- Design and architecture of the unified modular snake robot
Cornell Wright III, Austin Buchan, H. Benjamin Brown, Jason Geist, Michael Schwerin, David Rollinson, Matthew Tesch, and Howie Choset
IEEE International Conference on Robotics and Automation, May, 2012.
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- ChargeCar Community Conversions: Practical, Custom Electric Vehicles Now!
H. Benjamin Brown, Illah Nourbakhsh, Christopher Bartley, Jennifer Cross, Paul S. Dille, Joshua Schapiro, and Alexander Styler
March, 2012.
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- A Robot Supervision Architecture for Safe and Efficient Space Exploration and Operation
Ehud Halberstam, Luis Ernesto Navarro-Serment, Ronald Conescu, Sandra Mau, Gregg Podnar, Alan D. Guisewite, H. Benjamin Brown, Alberto Elfes, John M. Dolan, and Marcel Bergerman
Tenth Biennial International Conference on Engineering,
Construction, and Operations in Challenging Environments: Earth & Space 2006 Conference, March, 2006.
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- A Robot Supervision Architecture for Safe and Efficient Space Exploration and Operation
Ehud Halberstam, Luis Ernesto Navarro-Serment, Ronald Conescu, Sandra Mau, Gregg Podnar, Alan D. Guisewite, H. Benjamin Brown, Alberto Elfes, John M. Dolan, and Marcel Bergerman
PowerPoint Presentation at the Earth & Space 2006 Conference, March, 2006
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- Human Telesupervision of a Fleet of Autonomous Robots for Safe and Efficient Space Exploration
Gregg Podnar, John M. Dolan, Alberto Elfes, Marcel Bergerman, H. Benjamin Brown, and Alan D. Guisewite
Proceedings of the 1st Annual Conference on Human-Robot Interaction, March, 2006.
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- A mobile hyper redundant mechanism for search and rescue tasks
Alon Wolf, H. Benjamin Brown, Randy Casciola, Albert Costa, Michael Schwerin, E. Shamas, and Howie Choset
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2003, pp. 2889 - 2895.
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- New Joint Design for Three-dimensional Hyper Redundant Robots
Elie A. Shammas, Alon Wolf, H. Benjamin Brown, and Howie Choset
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS '03), October, 2003, pp. 3594 - 3599.
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- Millibot trains for enhanced mobility
H. Benjamin Brown, J Michael Vandeweghe, Curt Bererton, and Pradeep Khosla
IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, December, 2002, pp. 452 - 461.
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- Millibot Trains for Enhanced Mobility
H. Benjamin Brown, J. Michael VANDE WEGHE, Curt A. BERERTON, and Pradeep K. KHOSLA
IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, December, 2002, pp. 452-461.
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- RHex: A Biologically Inspired Hexapod Runner
R. Altendorfer, E. Z. Moore, H. Komsuoglu, Martin Buehler, H. Benjamin Brown, D. McMordie, Uluc Saranli, R. Full, and D. E. Koditschek
Autonomous Robots, Vol. 11, November, 2001, pp. 207 - 213.
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- 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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- Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot
R. Altendorfer, Uluc Saranli, H. Komsuoglu, D.E. Koditschek, H. Benjamin Brown, Martin Buehler, N. Moore, D.
McMordie, and R. Full
Experimental Robotics VII, D. Rus and S. Singh, ed., Springer-Verlag, 2001, pp. 291 - 302.
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- Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot
H. Komsuoglu, R. Altendorfer, Uluc Saranli, D. Koditschek, H. Benjamin Brown, Martin Buehler, M. N. Moore, D.McMordie, and R. Full
Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000.
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- Control of the Gyrover: a single-wheel gyroscopically stabilized robot
Enrique Ferreira, Shu-Jen Tsai, Chris Paredis, and H. Benjamin Brown
Advanced Robotics, Vol. 14, No. 6, June, 2000, pp. 459 - 475.
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- Dynamic mobility with single-wheel configuration
Yangsheng Xu, H. Benjamin Brown, and Kwok Wai Au
International Journal of Robotics Research, July, 1999, pp. 728 - 738.
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- Analysis of actuation and dynamic balancing for a single-wheel robot
Yangsheng Xu, Kwok Wai Au, G. C. Nandy, and H. Benjamin Brown
Intelligent Robots and Systems, October, 1998, pp. 1789 -1794.
