Home/Ralph Hollis

Ralph Hollis

Research Professor
Email: rhollis@andrew.cmu.edu
Office: EDSH 121
Phone: (412) 268-8264

My current research effort focuses on three main areas, all involving the creation of innovative new hardware, software, and systems. The first area concerns distributed agent-based cooperative high-precision manipulation. The principal application is agile assembly of small high-precision electromechanical products such as computer storage devices, medical devices, communication devices, and other high-density mechatronic equipment. The goal is to revolutionize the assembly of these kinds of products by drastically reducing the time it takes to design, program, and deploy automated assembly systems, while increasing their precision by several orders of magnitude and reducing their physical size. The second area concerns human-computer interaction, especially through haptic interaction with computed or remote environments. Here a goal is to enable truly transparent and high-fidelity interaction with eventual application to medicine, computer-augmented design, and telemanipulation, including scaled manipulation of microscopic and nanoscopic objects. The third area concerns intelligent mobile robots which are dynamically stable, including both rolling and walking machines. If such robots are to operate successfully in peopled environments, they must be agile and responsive to physical interaction with humans and their surroundings.

In my experience, it is often very effective to synthesize novel robotic technology directly from physical principles, applying good engineering judgment rather than trying to build systems around collections of existing components. For this approach, a broad background including knowledge of physics, electrical and mechanical engineering, computer programming, and design is helpful. It is also extremely valuable to apply newly developed robot technology to real-world problems. Only in this way can one gain insight into the requirements for the technology.

Publications

Displaying 55 Publications
Electromagnetic Tracker for Active Handheld Robotic Systems
Robert A. MacLachlan, Nicholas Parody, Shohin Mukherjee, Ralph Hollis and Cameron Riviere

Conference Paper, IEEE Sensors 2016, October, 2016
Psychophysical Evaluation of Haptic Perception Under Augmentation by a Handheld Device
Bing Wu, Roberta Klatzky, Randy Lee, Vikas Revanna Shivaprabhu, John Galeotti, Mel Siegel, Joel Schuman, Ralph Hollis and George D. Stetten

Journal Article, Carnegie Mellon University, Human Factors: The Journal of the Human Factors and Ergonomics Society, September, 2014
Integrated Planning and Control for Graceful Navigation of Shape-Accelerated Underactuated Balancing Mobile Robots
Umashankar Nagarajan, George A. Kantor and Ralph Hollis

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 136-141, May, 2012
Planning in High-dimensional Shape Space for a Single-wheeled Balancing Mobile Robot with Arms
Umashankar Nagarajan, Byungjun Kim and Ralph Hollis

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 130-135, May, 2012
Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems
George A. Kantor and Ralph Hollis

Conference Paper, Carnegie Mellon University, Proceedings of the 49th IEEE Conference on Decision and Control, December, 2010
Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems
Umashankar Nagarajan, George A. Kantor and Ralph Hollis

Conference Paper, Carnegie Mellon University, IEEE Conference on Decision and Control (CDC), pp. 3566-3571, December, 2010
Human-Robot Physical Interaction with Dynamically Stable Mobile Robots
Umashankar Nagarajan, George A. Kantor and Ralph Hollis

Conference Paper, Carnegie Mellon University, Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2009), pp. 281-282, May, 2009
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

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics & Automation (ICRA 2009), pp. 998 - 1003, May, 2009
Trajectory Planning and Control of a Dynamically Stable Single Spherical Wheeled Mobile Robot
Umashankar Nagarajan, George A. Kantor and Ralph Hollis

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics & Automation (ICRA 2009), pp. 3743-3748, May, 2009
A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive
Tom Lauwers, George A. Kantor and Ralph Hollis

Conference Paper, Carnegie Mellon University, Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), pp. 2884 - 2889, May, 2006
One is Enough!
Tom Lauwers, George A. Kantor and Ralph Hollis

Conference Paper, Carnegie Mellon University, Proc. Int'l. Symp. for Robotics Research, October, 2005
Teleoperation Mediated Through Magnetic Levitation: Recent Results
Bertram Unger, Roberta Klatzky and Ralph Hollis

Conference Paper, Carnegie Mellon University, Proceedings of Mechatronics and Robotics (MechRob '04), pp. 1453 - 1457, September, 2004
Design and operation of a force-reflecting magnetic levitation coarse-fine teleoperation system
Bertram Unger and Ralph Hollis

Conference Paper, Carnegie Mellon University, Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 4, pp. 4147 - 4152, May, 2004
Free-roaming planar motors: toward autonomous precision planar mobile robots
Tom Lauwers, Z.K. Edmondson and Ralph Hollis

