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Microdynamic Systems Laboratory
Head: Ralph Hollis
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Location:
EDSH 120
Lab Homepage
Publications
  • 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.
    Details | pdf (890KB) | Copyrighted

  • 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.
    Details | pdf (746KB) | Copyrighted

  • Dynamic Constraint-based Optimal Shape Trajectory Planner for Shape-Accelerated Underactuated Balancing Systems

    Umashankar Nagarajan
    Proceedings of 2010 Robotics: Science and Systems, June, 2010.
    Details | pdf (1MB) | Copyrighted

  • 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.
    Details | pdf (364KB) | Copyrighted

  • Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems

    George A. Kantor and Ralph Hollis
    Proceedings of the 49th IEEE Conference on Decision and Control, December, 2010.
    Details | pdf (364KB) | Copyrighted

  • 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.
    Details | pdf (715KB) | Copyrighted

  • 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.
    Details | pdf (1MB) | Copyrighted

  • 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.
    Details | pdf (406KB) | Copyrighted

  • The Role and Implementation of Compliance in Legged Locomotion

    Jonathan W. Hurst
    doctoral dissertation, tech. report CMU-RI-TR-08-48, Robotics Institute, Carnegie Mellon University, August, 2008
    Details | pdf (17MB) | Copyrighted

  • Psychophysics of Virtual Texture Perception

    Bertram Unger
    doctoral dissertation, tech. report CMU-RI-TR-08-45, Robotics Institute, Carnegie Mellon University, August, 2008
    Details | pdf (11MB) | Copyrighted

  • Gait Regulation Control Techniques for Robust Legged Locomotion

    Galen Clark Haynes
    doctoral dissertation, tech. report CMU-RI-TR-08-19, Robotics Institute, Carnegie Mellon University, May, 2008
    Details | pdf (5MB) | Copyrighted

  • Integrating Planning and Control for Constrained Dynamical Systems

    David C. Conner
    doctoral dissertation, tech. report CMU-RI-TR-08-01, Robotics Institute, Carnegie Mellon University, January, 2008
    Details | pdf (6MB) | Copyrighted

  • Haptic Rendering and Psychophysical Evaluation of a Virtual Three-Dimensional Helical Spring

    Vinithra Varadharajan
    master's thesis, tech. report CMU-RI-TR-07-21, Robotics Institute, Carnegie Mellon University, May, 2007
    Details | pdf (867KB) | Copyrighted

  • 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.
    Details | pdf (387KB) | Copyrighted

  • 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.
    Details | pdf (162KB) | Copyrighted

  • 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.
    Details | pdf (280KB) | Copyrighted

  • 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.
    Details | pdf (187KB) | Copyrighted

  • Automatic Transition of Ballbot from Statically Stable State to Dynamically Stable State

    Anish Mampetta
    master's thesis, tech. report CMU-RI-TR-06-41, Robotics Institute, Carnegie Mellon University, September, 2006
    Details

  • Modeling Dynamics and Exploring Control of a Single-Wheeled Dynamically Stable Mobile Robot with Arms

    Eric Schearer
    master's thesis, tech. report CMU-RI-TR-06-37, Robotics Institute, Carnegie Mellon University, August, 2006
    Details | pdf (2MB) | Copyrighted

  • 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.
    Details | pdf (446KB) | Copyrighted

  • 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
    Details | pdf (2MB) | Copyrighted

  • Gait Regulation and Feedback on a Robotic Climbing Hexapod

    Galen Clark Haynes and Alfred Rizzi
    Proceedings of Robotics: Science and Systems, August, 2006.
    Details | pdf (1MB) | Copyrighted

  • 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.
    Details | pdf (151KB) | Copyrighted

  • 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.
    Details | pdf (460KB) | Copyrighted

  • A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive

    Tom Lauwers, George A. Kantor, and Ralph Hollis
    Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006, pp. 2884 - 2889.
    Details | pdf (932KB) | 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.
    Details | pdf (663KB) | Copyrighted

  • 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.
    Details | pdf (203KB) | 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.
    Details | pdf (1MB) | Copyrighted

  • 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.
    Details | pdf (546KB) | Copyrighted

  • 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.
    Details | pdf (1MB) | Copyrighted

  • One is Enough!

