- Context Identification for Efficient Multiple-Model State Estimation of Systems With Cyclical Intermittent Dynamics
Sarjoun Skaff, Alfred Rizzi, Howie Choset, and Matthew Tesch
IEEE Transactions on Robotics, Vol. 27, No. 1, February, 2011, pp. 14-28.
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- Legless Locomotion: A Novel Locomotion Technique for Legged Robots
Ravi Balasubramanian, Alfred Rizzi, and Matthew T. Mason
International Journal of Robotics Research, Vol. 27, No. 5, May, 2008, pp. 575 - 594.
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- Context Identification for Efficient Multiple-Model State Estimation
Sarjoun Skaff, Howie Choset, and Alfred Rizzi
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November, 2007, pp. 2435-2440.
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- Valet Parking Without a Valet
David C. Conner, Hadas Kress-Gazit, Howie Choset, Alfred Rizzi, and George J. Pappas
Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), October, 2007, pp. 572-577.
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- A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running
Jonathan W. Hurst, Benjamin Morris, Joel Chestnutt, and Alfred Rizzi
IEEE Conference on Robotics and Automation, April, 2007.
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- Design and Philosophy of the BiMASC, a Highly Dynamic Biped
Jonathan W. Hurst, Joel Chestnutt, and Alfred Rizzi
IEEE Conference on Robotics and Automation, April, 2007.
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pdf (387KB) | Copyrighted
- Toward Legless Locomotion Control
Ravi Balasubramanian, Alfred Rizzi, and Matthew T. Mason
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2006, pp. 5594 - 5599.
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- Gait Regulation and Feedback on a Robotic Climbing Hexapod
Galen Clark Haynes and Alfred Rizzi
Proceedings of Robotics: Science and Systems, August, 2006.
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- Integrated Planning and Control for Convex-bodied Nonholonomic
systems using Local Feedback Control Policies
David C. Conner, Howie Choset, and Alfred Rizzi
tech. report CMU-RI-TR-06-34, Robotics Institute, Carnegie Mellon University, August, 2006
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- Integrated Planning and Control for Convex-bodied Nonholonomic Systems Using Local Feedback
David C. Conner, Howie Choset, and Alfred Rizzi
Proceedings of Robotics: Science and Systems II, August, 2006, pp. 57-64.
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- Motion Planning for Variable Inertia
Mechanical Systems
Elie A. Shammas, Howie Choset, and Alfred Rizzi
In Proceedings of the International Workshop on the
Algorithmic Foundations of Robotics, July, 2006.
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- A Unified Approach to Gait Analysis and
Generation for a General Class of Under-actuated Mechanical Systems
Elie A. Shammas, Howie Choset, and Alfred Rizzi
International Journal of Robotics Research, , May, 2006,
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- Gaits and Gait Transitions for Legged Robots
Galen Clark Haynes and Alfred Rizzi
Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006.
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pdf (460KB) | Copyrighted
- Geometric Gait Analysis and Generation
for Two Classes of Under-actuated Mechanical Systems
Elie A. Shammas, Howie Choset, and Alfred Rizzi
International
Journal of Robotics Research, , May, 2006,
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- Towards Provable Navigation and Control of
Nonholonomically Constrained Convex-BodiedSystems
David C. Conner, Howie Choset, and Alfred Rizzi
Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006.
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pdf (151KB) | Copyrighted
- Towards Automated Gait Generation for
Dynamic Systems with Non-holonomic Constraints
Elie A. Shammas, Howie Choset, and Alfred Rizzi
In Proceedings of the International Conference on Robotics and Automation (ICRA '06), April, 2006.
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- Solving Models of Controlled Dynamic Planar Rigid-Body Systems with Frictional Contact
Aaron L. Greenfield, Uluc Saranli, and Alfred Rizzi
The International Journal of Robotics Research, Vol. 24, No. 11, November, 2005, pp. 911 - 931.
