manipulators
  B. Liang, Y. Xu, and M. Bergerman
  ASME Trans on Dynamics, Measurement, and Control, Vol. 120, March, 1998, pp. 1-7.

• Optimal control of manipulators with any number of passive joints
  M. Bergerman and Y. Xu
  Journal of Robotic Systems, Vol. 15, No. 3, March, 1998, pp. 115-130.

• Human Control Strategy: Abstraction, Verification and Replication
  M. Nechyba and Y. Xu
  IEEE Control Systems Magazine, Vol. 17, No. 5, October, 1997, pp. 48-61. [Abstract]
  Download: pdf [2151 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

• Neural network based control of underactuated manipulators
  M. Bergerman and Y. Xu
  Proceedings of the Third Brazilian Symposium on Intelligent Automation, September, 1997, pp. 424-429.

• Cascade Neural Networks with Node-Decoupled Extended Kalman Filtering
  M. Nechyba and Y. Xu
  IEEE Int. Symp. on Computational Intelligence in Robotics and Automation, Vol. 1, July, 1997, pp. 214-219. [Abstract]
  Download: pdf [80 KB] copyrighted

• Dexterity of underactuated manipulators
  M. Bergerman and Y. Xu
  Proceedings of the International Conference on Advanced Robotics, July, 1997, pp. 719-724. [Abstract]
  Download: pdf [569 KB] copyrighted

• Cooperation of Multiple Manipulators with Passive Joints
  Y. Liu and Y. Xu
  IEEE International Conference on Robotics and Automation, April, 1997, pp. 1478-1483.

• Dynamically Equivalent Manipulator for Space Manipulator Systems: Part 1
  B. Liang, Y. Xu, and M. Bergerman
  IEEE International Conference on Robotics and Automation, April, 1997, pp. 2765-2770.

• Force Characterization and Commutation of Planar Linear Motors
  A. Quaid, Y. Xu, and R. Hollis
  IEEE International Conference on Robotics and Automation, April, 1997.
  Download: pdf [556 KB], ps.gz [735 KB] copyrighted

• Planning Collision-Free Motions for Underactuated Manipulators in Constrained Configuration Space
  M. Bergerman and Y. Xu
  IEEE International Conference on Robotics and Automation, April, 1997, pp. 549-555. [Abstract]
  Download: pdf [42 KB], ps.gz [284 KB] copyrighted

• Stochastic Similarity for Validating Human Control Strategy Models
  M. Nechyba and Y. Xu
  Proc. IEEE Conf. on Robotics and Automation, Vol. 1, April, 1997, pp. 278-283. [Abstract]
  Download: pdf [176 KB] copyrighted

• Dynamically Equivalent Manipulator for Space Manipulator Systems: Part 2
  B. Liang, Y. Xu, M. Bergerman, and G. Li
  Proceedings of International Conference on Intelligent Robots and Systems, 1997, pp. 1493-1499.

• Human action learning via Hidden Markov Model
  J. Yang, Y. Xu, and C.S. Chen
  IEEE Trans. on System, Man, and Cybernetics, Vol. 27, No. 1, 1997, pp. 34-44.

• Learning and transfer of human real-time control strategy
  M. Nechyba and Y. Xu
  Journal of Advanced Computational Intelligence, Vol. 1, No. 2, 1997, pp. 137-154.

• Nonlinear feedback control of cooperative underactuated manipulators
  M. Bergerman, Y. Xu, and Y. Liu
  Proceedings of the First Conference on Intelligent Robotics, 1997, pp. 156-167.