    Tom Lauwers, George A. Kantor, and Ralph Hollis
    Proc. Int'l. Symp. for Robotics Research, October, 2005.
    Details | pdf (488KB) | Copyrighted

  • Calibrating Courier/Overhead Manipulator Pairs in Minifactory

    Robert Schlender
    master's thesis, tech. report , Robotics Institute, Carnegie Mellon University, 2005
    Details | pdf (1MB) | Copyrighted

  • Teleoperation Mediated Through Magnetic Levitation: Recent Results

    Bertram Unger, Roberta Klatzky, and Ralph Hollis
    Proceedings of Mechatronics and Robotics (MechRob '04), September, 2004, pp. 1453 - 1457.
    Details | pdf (478KB) | Copyrighted

  • Physically Variable Compliance in Running

    Jonathan W. Hurst and Alfred Rizzi
    CLAWAR, September, 2004.
    Details | pdf (121KB) | 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.
    Details | pdf (586KB) | 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.
    Details | pdf (296KB) | Copyrighted

  • Free-roaming planar motors: toward autonomous precision planar mobile robots

    Tom Lauwers, Z.K. Edmondson, and Ralph Hollis
    Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), May, 2004, pp. 4498 - 4503.
    Details | pdf (909KB) | Copyrighted

  • Design and operation of a force-reflecting magnetic levitation coarse-fine teleoperation system

    Bertram Unger and Ralph Hollis
    Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), May, 2004, pp. 4147 - 4152.
    Details | pdf (459KB) | 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.
    Details | 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
    Details | pdf (664KB) | Copyrighted

  • Template Based Control of Hexapedal Running

    Uluc Saranli and D. E. Koditschek
    Proceedings of the IEEE International Conference On Robotics and Automation, September, 2003.
    Details | pdf (0 Byte) | Copyrighted

  • A Telemanipulation System for Psychophysical Investigation of Haptic Interaction

    Bertram Unger, Roberta Klatzky, and Ralph Hollis
    Proc. Int'l Conf. on Robotics and Automation (ICRA '03), September, 2003, pp. 1253 - 1259.
    Details | pdf (488KB) | 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
    Details | 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
    Details | pdf (4MB) | 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.
    Details | pdf (563KB) | 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.
    Details | pdf (478KB) | Copyrighted

  • 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.
    Details | pdf (567KB) | Copyrighted

  • 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.
    Details | pdf (354KB) | Copyrighted

  • 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.
    Details | pdf (502KB) | Copyrighted

  • Virtual Peg-In-Hole Performance using a 6-DOF Magnetic Levitation Haptic Device: Comparison with Real Forces and with Visual Guidance Alone

    Bertram Unger, Alex Nicolaidis, Peter Berkelman, A. Thompson, S. Lederman, Roberta Klatzky, and Ralph Hollis
    Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2002), March, 2002
    Details | pdf (408KB) | 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
    Details | pdf (2MB) | Copyrighted

  • Comparison of 3D Haptic Peg-In-Hole Tasks in Real and Virtual Environments

    Bertram Unger, Alex Nicolaidis, Peter Berkelman, A. Thompson, Roberta Klatzky, and Ralph Hollis
    Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), September, 2001, pp. 1751 - 1756.
    Details | pdf (383KB) | Copyrighted

  • RHex: A Simple and Highly Mobile Hexapod Robot

    Uluc Saranli, Martin Buehler, and D. E. Koditschek
    International Journal of Robotics Research, Vol. 20, No. 7, July, 2001, pp. 616 - 631.
    Details | pdf (263KB) | Copyrighted

  • Proprioception Based Behavioral Advances in Hexapod Robot

    H. Komsuoglu, D. McMordie, Uluc Saranli, N. Moore, Martin Buehler, and D. E. Koditschek
    IEEE Int. Conf. Robotics and Automation (ICRA '01), May, 2001.
    Details | pdf (448KB) | 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.
    Details | pdf (516KB) | 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.
    Details | pdf (374KB) | Copyrighted

  • 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.
    Details | pdf (442KB) | Copyrighted

  • Distributed Coordination in Modular Precision Assembly Systems

    Alfred Rizzi, Jay Gowdy, and Ralph Hollis
    , Vol. 20, No. 10, October, 2001, pp. 819 - 838.
    Details | pdf (773KB) | Copyrighted

  • 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.
    Details | pdf (347KB) | 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.
    Details | pdf (542KB) | Copyrighted

  • Distributed Coverage of Rectilinear Environments

    Zack Butler
    doctoral dissertation, tech. report CMU-RI-TR-00-23, Robotics Institute, Carnegie Mellon University, September, 2000
    Details | pdf (1MB) | Copyrighted

  • Lorentz Magnetic Levitation for Haptic Interaction: Device Design, Performance, and Integration with Physical Simulations

    Peter Berkelman and Ralph Hollis
    The International Journal of Robotics Research, Vol. 19, No. 7, July, 2000, pp. 644 - 667.
    Details | pdf (3MB) | 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.
    Details | pdf (425KB) | 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.
    Details | pdf (246KB) | 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.
    Details | pdf (465KB) | 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.
    Details | pdf (261KB) | Copyrighted

  • Force-Based Interaction for Distributed Precision Assembly

    Richard DeLuca
    master's thesis, tech. report CMU-RI-TR-00-29, Robotics Institute, Carnegie Mellon University, December, 2000
    Details | pdf (669KB) | Copyrighted

