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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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
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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
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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.
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pdf (932KB) | Copyrighted
One is Enough!
Tom Lauwers, George A. Kantor, and Ralph Hollis
Proc. Int'l. Symp. for Robotics Research, October, 2005.
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pdf (488KB) | Copyrighted
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