• Mapping a Space Manipulator to a Dynamically Equivalent Manipulator
  B. Liang, Y. Xu, and M. Bergerman
  tech. report CMU-RI-TR-96-33, Robotics Institute, Carnegie Mellon University, September, 1996. [Abstract]
  Download: pdf [926 KB] copyrighted

• Stochastic Similarity for Validating Human Control Strategy Models
  M. Nechyba and Y. Xu
  tech. report CMU-RI-TR-96-29, Robotics Institute, Carnegie Mellon University, August, 1996. [Abstract]
  Download: pdf [382 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

• On the Fidelity of Human Skill Models
  M. Nechyba and Y. Xu
  Proc. IEEE Int. Conference on Robotics and Automation, Vol. 3, April, 1996, pp. 2688-2693. [Abstract]
  Download: pdf [130 KB] copyrighted

• (DM): a modular solution for robotic lunar missions
  C. Lee and Y. Xu
  International Journal of Space Technology, Vol. 16, No. 1, 1996, pp. 49-58.

• (DM)^2: A modular mobile manipulator
  C. Lee and Y. Xu
  Proceedings of the Second Conference on Robotics for Challenging Environments, 1996.

• (DM)^2: a modular solution for robotic lunar missions
  C. Lee and Y. Xu
  International Journal of Space Technology, Vol. 16, No. 1, 1996, pp. 49-58. [Abstract]
  Download: pdf [1005 KB] copyrighted

• Online, Interactive Learning of Gestures for Human/Robot Interfaces
  C. Lee and Y. Xu
  1996 IEEE International Conference on Robotics and Automation, Vol. 4, 1996, pp. 2982-2987.
  Download: pdf [215 KB], ps.gz [156 KB] copyrighted

• Optimal control sequence for underactuated manipulators
  M. Bergerman and Y. Xu
  Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 4, 1996, pp. 3714-3719. [Abstract]
  Download: pdf [82 KB], ps.gz [65 KB] copyrighted

• Robust joint and Cartesian control of under-actuated manipulator systems
  M. Bergerman and Y. Xu
  ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 118, No. 3, 1996, pp. 557-565. [Abstract]
  Download: pdf [225 KB], ps.gz [103 KB] copyrighted

• Human-Robot Cooperation in Space: SM2 for New Space Station Structure
  M. Nechyba and Y. Xu
  IEEE Robotics and Automation Magazine, Vol. 2, No. 4, December, 1995, pp. 4-11. [Abstract]
  Download: pdf [1017 KB] copyrighted

• A dynamic coupling index for underactuated manipulators
  M. Bergerman, C. Lee, and Y. Xu
  Journal of Robotic Systems, October, 1995, pp. 693-707. [Abstract]
  Download: pdf [469 KB], ps.gz [185 KB] copyrighted

• Dynamic Coupling of Underactuated Manipulators
  M. Bergerman, C. Lee, and Y. Xu
  Proceedings of the 4th IEEE Conference on Control Applications, September, 1995, pp. 500 - 505. [Abstract]
  Download: pdf [452 KB], ps.gz [142 KB] copyrighted

• Experimental Study of an Underactuated Manipulator
  M. Bergerman, C. Lee, and Y. Xu
  Proceedings of the 1995 IEEE / RSJ International Conference on Intelligent Robots and Systems, Vol. 2, August, 1995, pp. 317 - 322. [Abstract]
  Download: pdf [79 KB], ps.gz [55 KB] copyrighted

• Human Skill Transfer: Neural Networks as Learners and Teachers
  M. Nechyba and Y. Xu
  International Conference on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots, Vol. 3, August, 1995, pp. 314-319. [Abstract]
  Download: pdf [205 KB] copyrighted

• Towards human-robot coordination: skill modeling and transferring via hidden Markov model
  Y. Xu and J. Yang
  IEEE International Conference on Robotics and Automation, May, 1995.

• Experimental Study of an Underactuated Manipulator
  M. Bergerman, C. Lee, and Y. Xu
  tech. report CMU-RI-TR-95-16, Robotics Institute, Carnegie Mellon University, April, 1995. [Abstract]
  Download: pdf [98 KB], ps.gz [64 KB] copyrighted

• Towards Human Control Strategy Learning: Neural Network Approach with Variable Activities Functions
  M. Nechyba and Y. Xu
  tech. report CMU-RI-TR-95-09, Robotics Institute, Carnegie Mellon University, March, 1995. [Abstract]
  Download: pdf [433 KB] copyrighted

• Determining two minimal circumscribing disks for a polygon
  Y. Xu, R.S. Mattikalli, and P. Khosla
  International Journal of Computer-Aided Design, Vol. 27, No. 3, 1995, pp. 223-234.