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- Control of a Bow Leg Hopping Robot
Garth Zeglin and H. Benjamin Brown
Proceedings of the IEEE International Conference on Robotics and Automation, May, 1998.
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- The bow leg hopping robot
H. Benjamin Brown and Garth Zeglin
Proceedings of the IEEE International Conference on Robotics and Automation, May, 1998.
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- A single-wheel, gyroscopically stabilized robot
H. Benjamin Brown and Yangsheng Xu
IEEE Robotics and Automation Magazine, Vol. 4, No. 3, September, 1997, pp. 39-44.
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- A rapidly deployable manipulator system
Chris Paredis, H. Benjamin Brown, and Pradeep Khosla
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, April, 1996, pp. 1434 - 1439.
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- A separable combination of wheeled rover and arm mechanism: (DM)2.
Yangsheng Xu, Christopher Lee, and H. Benjamin Brown
1996 IEEE International Conference on Robotics and Automation, April, 1996, pp. 2383-2388.
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- A single wheel, gyroscopically stabilized robot
H. Benjamin Brown and Yangsheng Xu
Proceedings of the IEEE International Conference on Robotics and Automation, April, 1996, pp. 3658-3663.
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- A Rapidly Deployable Manipulator System
Chris Paredis, H. Benjamin Brown, R.W. Casciola, James E. Moody, and Pradeep Khosla
Workshop on Some Critical Issues in Robotics, October, 1995.
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- Control Systems of the Self-Mobile Space Manipulator
Yangsheng Xu, H. Benjamin Brown, Mark Friedman, and Takeo Kanade
IEEE Trans. on Control Systems Technology, Vol. 2, No. 3, September, 1994, pp. 207-219.
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- A Novel Gravity Compensation System for Space Robots
H. Benjamin Brown and John M. Dolan
Proceedings of the ASCE Specialty Conference on Robotics for Challenging Environments (Space94), February, 1994, pp. 250-258.
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- A space station robot walker and its shared-control software
Yangsheng Xu and H. Benjamin Brown
Proceedings of the AIAA/NASA Conference on Intelligent Robots, 1994, pp. 123-130.
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- Dual-use Mobile Detachable Manipulator--DM^2
Yangsheng Xu, Jie Yang, Shigeru Aoki, and H. Benjamin Brown
Proceedings of the IEEE International Symposium on Intelligent Control, 1994, pp. 255-260.
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- Mobility and manipulation of a light-weight space robot
Yangsheng Xu, H. Benjamin Brown, Shigeru Aoki, and Takeo Kanade
Journal of Robotics and Autonomous Systems, Vol. 13, 1994, pp. 1-12.
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- Control of flexible arms with friction in the joints
V. Feliu, K. Rattan, and H. Benjamin Brown
IEEE Transactions on Robotics and Automation, Vol. 9, No. 4, August, 1993, pp. 467 - 475.
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- Manipulation and mobility of a light-weight space robot
Yangsheng Xu, H. Benjamin Brown, Shigeru Aoki, and Takeo Kanade
Proceedings of the 1992 lEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '92), July, 1992, pp. 11-19.
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- Control system of Self-Mobile Space Manipulator
Yangsheng Xu, H. Benjamin Brown, M. Friedman, and Takeo Kanade
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '92), May, 1992, pp. 866 - 871.
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- Modeling and Control of Single-Link Flexible Arms with Lumped Masses
V. Feliu, K.S. Rattan, and H. Benjamin Brown
Journal of Dynamic Systems, Measurement, and Control, Vol. 114, March, 1992, pp. 59 - 70.
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- Design and control of a two-degree-of-freedom lightweight flexible arm
V. Feliu, K.S. Rattan, and H. Benjamin Brown
Proceedings of the 30th IEEE Conference on Decision and Control, December, 1991, pp. 1391 - 1395.
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- Development of a 5-DOF walking robot for Space Station application: overview
H. Benjamin Brown, M.B. Friedman, and Takeo Kanade
Proceedings of the 1990 IEEE International Conference on Systems Engineering, August, 1990, pp. 194 - 197.
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- On Control and Planning of a Space Station Robot Walker
H. Ueno, Yangsheng Xu, H. Benjamin Brown, M. Ueno, and Takeo Kanade
Proceedings of the 1990 IEEE International
Conference on Systems Engineering, August, 1990, pp. 220 - 223.
