- Visual and NDE inspection of live gas mains using a robotic Explorer
Hagen Schempf
International Journal of Field Robotics, Vol. Winte, March, 2010, pp. 1 - 33.
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pdf (2MB) | Copyrighted
- Self-Rappelling Robot System for Inspection and Reconnaissance in Search and Rescue Applications
Hagen Schempf
Advanced Robotics, Special Issues on Disaster Robotics, Vol. 23, No. 9, July, 2009,
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pdf (4MB) | Copyrighted
- Wearable Control and Communications System for use with UAVs, UGVs and UGSs
Hagen Schempf
AUVSI 2008, June, 2008.
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pdf (2MB) | Copyrighted
- Robotic Inspection of Live Natural Gas Pipelines: ExplorerTM Prototype Systems Development and Deployment Results
Hagen Schempf
International Journal of Field Robotics, , 2008
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- SPIDAR: SPinneret for Inspection And Reconnaissance in Search and Rescue Applications
Hagen Schempf
2007 Safety, Security and Rescue Robotics Workshop, September, 2007.
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pdf (619KB) | Copyrighted
- Explorer: Gas Pipeline Robot Robot Design, Field Test Results and Future Developments
Hagen Schempf
2006 American Nuclear Sociery Conference, February, 2006.
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- GasNetTM: Sensing and communications network system for low- and high-pressure distribution gas mains
Hagen Schempf
Natural Gas Technologies III Conference, January, 2005.
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pdf (513KB) | Copyrighted
- Explorer: Live Distribution Gas Main Inspection Robot
Hagen Schempf
2004 International Gas Research Conference, November, 2004.
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- GasNetTM: In-situ real-time data-gathering and communications network for distribution gas pipe networks
Hagen Schempf
Natural Gas Technologies II Conference, February, 2004.
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- Trenchless Underground Gas Pipeline Robotics Inspection System
Hagen Schempf
20th International Symposium on Automation and Robotics in Construction ISARC, September, 2003.
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- GRISLEE: Gasmain Repair and Inspection System for Live Entry Environments
Hagen Schempf, Edward Mutschler, Vitaly Goltsberg, and William Crowley
The International Journal of Robotics Research, Vol. 22, No. 7 - 8, July, 2003, pp. 603 - 616.
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pdf (866KB) | Copyrighted
- Ultra-rugged Soldier-Robot for Urban Conflict Missions
Hagen Schempf
Unmanned Systems 2003 Conference - AUVSI 30th Annual Symposium and Exhibition, July, 2003.
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pdf (167KB) | Copyrighted
- Explorer: Untethered Real-time Gas Main Assessment Robot System
Hagen Schempf, E. Mutschler, Vitaly Goltsberg, George Skoptsov, Alan Gavaert, and G. Vradis
1st International Workshop on Advances in Service Robotics, ASER’03, March, 2003.
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- Junior: a robot for outdoor container nurseries
Hagen Schempf and Todd Graham
Proceedings of the 2002 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002, pp. 750 - 755.
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pdf (752KB) | Copyrighted
- PipeTaz: Automated Pipe Asbestos Insuluation Removal System Development for DoE Site Remediation
Noellette Conway and Hagen Schempf
9th Biennial Int. Spectrum Conference (ANS)
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- Automated container-handling system for container production nurseries
Hagen Schempf, , Robert Fuchs, and C. Gasior
IEEE Int. Conf. on Robotics and Automation (ICRA '01), April, 2001, pp. 755 - 760.
