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Publications, Bradley Nelson

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 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

• An Extendable Framework for Visual Servoing Using Environment Models
  B. Nelson and P. Khosla
  IEEE International Conference on Robotics and Automation, May, 1995. [Abstract]
  Download: pdf [78 KB], ps.gz [224 KB] copyrighted

• Force and Vision Resolvability for Assimilating Disparate Sensory Feedback
  B. Nelson and P. Khosla
  tech. report CMU-RI-TR-95-11, Robotics Institute, Carnegie Mellon University, March, 1995. [Abstract]
  Download: pdf [460 KB], ps.gz [566 KB] copyrighted

• Robotic Manipulation Using High Bandwidth Force and Vision Feedback
  B. Nelson, J. Morrow, and P. Khosla
  Mathematical and Computer Modelling - An International Journal, 1995. [Abstract]
  Download: pdf [475 KB] copyrighted

• Using Hypermedia and Reconfigurable Software Assembly to Support Virtual Laboratories and Factories
  M.W. Gertz, D.B. Stewart, B. Nelson, and P. Khosla
  Fifth International Symposium on Robotics and Manufacturing, Vol. 5, August, 1994, pp. 493-500.
  Download: pdf [85 KB], ps.gz [109 KB], ps.z [160 KB] copyrighted

• The Resolvability Ellipsoid for Visual Servoing
  B. Nelson and P. Khosla
  Proc. of the 1994 Conf. on Computer Vision and Pattern Recognition (CVPR 94), June, 1994.
  Download: pdf [258 KB], ps.gz [285 KB] copyrighted

• Integrating Sensor Placement and Visual Tracking Strategies
  B. Nelson and P. Khosla
  Proc. 1994 IEEE Int. Conf. on Robotics and Automation, Vol. 2, May, 1994, pp. 1351-1356. [Abstract]
  Download: pdf [491 KB] copyrighted

• Six Degree-of-Freedom Hand/Eye Visual Tracking with Uncertain Parameters
  N.P. Papanikolopoulos, B. Nelson, and P. Khosla
  Proc. 1994 IEEE Int. Conf. on Robotics and Automation, May, 1994, pp. 174-179.
  Download: pdf [171 KB], ps.gz [175 KB] copyrighted

• Experimental Robotics III: The Third International Symposium
  B. Nelson and P. Khosla
  October, 1993.

• Integrating Sensor Placement and Visual Tracking Strategies
  B. Nelson and P. Khosla
  The Third International Symposium on Experimental Robotics III, October, 1993.
  Download: pdf [301 KB], ps.gz [248 KB] copyrighted

• The Resolvability Ellipsoid for Sensor Based Manipulation
  B. Nelson and P. Khosla
  tech. report CMU-RI-TR-93-28, Robotics Institute, Carnegie Mellon University, October, 1993. [Abstract]
  Download: pdf [420 KB], ps.gz [665 KB] copyrighted

• Dynamic Sensor Placement Using Controlled Active Vision
  B. Nelson, N.P. Papanikolopoulos, and P. Khosla
  Proceedings of the International Federation of Automatic Control, July, 1993.
  Download: pdf [28 KB], ps.gz [39 KB] copyrighted

• Visual Servoing for Robotic Assembly
  B. Nelson, N. Papanikolopoulos, and P. Khosla
  Proc. of International Federation of Automatic Control (IFAC '93), July, 1993.

• Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance
  B. Nelson and P. Khosla
  IEEE International Conference on Robotics and Automation, Vol. 3, May, 1993, pp. 418 - 423.
  Download: pdf [51 KB], ps.gz [61 KB] copyrighted

• Dynamic Sensor Placement Using Controlled Active Vision
  B. Nelson, N. Papanikolopoulos, and P. Khosla
  Servoing Real-Time Control of Robot Manipulators Based on Visual Sensory Feedback, K. Hashimoto, ed., World Scientific Publishing Co. Pte. Ltd., 1993.

• Visual Servoing for Robotic Assembly
  B. Nelson, N.P. Papanikolopoulos, and P. Khosla
  Visual Servoing Real-Time Control of Robot Manipulators Based on Visual Sensory Feedback, K. Hashimoto, ed., World Scientific Publishing, River Edge, NJ, 1993, pp. 139 - 164.
  Download: pdf [113 KB], ps.gz [141 KB] copyrighted

• Monocular 3-D Visual Tracking of a Moving Target by an Eye-in-Hand Robotic System
  N.P. Papanikolopoulos, B. Nelson, and P. Khosla
  Presented at the 31st Annual IEEE Conference on Deicision and Control (CDC '92), December, 1992.
  Download: pdf [742 KB] copyrighted

• Full 3-D Tracking Using the Controlled Active Vision Paradigm
  N. Papanikolopoulos, B. Nelson, and P. Khosla
  Presented at the 1992 IEEE International Symposium on Intelligent Control, August, 1992.
  Download: pdf [681 KB] copyrighted

• Increasing the Tracking Region of an Eye-in-Hand System Using Controlled Active Vision
  B. Nelson and P. Khosla
  IEEE International Conference on Control Application, 1992, pp. 1128-1133.
  Download: pdf [53 KB], ps.gz [66 KB] copyrighted