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Dynamically-Stable Mobile Robots in Human Environments
Head: Ralph Hollis
Contact: Ralph Hollis
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated lab(s) / group(s):
 Microdynamic Systems Laboratory
Project 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

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

  • 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

  • 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

  • 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

  • One is Enough!

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