  • A Planar Robot for High-Performance Manipulation

    Arthur Quaid
    doctoral dissertation, tech. report CMU-RI-TR-00-19, Robotics Institute, Carnegie Mellon University, December, 2000
    Details | pdf (4MB) | 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.
    Details | pdf (202KB) | Copyrighted

  • Tool-Based Haptic Interaction with Dynamic Physical Simulations using Lorentz Magnetic Levitation

    Peter Berkelman
    doctoral dissertation, tech. report CMU-RI-TR-99-11, Robotics Institute, Carnegie Mellon University, May, 1999
    Details | pdf (4MB) | 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.
    Details | pdf (188KB) | Copyrighted

  • Interaction with a Realtime Dynamic Environment Simulation using a Magnetic Levitation Haptic Interface Device

    Peter Berkelman, Ralph Hollis, and David Baraff
    IEEE International Conference on Robotics and Automation, May, 1999, pp. 3261 - 3266.
    Details | pdf (480KB) | 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.
    Details | pdf (375KB) | Copyrighted

  • An Integrated Interface Tool for the Architecture for Agile Assembly

    Jay Gowdy and Zack Butler
    IEEE International Conference on Robotics and Automation, May, 1999, pp. 3097 - 3102.
    Details | pdf (316KB) | Copyrighted

  • A Miniature Mobile Parts Feeder: Operating Principles and Simulation Results

    Arthur Quaid
    IEEE International Conference on Robotics and Automation, May, 1999, pp. 2221 - 2226.
    Details | pdf (328KB) | 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.
    Details | pdf (285KB) | 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.
    Details | pdf (155KB) | Copyrighted

  • Mechatronic objects for real-time control software development

    Patrick Muir and Jeremy Horner
    Proceedings of the 1998 SPIE International Symposium on Intelligent Systems and Advanced Manufacturing: Mechatronics Conference, November, 1998.
    Details | pdf (496KB) | Copyrighted

  • CC R: A Complete Algorithm for Contact-Sensor Based Coverage of Rectilinear Environments

    Zack Butler
    tech. report CMU-RI-TR-98-27, Robotics Institute, Carnegie Mellon University, October, 1998
    Details | pdf (165KB) | Copyrighted

  • A Miniature Mobile Parts Feeder: Operating Principles and Simulation Results

    Arthur Quaid
    tech. report CMU-RI-TR-98-26, Robotics Institute, Carnegie Mellon University, 1998
    Details | pdf (440KB) | Copyrighted

  • Dynamic performance of a hemispherical magnetic levitation haptic interface device

    Peter Berkelman and Ralph Hollis
    SPIE Int'l Symposium on Intelligent Systems and Intelligent Manufacturing, September, 1997.
    Details | pdf (519KB) | 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.
    Details | pdf (235KB) | 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.
    Details | pdf (236KB) | Copyrighted

  • What you can see is what you can feel. - Development of a visual/haptic interface to virtual environment

    Y. Yokokohji, Ralph Hollis, and Takeo Kanade
    Proceedings of the IEEE Virtual Reality Annual International Symposium 1996 (VRAIS '96), April, 1996, pp. 46-53.
    Details | pdf (249KB) | Copyrighted

  • Design of a Hemispherical Magnetic Levitation Haptic Interface Device

    Peter Berkelman, Zack Butler, and Ralph Hollis
    Proceedings of the ASME IMECE Haptic Symposium, November, 1996, pp. 483 - 488.
    Details | pdf (272KB) | Copyrighted

  • Whither Microbots?

    Ralph Hollis
    Proc. 7th Int'l. Symp. on Micromachine and Human Science, October, 1996.
    Details | pdf (517KB) | Copyrighted

  • Magnetic and Optical-Fluorescence Position Sensing for Planar Linear Motors

    A. E. Brennemann and Ralph Hollis
    International Conference on Intelligent Robots and Systems, IROS '95, August, 1995.
    Details | pdf (326KB) | Copyrighted

  • An Architecture for Agile Assembly

    Ralph Hollis and Arthur Quaid
    American Society of Precision Engineering 10th Annual Mtg, October, 1995.
    Details | pdf (384KB) | Copyrighted

  • Interactive simulation of solid rigid bodies

    David Baraff
    IEEE Computer Graphics and Applications, Vol. 15, 1995, pp. 63 - 75.
    Details

  • Accurate Alignment of Laminate Materials using Sensor-Based Robot Techniques

    A. E. Brennemann, R. Hammer, Ralph Hollis, and W. V. Jecusco
    IEEE Int'l Conf. on Robotics and Automation, May, 1994, pp. 2273-2278.
    Details | pdf (453KB) | Copyrighted

  • Lorentz Levitation Technology: a New Approach to Fine Motion Robotics, Teleoperation, Haptic Interfaces, and Vibration Isolation

    Ralph Hollis and S. E. Salcudean
    Int'l Symposium for Robotics Research, October, 1993.
    Details | pdf (489KB) | Copyrighted