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- Tip position control of flexible arms using a control law partitioning scheme
K.S. Rattan, V. Feliu, and H. Benjamin Brown
Proceedings of the 1990 IEEE International Conference on Robotics and Automation (ICRA '90), May, 1990, pp. 1803 - 1808.
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- Adaptive control of a single-link flexible manipulator
V. Feliu, K.S. Rattan, and H. Benjamin Brown
IEEE Control Systems Magazine, Vol. 10, No. 2, February, 1990, pp. 29 - 33.
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- Self Mobile Space Manipulator Project
H. Benjamin Brown, Mark Friedman, Takeo Kanade, and Yangsheng Xu
Annual Research Review, 1990
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- A New Approach to Control Single-Link Flexible Arms, Part II: Control of the Tip Position in the Presence of Joint Friction
V. Feliu, K. S. Rattan, and H. Benjamin Brown
tech. report CMU-RI-TR-89-14, Robotics Institute, Carnegie Mellon University, July, 1989
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pdf (2MB) | Copyrighted
- Design and Control of a Two-Degree-of-Freedom Lightweight Flexible Arm
V. Feliu, H. Benjamin Brown, and K. S. Rattan
tech. report CMU-RI-TR-89-21, Robotics Institute, Carnegie Mellon University, July, 1989
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- Adaptive control of a single-link flexible manipulator in the presence of joint friction and load changes
V. Feliu, K.S. Rattan, and H. Benjamin Brown
Proceedings of the 1989 IEEE International Conference on Robotics and Automation (ICRA '89), May, 1989, pp. 1036 - 1041.
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pdf (426KB) | Copyrighted
- A New Approach to Control Single-Link Flexible Arms
V. Feliu, K. S. Rattan, and H. Benjamin Brown
tech. report CMU-RI-TR-89-08, Robotics Institute, Carnegie Mellon University, March, 1989
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- Identification and control of a single-link flexible manipulator
K.S. Rattan, V. Feliu, and H. Benjamin Brown
Proceedings of the 27th IEEE Conference on Decision and Control, December, 1988, pp. 2278 - 2279.
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- Running on Four Legs As Though They Were One
M.H. Raibert, M. Chepponis, and H. Benjamin Brown
IEEE Journal of Robotics and Automation, Vol. RA-2, No. 2, June, 1986, pp. 70 - 82.
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- Legs That Deform Elastically
H. Benjamin Brown and M.H. Raibert
Proceedings of RoManSy'86: Theory and Practice of Robots and Manipulators, 1986.
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- 3D Balance Using 2D Algorithms?
M.H. Raibert, H. Benjamin Brown, and S.S. Murthy
First International Symposiun of Robotics Research, 1984, pp. 279-301.
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- Experiments in Balance With a 2D One-Legged Hopping Machine
M.H. Raibert and H. Benjamin Brown
ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 106, 1984, pp. 75-81.
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- Experiments in Balance With a 3D One-Legged Hopping Machine
M.H. Raibert, M.A. Chepponis, and H. Benjamin Brown
International Journal of Robotics Research, Vol. 3, 1984, pp. 75-92.
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- Dynamically Stable Legged Locomotion Progress Report: October 1982 - October 1983
Marc H. Raibert, H. Benjamin Brown, Michael Chepponis, Eugene Hastings, Jeff Koechling, Karl N. Murphy, Seshashayee S. Murthy, and Anthony (Tony) Stentz
tech. report CMU-RI-TR-83-20, Robotics Institute, Carnegie Mellon University, December, 1983
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- Dynamically Stable Legged Locomotion: Second Report to DARPA, October 1,1981 - December 31,1982
Marc Raibert, H. Benjamin Brown, Michael A. Chepponis, Eugene F. Hastings, Sesh Murthy, and Frank C. Wimberly
tech. report CMU-RI-TR-83-01, Robotics Institute, Carnegie Mellon University, January, 1983
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- Dynamically Stable Legged Locomotion
Marc Raibert, H. Benjamin Brown, Michael Chepponis, Eugene Hastings, Steven Shreve, and Frank C. Wimberly
tech. report CMU-RI-TR-81-09, Robotics Institute, Carnegie Mellon University, November, 1981
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- Model Applications by a Consulting Engineering Firm
H. Benjamin Brown and J.R. Verna
Scale Models in Engineering and Design: the Next Ten, American Engineering Model Society, May, 1980.
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