- Integrated Planning and Control for Graceful Navigation of Shape-Accelerated Underactuated Balancing Mobile Robots
Umashankar Nagarajan, George A. Kantor, and Ralph Hollis
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2012, pp. 136-141.
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- Planning in High-dimensional Shape Space for a Single-wheeled Balancing Mobile Robot with Arms
Umashankar Nagarajan, Byungjun Kim, and Ralph Hollis
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2012, pp. 130-135.
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- Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems
Umashankar Nagarajan, George A. Kantor, and Ralph Hollis
IEEE Conference on Decision and Control (CDC), December, 2010, pp. 3566-3571.
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- Dynamic Constraint-based Optimal Shape Trajectory Planner for Shape-Accelerated Underactuated Balancing Systems
Umashankar Nagarajan
Proceedings of 2010 Robotics: Science and Systems, June, 2010.
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- Human-Robot Physical Interaction with Dynamically Stable Mobile Robots
Umashankar Nagarajan, George A. Kantor, and Ralph Hollis
Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2009), May, 2009, pp. 281-282.
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- State Transition, Balancing, Station Keeping and Yaw Control for a Dynamically Stable Single Spherical Wheel Mobile Robot
Umashankar Nagarajan, Anish Mampetta, George A. Kantor, and Ralph Hollis
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA 2009), May, 2009, pp. 998 - 1003.
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- Trajectory Planning and Control of a Dynamically Stable Single Spherical Wheeled Mobile Robot
Umashankar Nagarajan, George A. Kantor, and Ralph Hollis
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA 2009), May, 2009, pp. 3743-3748.
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