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pdf (842KB) | Copyrighted
- Less is More: AURORA - an example of minimalist design for tracked locomotion
Hagen Schempf
ISSR 01
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- Robotic Repair System for Live Distribution Gasmains
Hagen Schempf, Edward Mutschler, Vitaly Goltsberg, William Crowley, and Brian Chemel
FSR 01
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- Trident Sensing System: A Configuration of Sensors to Aid Alignment of an Intelligent Grasping Device Used for Field-container Handling
M Bernardine Dias and Hagen Schempf
tech. report CMU-RI-TR-00-26, Robotics Institute, Carnegie Mellon University, November, 2000
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pdf (1MB) | Copyrighted
- Evolution of urban robotic system developments
Hagen Schempf, Edward Mutschler, Brian Chemel, S.K. Nayar, Colin Piepgras, William Crowley, and Scott Boehmke
Proceedings of the 1999 IEEE / ASME International Conference on Advanced Intelligent
Mechatronics, September, 1999, pp. 689 - 694.
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- Cyclops: miniature robotic reconnaissance system
Brian Chemel, E. Mutschler, and Hagen Schempf
IEEE Int. Conf. on Robotics and Automation (ICRA '99), May, 1999, pp. 2298 - 2302.
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pdf (91KB) | Copyrighted
- Pandora: autonomous urban robotic reconnaissance system
Hagen Schempf, , Colin Piepgras, J. Warwick, Brian Chemel, Scott Boehmke, , Robert Fuchs, and
IEEE Int. Conf. on Robotics and Automation (ICRA '99), May, 1999, pp. 2315 - 2321.
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pdf (624KB) | Copyrighted
- RoboCon: Operator Interface for Robotic and Remote Applications
Hagen Schempf, Colin Piepgras, John Warwick, Robert Fuchs, , and Brian Chemel
ANS 8th Topical Meeting on Robotics and Remote Systems
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- BOA: Asbestos Abatement Robot System and Field-Trial Experiences
Hagen Schempf, E. Mutschler, and W. Crowley
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- Mobile Robots and Walking Machines
Hagen Schempf
John Wiley & Sons - Handbook of Industrial Robotics 2nd Ed.
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- A Robotic Pipe-Asbestos Insulation Removal System
Hagen Schempf, E. Mutschler, Brian Chemel, Scott Boehmke, Colin Piepgras, and W. Crowley
Industrial Robot: An International Journal, Vol. 25, No. 3, June, 1998, pp. 196 - 204.
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pdf (364KB) | Copyrighted
- BOA II: Pipe-Asbestos Insulation Removal Robot System
Hagen Schempf, , Scott Boehmke, Brian Chemel, and Colin Piepgras
Proceedings of the 1996 Environmental Technology
Development Through Industry Partnership Conference, October, 1996.
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- BOA: Pipe Asbestos Insulation Abatement Robot System
Hagen Schempf
SPECTRUM'96, August, 1996.
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- Mobile Robot for Automatic Installation of Floor Tiles
Dimitrios (Dimi) Apostolopoulos, Hagen Schempf, and J. West
IEEE Int. Conf. on Robotics and Automation (ICRA '96), April, 1996, pp. 3652 - 3657.
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pdf (423KB) | Copyrighted
- TILEBOT: Mobile Robot for Automatic Installation of Floor Tiles
Hagen Schempf, Dimitrios (Dimi) Apostolopoulos, and J. West
IEEE Int. Conf. on Robotics and Automation (ICRA '96), April, 1996.
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pdf (423KB) | Copyrighted
- HOUDINI: Site and Locomotion Analysis-driven Design of an In-Tank Mobile Cleanup Robot
Hagen Schempf
American Nuclear Society Winter Meeting Transactions, October, 1995.
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pdf (1MB) | Copyrighted
- NEPTUNE: Above ground Storage-Tank Inspection Robot System
Hagen Schempf, Brian Chemel, and N. Everett
IEEE Robotics and Automation Society Magazine, , June, 1995,
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pdf (410KB) | Copyrighted
- ROBOLEG: A Robotic Soccer-Ball Kicking Leg
Hagen Schempf, C. Kraeuter, and Mike Blackwell
Proceedings of ICRA '95, May, 1995, pp. 1314 - 1318.