Conference Paper, Carnegie Mellon University, Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 5, pp. 4498 - 4503, May, 2004
A Telemanipulation System for Psychophysical Investigation of Haptic Interaction
Bertram Unger, Roberta Klatzky and Ralph Hollis

Conference Paper, Carnegie Mellon University, Proc. Int'l Conf. on Robotics and Automation (ICRA '03), pp. 1253 - 1259, September, 2003
Progress Towards a Clinically Useful Sonic Flashlight
George D. Stetten, Damion Michael Shelton, Wilson Chang, Robert Joseph Tamburo, V. Chib, Constantine Aaron Cois, Ralph Hollis, Alfred Rizzi, L. Lobes and D. Schwartzman

Conference Paper, Carnegie Mellon University, Biomedical Imaging Research Opportunities Workshop, January, 2003
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

Miscellaneous, Carnegie Mellon University, Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2002), pp. 263 - 270, March, 2002
Distributed Coordination in Modular Precision Assembly Systems
Alfred Rizzi, Jay Gowdy and Ralph Hollis

Journal Article, Carnegie Mellon University, Vol. 20, No. 10, pp. 819 - 838, October, 2001
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

Conference Paper, Carnegie Mellon University, Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), Vol. 3, pp. 1751 - 1756, September, 2001
A precision manipulator module for assembly in a minifactory environment
H. Benjamin Brown, Patrick Muir, Alfred Rizzi, M.C. Sensi and Ralph Hollis

Conference Paper, Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), Vol. 2, pp. 1030 - 1035, January, 2001
Distributed Coverage of Rectilinear Environments
Zack Butler, Alfred Rizzi and Ralph Hollis

Conference Paper, Carnegie Mellon University, Proc. of the Workshop on the Algorithmic Foundations of Robotics, January, 2001
Force-based Interaction for Distributed Precision Assembly
Richard DeLuca, Alfred Rizzi and Ralph Hollis

Conference Paper, Carnegie Mellon University, Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, January, 2001
Simulation and Experimental Evaluation of Complete Sensor-based Coverage in Rectilinear Environments
Zack Butler, Alfred Rizzi and Ralph Hollis

Conference Paper, Carnegie Mellon University, Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000
Lorentz Magnetic Levitation for Haptic Interaction: Device Design, Performance, and Integration with Physical Simulations
Peter Berkelman and Ralph Hollis

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 19, No. 7, pp. 644 - 667, July, 2000
Cooperative Coverage of Rectilinear Environments
Zack Butler, Alfred Rizzi and Ralph Hollis

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation 2000, Vol. 3, pp. 2722 - 2727, April, 2000
Optical Coordination Sensor for Precision Cooperating Robots
Wing-Choi Ma, Alfred Rizzi and Ralph Hollis

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation 2000, Vol. 2, pp. 1621 - 1626, April, 2000
Visually Guided Coordination for Distributed Precision Assembly
Michael Chen, Shinji Kume, Alfred Rizzi and Ralph Hollis

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation 2000, Vol. 2, pp. 1651 - 1656, April, 2000
Contact Sensor-based Coverage of Rectilinear Environments
Zack Butler, Alfred Rizzi and Ralph Hollis

Conference Paper, IEEE Int'l Symposium on Intelligent Control, pp. 266 - 271, September, 1999
Fluorescent Dye Based Optical Position Sensing for Planar Linear Motors
Gregory Fries, Alfred Rizzi and Ralph Hollis

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1614 - 1619, May, 1999
Interaction with a Realtime Dynamic Environment Simulation using a Magnetic Levitation Haptic Interface Device
Peter Berkelman, Ralph Hollis and David Baraff

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 3261 - 3266, May, 1999
Miniature Factories for Precision Assembly
Ralph Hollis and Jay Gowdy

Conference Paper, International Workshop on Microfactories, December, 1998
Miniature Factories: Tabletop Assembly Systems for Mechatronic Products
Ralph Hollis and Jay Gowdy

Conference Paper, IARP Micro Robots and Systems Conference, October, 1998
3-DOF Closed-Loop Control for Planar Linear Motors
Arthur Quaid and Ralph Hollis

Conference Paper, IEEE Int'l. Conf. on Robotics and Automation, pp. 2488 - 2493, May, 1998
Integrated Precision 3-DOF Position Sensor for Planar Linear Motors
Zack Butler, Alfred Rizzi and Ralph Hollis

Conference Paper, Proc. of IEEE Int'l. Conf. on Robotics and Automation, Vol. 4, pp. 3109-3114, May, 1998
Opportunities for Increased Intelligence and Autonomy in Robotic Systems for Manufacturing
Alfred Rizzi and Ralph Hollis

Conference Paper, Robotics Research, the Eighth International Symposium of Robotics Research, pp. 141 - 151, October, 1997
Dynamic performance of a hemispherical magnetic levitation haptic interface device
Peter Berkelman and Ralph Hollis