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pdf (546KB) | Copyrighted
- Uniform Coverage of Automotive Surface Patches
Prasad Atkar, Aaron L. Greenfield, David C. Conner, Howie Choset, and Alfred Rizzi
The International Journal of Robotics Research, Vol. 24, No. 11, November, 2005, pp. 883 - 898.
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- Paint Deposition Modeling for Trajectory Planning
on Automotive Surfaces
David C. Conner, Aaron L. Greenfield, Prasad Atkar, Alfred Rizzi, and Howie Choset
IEEE Transactions on Automation Science and Engineering, Vol. 2, No. 4, October, 2005, pp. 381 - 392.
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- Natural Gait Generation Techniques for
Principally Kinematic Systems
Elie A. Shammas, Howie Choset, and Alfred Rizzi
Proceedings of Robotics: Science and Systems, June, 2005.
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- A Context-Based State Estimation Technique for Hybrid Systems
Sarjoun Skaff, Alfred Rizzi, Howie Choset, and Pei-Chun Lin
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, April, 2005, pp. 3935-3940.
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pdf (203KB) | Copyrighted
- Kinematic reduction and planning using symmetry for a variable inertia mechanical system
Ravi Balasubramanian and Alfred Rizzi
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2004, pp. 3829 - 3834.
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pdf (338KB) | Copyrighted
- Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot
Uluc Saranli, Alfred Rizzi, and Daniel E. Koditschek
International Journal of Robotics Research, Vol. 23, No. 9, September, 2004, pp. 903-918.
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pdf (586KB) | Copyrighted
- Physically Variable Compliance in Running
Jonathan W. Hurst and Alfred Rizzi
CLAWAR, September, 2004.
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pdf (121KB) | Copyrighted
- Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod Robot
Uluc Saranli, Alfred Rizzi, and Daniel E. Koditschek
Proceedings of the Sixth International Workshop on the Algorithmic Foundations of Robotics (WAFR '04), July, 2004, pp. 75-90.
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pdf (296KB) | Copyrighted
- An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion
Jonathan W. Hurst, Joel Chestnutt, and Alfred Rizzi
Proceedings of the 2004 International Conference on Robotics and Automation, May, 2004, pp. 4662 - 4667.
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pdf (758KB) | Copyrighted
- An Actuator with Mechanically Adjustable Series Compliance
Jonathan W. Hurst, Joel Chestnutt, and Alfred Rizzi
tech. report CMU-RI-TR-04-24, Robotics Institute, Carnegie Mellon University, April, 2004
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pdf (664KB) | Copyrighted
- Legless Locomotion: Models and Experimental Demonstration
Ravi Balasubramanian, Alfred Rizzi, and Matthew T. Mason
Proceedings of the IEEE International Conference on Robotics and Automation, April, 2004, pp. 1803 - 1808.
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pdf (653KB) | Copyrighted
- Legless Locomotion for Legged Robots
Ravi Balasubramanian, Alfred Rizzi, and Matthew T. Mason
tech. report CMU-RI-TR-04-05, Robotics Institute, Carnegie Mellon University, January, 2004
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pdf (973KB) | Copyrighted
- Sequential Composition for Control of Underactuated Systems
George A. Kantor and Alfred Rizzi
tech. report CMU-RI-TR-03-23, Robotics Institute, Carnegie Mellon University, December, 2003
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pdf (382KB) | Copyrighted
- Construction and Automated Deployment of Local Potential
Functions for Global Robot Control and Navigation
David C. Conner, Alfred Rizzi, and Howie Choset
tech. report CMU-RI-TR-03-22, Robotics Institute, Carnegie Mellon University, November, 2003
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- Composition of local potential functions for global robot control and navigation
David C. Conner, Alfred Rizzi, and Howie Choset
Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), October, 2003, pp. 3546- 3551.
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pdf (567KB) | Copyrighted
- Inertial navigation and visual line following for a dynamical hexapod robot
Sarjoun Skaff, George A. Kantor, David Maiwand, and Alfred Rizzi
2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2003, pp. 1808-1813.