• Generation of partial medial axis for disassembly motion plan
  Y. Xu, R.S. Mattikalli, and P. Khosla
  Journal of Design and Manufacturing, Vol. 5, 1995, pp. 89-102.

• Real-Time Control Interface for (DM)^2
  D. Nelson and Y. Xu
  IEEE Conference on Control Applications, 1995, pp. 508-513. [Abstract]
  Download: pdf [572 KB] copyrighted

• Real-time Shared Control System for space telerobotics
  A. Douglas and Y. Xu
  Journal of Intelligent and Robotic Systems, No. 13, 1995, pp. 247-262.
  Download: pdf [958 KB] copyrighted

• Robust control of free-floating space robot systems
  Y. Xu
  International Journal of Control, Vol. 61, No. 2, 1995, pp. 261-277.

• Robust control of underactuated manipulators: analysis and implementation
  M. Bergerman and Y. Xu
  Proceedings of the 1994 IEEE International Conference on Systems, Man, and Cybernetics, October, 1994, pp. 925 - 930. [Abstract]
  Download: pdf [254 KB], ps.gz [168 KB] copyrighted

• 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

• On the Global Optimum Path Planning for Redundant Space Manipulators
  O. Agrawal and Y. Xu
  IEEE Transactions on System, Man, and Cybernetics, Vol. 24, No. 9, September, 1994, pp. 1306-1316. [Abstract]
  Download: pdf [702 KB] copyrighted

• Dynamic Coupling of Underactuated Manipulators
  M. Bergerman, C. Lee, and Y. Xu
  tech. report CMU-RI-TR-94-25, Robotics Institute, Carnegie Mellon University, August, 1994. [Abstract]
  Download: pdf [1356 KB], ps.gz [413 KB] copyrighted

• Neural Network Approach to Control System Identification with Variable Activation Functions
  M. Nechyba and Y. Xu
  Proc. IEEE Int. Symp. on Intelligent Control, August, 1994, pp. 358-363. [Abstract]
  Download: pdf [168 KB] copyrighted

• Actuability of Underactuated Manipulators
  C. Lee and Y. Xu
  tech. report CMU-RI-TR-94-13, Robotics Institute, Carnegie Mellon University, June, 1994. [Abstract]
  Download: pdf [363 KB], ps.gz [155 KB] copyrighted

• A Gesture Interface: Modeling and Learning
  J. Yang, Y. Xu, and C.S. Chen
  Proc. of the IEEE International Conference on Robotics and Automation, Vol. 2, May, 1994, pp. 1747-1752.

• Hidden Markov Model for Control Strategy Learning
  J. Yang and Y. Xu
  tech. report CMU-RI-TR-94-11, Robotics Institute, Carnegie Mellon University, May, 1994. [Abstract]
  Download: pdf [665 KB] copyrighted

• Hidden Markov Model for Gesture Recognition
  J. Yang and Y. Xu
  tech. report CMU-RI-TR-94-10, Robotics Institute, Carnegie Mellon University, May, 1994. [Abstract]
  Download: pdf [1018 KB] copyrighted

• Robust Control of Underactuated Manipulators: Analysis and Implementation
  M. Bergerman and Y. Xu
  tech. report CMU-RI-TR-94-12, Robotics Institute, Carnegie Mellon University, May, 1994. [Abstract]
  Download: pdf [281 KB], ps.gz [177 KB] copyrighted

• SM2 for New Space Station Structure: Autonomous Locomotion and Teleoperation Control
  M. Nechyba and Y. Xu
  Proc. IEEE Int. Conf. on Robotics and Automation, Vol. 2, May, 1994, pp. 1765-1770. [Abstract]
  Download: pdf [75 KB] copyrighted