Conference Paper, SPIE Int'l Symposium on Intelligent Systems and Intelligent Manufacturing, Vol. 3602, September, 1997
Magnetic levitation haptic interfaces will impact training and design
Peter Berkelman and Ralph Hollis

Miscellaneous, SPIE OE Reports, No. 165, September, 1997
Agile Assembly Architecture: An Agent-Based Approach to Modular Precision Assembly Systems
Alfred Rizzi, Jay Gowdy and Ralph Hollis

Conference Paper, IEEE Int'l. Conf. on Robotics and Automation, Vol. 2, pp. 1511 - 1516, April, 1997
Force Characterization and Commutation of Planar Linear Motors
Arthur Quaid, Yangsheng Xu and Ralph Hollis

Conference Paper, IEEE International Conference on Robotics and Automation, April, 1997
Modular Precision Assembly Systems
Ralph Hollis

Journal Article, SPIE Newsletter, April, 1997
A Visual/Haptic Interface to Virtual Environment: WYSIWYF Display
Yasuyoshi Yokokohji, Ralph Hollis and Takeo Kanade

Journal Article, The Virtual Reality Society of Japan, Vol. 2, No. 4, pp. 17-26, January, 1997
Dynamic Performance of a Magnetic Levitation Haptic Device
Peter Berkelman and Ralph Hollis

Conference Paper, Proceedings of SPIE Telemanipulation & Telepresence, January, 1997
Design of a Hemispherical Magnetic Levitation Haptic Interface Device
Peter Berkelman, Zack Butler and Ralph Hollis

Conference Paper, Proceedings of the ASME IMECE Haptic Symposium, Vol. 58, pp. 483 - 488, November, 1996
Toward Machine Mediated Training of Motor Skills -Skill Transfer from Human to Human via Virtual Environment-
Yasuyoshi Yokokohji, Ralph Hollis, Takeo Kanade, Kazuyuki Henmi and Tsuneo Yoshikawa

Conference Paper, 5th IEEE International Workshop on Robot and Human Communication, pp. 32-37, November, 1996
Vision-based Visual/Haptic Registration for WYSIWYF Display
Y. Yokokohji, Ralph Hollis and Takeo Kanade

Conference Paper, International Conference on Intelligent Robots and Systems, IROS '96, Vol. 3, pp. 1386 - 1393, November, 1996
Whither Microbots?
Ralph Hollis

Conference Paper, Proc. 7th Int'l. Symp. on Micromachine and Human Science, October, 1996
Cooperative 2-DOF Robots for Precision Assembly
Arthur Quaid and Ralph Hollis

Conference Paper, IEEE International Conference on Robotics and Automation, April, 1996
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

Conference Paper, Proceedings of the IEEE Virtual Reality Annual International Symposium 1996 (VRAIS '96), pp. 46-53, April, 1996
Design and Control of a Force-Reflecting Teleoperation System with Magnetically Levitated Master and Wrist
S. E. Salcudean, N. M. Wong and Ralph Hollis

Journal Article, IEEE Transactions on Robotics and Automation, Vol. 11, No. 6, pp. 844-858, December, 1995
Sensor-based Registration and Stacking of Electronic Substrate Layers
A. E. Brennemann, R. Hammer, W. V. Jecusco II and Ralph Hollis

Journal Article, IEEE Robotics and Automation, Vol. 2, No. 4, pp. 30-35, December, 1995
An Architecture for Agile Assembly
Ralph Hollis and Arthur Quaid

Conference Paper, American Society of Precision Engineering 10th Annual Mtg, October, 1995
Magnetic and Optical-Fluorescence Position Sensing for Planar Linear Motors
A. E. Brennemann and Ralph Hollis

Conference Paper, International Conference on Intelligent Robots and Systems, IROS '95, August, 1995
Interacting with Virtual Environments using a Magnetic Levitation Haptic Interface
Peter Berkelman, Ralph Hollis and S. E. Salcudean

Conference Paper, Proceedings of IROS, January, 1995
Accurate Alignment of Laminate Materials using Sensor-Based Robot Techniques
A. E. Brennemann, R. Hammer, Ralph Hollis and W. V. Jecusco

Conference Paper, IEEE Int'l Conf. on Robotics and Automation, Vol. 3, pp. 2273-2278, May, 1994
Lorentz Levitation Technology: a New Approach to Fine Motion Robotics, Teleoperation, Haptic Interfaces, and Vibration Isolation
Ralph Hollis and S. E. Salcudean

Conference Paper, Int'l Symposium for Robotics Research, October, 1993
Mailing Address:

Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

2017-11-10T14:49:08+00:00