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pdf (478KB) | Copyrighted
- Legless Locomotion for Legged Robots
Ravi Balasubramanian, Alfred Rizzi, and Matthew T. Mason
Proceedings of the International Conference on Robotics and Intelligent Systems, October, 2003, pp. 880 - 885.
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pdf (473KB) | Copyrighted
- Towards optimal coverage of 2-dimensional surfaces embedded in IR/sup 3/: choice of start curve
Prasad Atkar, Howie Choset, and Alfred Rizzi
2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), October, 2003, pp. 3581 - 3587.
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- Progress Towards a Clinically Useful Sonic Flashlight
George D. Stetten, Damion Michael Shelton, Wilson Chang, Robert Joseph Tamburo, V. Chib, Constantine Aaron Cois, Ralph Hollis, Alfred Rizzi, L. Lobes, and D. Schwartzman
Biomedical Imaging Research Opportunities Workshop, January, 2003.
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- Experimental Verification of Deposition Models for Automotive Painting with Electrostatic Rotating Bell Atomizers
David C. Conner, Alfred Rizzi, and Howie Choset
Experimental Robotics VIII (proceedings of ISER '02), 2003, pp. 136-145.
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pdf (354KB) | Copyrighted
- Deposition Modeling for Paint Application on
Surfaces Embedded in R^3
David C. Conner, Prasad Atkar, Alfred Rizzi, and Howie Choset
tech. report CMU-RI-TR-02-08, Robotics Institute, Carnegie Mellon University, October, 2002
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- Development of Deposition Models for Paint Application on Surfaces Embedded in R^3 for Use in Automated Path Planning
David C. Conner, Prasad Atkar, Alfred Rizzi, and Howie Choset
Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002.
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pdf (502KB) | Copyrighted
- Distributed Coordination in Modular Precision Assembly Systems
Alfred Rizzi, Jay Gowdy, and Ralph Hollis
, Vol. 20, No. 10, October, 2001, pp. 819 - 838.
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pdf (773KB) | Copyrighted
- A high-performance network infrastructure and protocols for distributed automation
Shinji Kume and Alfred Rizzi
Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), May, 2001, pp. 3121 - 3126.
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pdf (516KB) | Copyrighted
- Exact Cellular Decomposition of Closed Orientable Surfaces Embedded in R^3
Prasad Atkar, Howie Choset, Alfred Rizzi, and Ercan Acar
Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), May, 2001.
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pdf (381KB) | Copyrighted
- Sensor Based Planning for Rod Shaped Robots in Three Dimensions: Piece-wise Retracts of R^3 x S^2
, Howie Choset, and Alfred Rizzi
Proceedings of the 2001 IEEE International Conference on Robotics & Automation (ICRA '01), May, 2001.
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pdf (712KB) | Copyrighted
- Distributed Coverage of Rectilinear Environments
Zack Butler, Alfred Rizzi, and Ralph Hollis
Proc. of the
Workshop on the Algorithmic Foundations of Robotics, January, 2001.
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pdf (322KB) | Copyrighted
- Force-based Interaction for Distributed Precision Assembly
Richard DeLuca, Alfred Rizzi, and Ralph Hollis
Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, January, 2001.
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pdf (374KB) | Copyrighted
- A precision manipulator module for assembly in a minifactory environment
H. Benjamin Brown, Patrick Muir, Alfred Rizzi, M.C. Sensi, and Ralph Hollis
Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), 2001, pp. 1030 - 1035.
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pdf (542KB) | Copyrighted
- Simulation and Experimental Evaluation of Complete Sensor-based Coverage in Rectilinear Environments
Zack Butler, Alfred Rizzi, and Ralph Hollis
Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000.
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pdf (798KB) | Copyrighted
- Cooperative Coverage of Rectilinear Environments
Zack Butler, Alfred Rizzi, and Ralph Hollis
IEEE International Conference on Robotics and Automation 2000, April, 2000, pp. 2722 - 2727.