• Parameterization and adaptive control of space robot systems
  Y. Xu, H. Shum, J. Lee, and T. Kanade
  IEEE Trans. on Aerospace and Electronic Systems, Vol. 30, No. 2, April, 1994, pp. 435-451. [Abstract]
  Download: pdf [1174 KB] copyrighted

• A New Method of Switching Surface Design for Multivariable Structure Systems
  J. Lee and Y. Xu
  IEEE Transactions on Automatic Control, February, 1994, pp. 414 - 419.
  Download: pdf [481 KB] copyrighted

• A New Method of Switching Surface Design in Multivariable Variable Structure Systems
  unknown and Y. Xu
  IEEE Transactions on Automatic Control, Vol. 39, No. 2, February, 1994, pp. 414-419.

• 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.

• An active vertical-direction gravity compensation system
  G. White and Y. Xu
  IEEE Trans. on Instruments and Measurement, Vol. 43, No. 6, 1994, pp. 786-792.

• Automatic Tuning of Phase-lead and Phase-lag Compensators
  J. Yang, C.S. Chen, and Y. Xu
  International Journal of Control, Vol. 60, No. 4, 1994, pp. 631-640.

• 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.

• Dynamic control and coupling of a free-flying space robot system
  Y. Xu and H. Shum
  Journal of Robotic Systems, Vol. 11, No. 7, 1994, pp. 573-589.

• Generating assembly plans from 3-D solid modeler
  R. Mattikalli, P. Khosla, and Y. Xu
  Intelligent Systems in Design and Manufacturing, 1994, pp. 293-317.

• Gesture Interface: Modeling and Learning
  J. Yang, Y. Xu, and C.S. Chen
  IEEE International Conference on Robotics and Automation, Vol. 2, 1994, pp. 1747-1752.

• Hidden Markov Model approach to skill learning and its application in telerobotics
  J. Yang, Y. Xu, and C.S. Chen
  IEEE Trans. on Robotics and Automation, Vol. 10, No. 5, 1994, pp. 621-631.

• Hidden Markov model based learning controller
  J. Yang, Y. Xu, and C.S. Chen
  IEEE International Symposium on Intelligent Control, 1994, pp. 39-44.

• 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.

• Mobility and Manipulation: from SM2 to DM2
  Y. Xu
  International Workshop on New Directions of Control and Manufacturing, 1994, pp. 301-308.

• Modeling and configuration-independent control of self-mobile space manipulator
  Y. Xu and H. Ueno
  Journal of Intelligent and Robotic Systems, No. 10, 1994, pp. 37-58.

• Underactuated robot systems: dynamic interaction and adaptive control
  Y. Gu and Y. Xu
  IEEE International Conference on Systems, Man, and Cybernetics, 1994, pp. 958-963.
  Download: pdf [480 KB] copyrighted

• Neural network control of a space manipulator
  R.T. Newton and Y. Xu
  IEEE Control Systems, Vol. 13, No. 6, December, 1993, pp. 14-22. [Abstract]
  Download: pdf [859 KB] copyrighted

• Global optimum path planning for redundant space robots
  O. Agrawal and Y. Xu
  US National Congress on Computational Mechanics, August, 1993.

• An Active Z-Gravity Compensation System
  G. White and Y. Xu
  Proceedings of the 1993 International Conference on Intelligence Robots and Systems (IROS '93), Vol. 2, July, 1993, pp. 1181 - 1187. [Abstract]
  Download: pdf [614 KB] copyrighted

• Fuzzy Inverse Kinematic Mapping: Rule Generation, Efficiency and Implementation
  Y. Xu and M. Nechyba
  Proceedings of International Conference on Intelligent Robots and Systems, Vol. 2, July, 1993, pp. 911 - 918. [Abstract]
  Download: pdf [112 KB] copyrighted

• Implementing model-based adaptive controllers for robot manipulators with a refined model
  S.K. Tso, P.L. Law, Y. Xu, and H. Shum
  Proceedings of the 1993 IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS '93), Vol. 2, July, 1993, pp. 701 - 707. [Abstract]
  Download: pdf [383 KB] copyrighted