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pdf (259KB) | Copyrighted
- BOA: Pipe Asbestos Insulation Removal Robot System
Hagen Schempf, John Bares, , B. Albrecht, and B. Laffitte
submitted to the American Nuclear Society 6th Topical Meeting on Robotics and Remote Systems, February, 1995.
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- BOA: Asbestos Pipe-Insulation Removal Robot System
Hagen Schempf
tech. report CMU-RI-TR-95-15, Robotics Institute, Carnegie Mellon University, January, 1995
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- NEPTUNE: Aboveground Storage-Tank Inspection Robot System
Hagen Schempf
IEEE Int. Conf. on Robotics and Automation, May, 1994.
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pdf (795KB) | Copyrighted
- HOUDINI: In-Tank Mobile Cleanup Robot
Hagen Schempf
ASCE 4th Int. Conf. on Engineering Construction and Operations in Space and the Conference on Robotics for Challenging Environments, February, 1994.
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pdf (964KB) | Copyrighted
- Deflection Characteristics of Redundant Robots
Hagen Schempf, J.W. Saunders III, S.N. Dwivedi, and G.C. Nandi
International Journal of Intelligent and Robotic Systems, , 1994
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pdf (388KB) | Copyrighted
- Autonomous Cargo Transport System
Kerien Fitzpatrick, Martial Hebert, Dean Pomerleau, and Hagen Schempf
Proceedings of the United States Postal Service 5th Advanced Technology Conference, December, 1992.
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pdf (701KB) | Copyrighted
- A Mobile Robot for Ground Servicing Operations on the Space Shuttle
Kevin Dowling, R. Bennett, Mike Blackwell, Todd Graham, S. Gatrall, R. O, and Hagen Schempf
OE / Technology 1992 Cooperative Intelligent Robots in Space, November, 1992.
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pdf (101KB) | Copyrighted
- Mobile Robot System for Ground Servicing Operations on the Space Shuttle
Hagen Schempf, Kevin Dowling, and Mike Blackwell
SPIE OE/Technology `92 Conference, November, 1992.
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pdf (101KB) | Copyrighted
- Serpentine Manipulator Planning and Control for NASA Space-Shuttle Payload Servicing
Herman Herman and Hagen Schempf
tech. report CMU-RI-TR-92-10, Robotics Institute, Carnegie Mellon University, October, 1992
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pdf (593KB) | Copyrighted
- Coordinated Vehicle/Manipulator Design and Control Issues for Underwater Telemanipulation
Hagen Schempf and D. Yoerger
International Federation of Automatic Control CAMS'92, April, 1992.
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pdf (204KB) | Copyrighted
- Remotely Operated Vehicles (ROVs) - Tethered Underwater Robot JASON
Hagen Schempf
7th ed. of McGRAW-HILL ENCYCLOPEDIA of SCIENCE and TECHNOLOGY, 1992
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- Three Generations of Passive Dynamic Walking
Hagen Schempf, T. McGeer, and T. Lim
2nd Int. Symposium on Experimental Robotics, June, 1991.
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- Design and Control of the JASON Vehicle
Hagen Schempf and JASON Design-team
Proceedings of ROV, 1991.
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pdf (579KB) | Copyrighted
- Design and Performance Evaluation of an Actively Compliant Underwater Manipulator for Full-Ocean Depth
Hagen Schempf, D. DiPietro, and D. Yoerger
Special Issue of Robotic Systems on Underwater Robotics, , 1991
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pdf (1MB) | Copyrighted
- Design and Performance of an Actively Compliant Underwater Manipulator
Hagen Schempf, D. Yoerger, and D. DiPietro
Proc. of ROV, 1990.
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- Robust Trajectory Control of Underwater Vehicles
Hagen Schempf, J.-J. Slotine, J. Newman, and D. Yoerger
Fourth Int. Symposium on Unmanned Untethered Submersible Technology, June, 1985.
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