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pdf (261KB) | Copyrighted
- Exact Cellular Decompositions in Terms of Critical Points of Morse Functions
Howie Choset, Ercan Acar, Alfred Rizzi, and Jon Luntz
Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00), April, 2000, pp. 2270 - 2277.
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pdf (227KB) | Copyrighted
- Optical Coordination Sensor for Precision Cooperating Robots
Wing-Choi Ma, Alfred Rizzi, and Ralph Hollis
IEEE International Conference on Robotics and Automation 2000, April, 2000, pp. 1621 - 1626.
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pdf (465KB) | Copyrighted
- Robust and Efficient Motion Planning for a Planar Robot Using Hybrid Control
Arthur Quaid and Alfred Rizzi
IEEE International Conference on Robotics and Automation 2000, April, 2000, pp. 4021 - 4026.
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pdf (246KB) | Copyrighted
- Visually Guided Coordination for Distributed Precision Assembly
Michael Chen, Shinji Kume, Alfred Rizzi, and Ralph Hollis
IEEE International Conference on Robotics and Automation 2000, April, 2000, pp. 1651 - 1656.
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pdf (425KB) | Copyrighted
- Contact Sensor-based Coverage of Rectilinear Environments
Zack Butler, Alfred Rizzi, and Ralph Hollis
IEEE Int'l Symposium on Intelligent Control, September, 1999, pp. 266 - 271.
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pdf (202KB) | Copyrighted
- Fluorescent Dye Based Optical Position Sensing for Planar Linear Motors
Gregory Fries, Alfred Rizzi, and Ralph Hollis
IEEE International Conference on Robotics and Automation, May, 1999, pp. 1614 - 1619.
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pdf (375KB) | Copyrighted
- Programming in the Architecture for Agile Assembly
Jay Gowdy and Alfred Rizzi
IEEE International Conference on Robotics and Automation, May, 1999, pp. 3103 - 3108.
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pdf (188KB) | Copyrighted
- Hybrid Control as a Method for Robot Motion Programming
Alfred Rizzi
IEEE Int'l. Conf. on Robotics and Automation, May, 1998, pp. 832 - 837.
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pdf (155KB) | Copyrighted
- Integrated Precision 3-DOF Position Sensor for Planar Linear Motors
Zack Butler, Alfred Rizzi, and Ralph Hollis
Proc. of IEEE Int'l. Conf. on Robotics and Automation, May, 1998, pp. 3109-3114.
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pdf (285KB) | Copyrighted
- Minifactory: A Precision Assembly System that Adapts to the Product Life Cycle
Patrick Muir, Alfred Rizzi, and Jay Gowdy
SPIE Symposium on Intelligent Systems and Advanced Manufacturing, October, 1997.
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pdf (89KB) | Copyrighted
- Opportunities for Increased Intelligence and Autonomy in Robotic Systems for Manufacturing
Alfred Rizzi and Ralph Hollis
Robotics Research, the Eighth International
Symposium of Robotics Research, October, 1997, pp. 141 - 151.
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pdf (236KB) | Copyrighted
- Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph
Howie Choset, Ilhan Konukseven, and Alfred Rizzi
Proceedings of ICAR '97, July, 1997, pp. 333 - 338.
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pdf (263KB) | Copyrighted
- Agile Assembly Architecture: An Agent-Based Approach to Modular Precision Assembly Systems
Alfred Rizzi, Jay Gowdy, and Ralph Hollis
IEEE Int'l. Conf. on Robotics and Automation, April, 1997, pp. 1511 - 1516.
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pdf (235KB) | Copyrighted
- Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph
Howie Choset, Ilhan Konukseven, and Alfred Rizzi
Proceedings of ICAR '97, 1997.
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pdf (255KB) | Copyrighted
- Sensor Based Planning: Using a Honing Strategy and Local Map Method to Implement the Generalized Voronoi Graph
Howie Choset, Keiji Nagatani, and Alfred Rizzi
SPIE Mobile Robotics, 1997.
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pdf (298KB) | Copyrighted
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