• A Normal Form Augmentation Approach to Adaptive Control of Space Robot Systems
  Y. Gu and Y. Xu
  IEEE International Conference on Robotics and Automation, Vol. 2, May, 1993, pp. 731 - 737. [Abstract]
  Download: pdf [501 KB] copyrighted

• Hidden Markov Model Approach to Skill Learning and Its Application to Telerobotics
  J. Yang, Y. Xu, and M. Chen
  Proceedings of the 1993 IEEE International Conference on Robotics and Automation (ICRA '93), Vol. 1, May, 1993, pp. 396 - 402. [Abstract]
  Download: pdf [520 KB] copyrighted

• Real-Time Implementation of Neural Network Learning Control in a Flexible Space Manipulator
  R.T. Newton and Y. Xu
  IEEE International Conference on Robotics and Automation (ICRA '93), Vol. 1, May, 1993, pp. 135 - 141. [Abstract]
  Download: pdf [915 KB] copyrighted

• The Measure of Dynamic Coupling of Space Robot Systems
  Y. Xu
  IEEE International Conference on Robotics and Automation, Vol. 3, May, 1993, pp. 615 - 620. [Abstract]
  Download: pdf [393 KB] copyrighted

• Variable Structure Control Using Adaptive Boundary of System Uncertainty
  J. Lee, Y. Xu, and D.S. Yoo
  International Journal of System Science, Vol. 24, No. 2, May, 1993, pp. 277-287. [Abstract]
  Download: pdf [487 KB] copyrighted

• A Multiple Rate Control Scheme of Robot Manipulators
  J. Lee and Y. Xu
  Journal of Systems Engineering, Vol. 3, No. 1, April, 1993, pp. 22-33. [Abstract]
  Download: pdf [876 KB] copyrighted

• Fuzzy Inverse Kinematic Mapping: Rule Generation, Efficiency, and Implementation
  Y. Xu and M. Nechyba
  tech. report CMU-RI-TR-93-02, Robotics Institute, Carnegie Mellon University, January, 1993. [Abstract]
  Download: pdf [958 KB] copyrighted

• Hidden Markov Model Approach to Skill Learning and Its Application to Telerobotics
  J. Yang, Y. Xu, and M. Chen
  tech. report CMU-RI-TR-93-01, Robotics Institute, Carnegie Mellon University, January, 1993. [Abstract]
  Download: pdf [1092 KB] copyrighted

• Fuzzy Kinematic Mapping for a Redundant Robot
  A. Schacherbauer and Y. Xu
  Second International Conferenceon Advanced Mechatronics, 1993.

• Model reduction of unstable systems
  J. Yang, C.S. Chen, J.A.D. Abreu-Garcia, and Y. Xu
  International Journal of System Science, Vol. 24, No. 12, 1993, pp. 2407-2414.

• Robotic Exploration of Surfaces with a Compliant Wrist Sensor
  P. Sinha, Y. Xu, R. Bajcsy, and R. Paul
  International Journal of Robotics Research, Vol. 12, No. 1, 1993.

• Space Robotics: Dynamics and Control
  Y. Xu and T. Kanade
  Kluwer Academic Publishers, 1993.

• Teleoperated mobile manipulator for space station
  Y. Xu
  Proceedings of the Second International Conference on Advanced Mechatronics, 1993, pp. 830-835.

• Fuzzy Control and Fuzzy Kinematic Mapping for a Redundant Space Robot
  A. Schacherbauer and Y. Xu
  tech. report CMU-RI-TR-92-12, Robotics Institute, Carnegie Mellon University, August, 1992. [Abstract]
  Download: pdf [1950 KB] copyrighted

• Real-Time Implementation of Neural Network Learning Control of a Flexible Space Manipulator
  R.T. Newton and Y. Xu
  tech. report CMU-RI-TR-92-11, Robotics Institute, Carnegie Mellon University, August, 1992. [Abstract]
  Download: pdf [946 KB] copyrighted

• An Active Z Gravity Compensation System
  G. White and Y. Xu
  tech. report CMU-RI-TR-92-09, Robotics Institute, Carnegie Mellon University, July, 1992. [Abstract]
  Download: pdf [698 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

• Model Reduction of Flexible Manipulators
  J. Yang, Y. Xu, and M. Chen
  tech. report CMU-RI-TR-92-08, Robotics Institute, Carnegie Mellon University, June, 1992. [Abstract]
  Download: pdf [512 KB] copyrighted

• Adaptive Control of Space Robot System with an Attitude-Controlled Base
  Y. Xu, H. Shum, J. Lee, and T. Kanade
  Proceedings of the 1992 IEEE International Conference on Robotics and Automation (ICRA '92), Vol. 3, May, 1992, pp. 2005 - 2010. [Abstract]
  Download: pdf [426 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

• Dynamics and control of robot manipulator and compliant wrist system
  Y. Xu, X. Yun, and R.P. Paul
  International Journal of Robotics and Automation, Vol. 7, No. 2, 1992, pp. 57-66.

• Model-based variable structure adaptive control of robot manipulators -- experimental study
  S.K. Tso, Y. Xu, H. Shum, and P.L. Law
  Proceedings of 8th International Conference on CAD/CAM, Robotics and Factories of the Future, 1992, pp. 961-975.

• Motion planning using medial axis
  Y. Xu, R.S. Mattikalli, and P. Khosla
  Proceedings of IFAC Workshop on Intelligent Manufacturing, 1992.

• Robotic instrumented compliant wrist
  Y. Xu and R.P. Paul
  ASME Journal of Industry Engineering, Vol. 114, 1992, pp. 120-123.

• Three basic problems in robotics
  Y. Xu
  Proceedings of International Conference on Automatic Manufacturing, 1992, pp. 304-309.

• Global Optimum Path Planning for a Redundant Space Robot
  O.P. Agrawal* and Y. Xu
  tech. report CMU-RI-TR-91-15, Robotics Institute, Carnegie Mellon University, December, 1991. [Abstract]
  Download: pdf [967 KB] copyrighted

• Fuzzy control of robot and compliant wrist system
  Y. Xu, R.P. Paul, and H. Shum
  Proceedings of IEEE Industry Applications Annual Conference, Vol. 2, October, 1991, pp. 1431-1437. [Abstract]
  Download: pdf [502 KB] copyrighted

• Generation of Partial Medial Axis for Disassembly Motion Planning
  Y. Xu, R. Mattikalli, and P. Khosla
  Proceedings of the1991 IEEE International Conference on Systems, Man, and Cybernetics. 'Decision Aiding for Complex Systems, Vol. 2, October, 1991, pp. 997 - 1003. [Abstract]
  Download: pdf [675 KB] copyrighted

• Two-Disk Motion Planning Strategy
  Y. Xu, R. Mattikalli, and P. Khosla
  Proceedings of the1991 IEEE International Conference on Systems, Man, and Cybernetics. 'Decision Aiding for Complex Systems, Vol. 2, October, 1991, pp. 991 - 996. [Abstract]
  Download: pdf [553 KB] copyrighted

• Adaptive Control of Space Robot System with an Attitude Controlled Base
  Y. Xu, H. Shum, J. Lee, and T. Kanade
  tech. report CMU-RI-TR-91-14, Robotics Institute, Carnegie Mellon University, August, 1991. [Abstract]
  Download: pdf [903 KB] copyrighted

• Dynamic Control of a Space Robot System with No Thrust Jets Controlled Base
  Y. Xu and H. Shum
  tech. report CMU-RI-TR-91-33, Robotics Institute, Carnegie Mellon University, August, 1991. [Abstract]
  Download: pdf [1139 KB] copyrighted

• A Composite Discrete/Continuous Control of Robot Manipulators
  J. Lee and Y. Xu
  tech. report CMU-RI-TR-91-09, Robotics Institute, Carnegie Mellon University, April, 1991. [Abstract]
  Download: pdf [718 KB] copyrighted

• Modeling of a 3-D Light-Weight Space Manipulator
  M. Uenohara and Y. Xu
  tech. report CMU-RI-TR-91-08, Robotics Institute, Carnegie Mellon University, April, 1991. [Abstract]
  Download: pdf [624 KB] copyrighted

• Variable structure model reference adaptive control of robot manipulators
  S. Tso, Y. Xu, and H. Shum
  Proceedings of ICRA '91, Vol. 3, April, 1991, pp. 2148 - 2153. [Abstract]
  Download: pdf [303 KB] copyrighted

• A novel approach to adaptive control for robots working on contact tasks
  S.K. Tso, Y. Xu, and H. Shum
  1991.

• An approach to automatic tuning of phase-lead and phase-lag compensators
  J. Yang, C.F. Chen, C.S. Chen, and Y. Xu
  Proceedings of IEEE International Conference on Decision and Control, 1991, pp. 2944-2845.

• Global optimum path planning of a redundant space manipulator
  O. Agrawal and Y. Xu
  tech. report, Robotics Institute, Carnegie Mellon University, 1991.

• Modeling and control of a 3-D flexible space robot
  H. Ueno, Y. Xu, and T. Yoshida
  Proceedings of International Workshop on Intelligence Robots and Systems, 1991, pp. 978-983.

• Nonlinear feedback control of robot manipulator and compliant wrist
  Y. Xu, X. Yun, and R.P. Paul
  International Journal of Dynamics and Control, Vol. 1, 1991, pp. 325-339.

• 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]
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• Subassembly identification and motion generation of assembly: a geometrical approach
  R. Mattikalli, P. Khosla, and Y. Xu
  Proceedings of IEEE International Conference on System Engineering, August, 1990, pp. 399-403. [Abstract]
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• A robot compliant wrist system for automated assembly
  Y. Xu and R.P. Paul
  Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 3, May, 1990, pp. 1750 - 1755. [Abstract]
  Download: pdf [397 KB] copyrighted

• A distributed system for robot manipulator control
  R. Paul, P. Corke, J. Funda, G. Holder, H. Kobayashi, and Y. Xu
  tech. report, Robotics Institute, Carnegie Mellon University, 1990.

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

• Compliant wrist design and hybrid position/force control of robot manipulators
  Y. Xu
  tech. report, Robotics Institute, Carnegie Mellon University, 1989.

• Control software of robotic compliant wrist system
  Y. Xu
  tech. report, Robotics Institute, Carnegie Mellon University, 1989.

• Hybrid position force control of robot manipulator with an instrumented compliant wrist
  Y. Xu and R.P. Paul
  Experimental Robotics, V. Hayward and O. Khatib, ed., Springer-Verlag, 1989, pp. 244-270.

• Improved approximation of trajectories planning in joint space for robot manipulators
  Y. Xu and M. Cai
  Proceedings of ASME Conference on Computers in Engineering, 1989, pp. 209-213.

• New approaches to joint trajectories planning for robot manipulators
  M. Cai and Y. Xu
  Proceedings of International Conference on Robotics, 1989.

• The implementation of hybrid control in the presence of passive compliance
  R.P. Paul, Y. Xu, and X. Yun
  Robotics Research, H. Miura and S. Arimoto, ed., MIT Press, 1989, pp. 193-200.

• On position compensation and force control stability of a robot with a compliant wrist
  Y. Xu and R.P. Paul
  Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 2, April, 1988, pp. 1173 - 1178. [Abstract]
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• Orthogonal Jacobian matrix and compliance of robots manipulators
  Y. Xu and R.P. Paul
  Proceedings of International Conference on Advances in Robot Kinematics, 1988, pp. 26-35.

• Terminal link force and position control of robot manipulator
  R.P. Paul, Y. Xu, and X. Yun
  Theory and Practice of Robots and Manipulators, MIT Press, 1988.