/Microdynamic Systems Laboratory

Microdynamic Systems Laboratory

Portrait of Microdynamic Systems Laboratory
Lab Head: Ralph Hollis
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Mailing Address

In the Microdynamic Systems Laboratory we are exploring the limits of robotics in terms of speed, precision, dexterity and miniaturization. This endeavor requires development of new sensing, actuation, and control technologies for agile robotic systems that can be applied to a variety of real-world situations. Major themes of our work include moving toward robotics operating at or below the micrometer scale, simplifying robotic mechanisms while providing greater functionality through software, and providing new ways for humans to interact with the world through robotics. Examples include sensor-moderated coarse-fine manipulation, miniature factories for precision assembly, magnetic levitation haptic interfaces that allow humans to interact with remote or simulated environments through the sense of touch, dynamically-stable mobile robots for human environments, and high-speed walking machines.

Displaying 93 Publications
Design, Construction, and Evaluation of a Ballbot Driven with a Spherical Induction Motor
Greg Seyfarth

Tech. Report, CMU-RI-TR-16-44, Robotics Institute, Carnegie Mellon University, August, 2016
Initial Results for a Ballbot Driven with a Spherical Induction Motor
Greg Seyfarth, Ankit Bhatia, Olaf Sassnick, Michael Shomin, Masaaki Kumagai and Ralph Hollis

Conference Paper, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 3771 - 3776, May, 2016
Integrated Planning and Control for Graceful Navigation of Shape-Accelerated Underactuated Balancing Mobile Robots
Umashankar Nagarajan, George A. Kantor and Ralph Hollis

Conference Paper, 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, 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, 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, IEEE Conference on Decision and Control (CDC), pp. 3566-3571, December, 2010
Dynamic Constraint-based Optimal Shape Trajectory Planner for Shape-Accelerated Underactuated Balancing Systems
Umashankar Nagarajan

Conference Paper, Proceedings of 2010 Robotics: Science and Systems, June, 2010
Human-Robot Physical Interaction with Dynamically Stable Mobile Robots
Umashankar Nagarajan, George A. Kantor and Ralph Hollis

Conference Paper, 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, 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, Proceedings of the IEEE International Conference on Robotics & Automation (ICRA 2009), pp. 3743-3748, May, 2009
Psychophysics of Virtual Texture Perception
Bertram Unger

PhD Thesis, Tech. Report, CMU-RI-TR-08-45, Robotics Institute, Carnegie Mellon University, August, 2008
The Role and Implementation of Compliance in Legged Locomotion
Jonathan W. Hurst

PhD Thesis, Tech. Report, CMU-RI-TR-08-48, Robotics Institute, Carnegie Mellon University, August, 2008
Gait Regulation Control Techniques for Robust Legged Locomotion
Galen Clark Haynes

PhD Thesis, Tech. Report, CMU-RI-TR-08-19, Robotics Institute, Carnegie Mellon University, May, 2008
Integrating Planning and Control for Constrained Dynamical Systems
David C. Conner

PhD Thesis, Tech. Report, CMU-RI-TR-08-01, Robotics Institute, Carnegie Mellon University, January, 2008
Context Identification for Efficient Multiple-Model State Estimation
Sarjoun Skaff, Howie Choset and Alfred Rizzi

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), No. 2, pp. 2435-2440, November, 2007
Valet Parking Without a Valet
David C. Conner, Hadas Kress-Gazit, Howie Choset, Alfred Rizzi and George J. Pappas

Conference Paper, Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), pp. 572-577, October, 2007
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
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

Conference Paper, IEEE Conference on Robotics and Automation, April, 2007
Design and Philosophy of the BiMASC, a Highly Dynamic Biped
Jonathan W. Hurst, Joel Chestnutt and Alfred Rizzi

Conference Paper, IEEE Conference on Robotics and Automation, April, 2007
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
Gait Regulation and Feedback on a Robotic Climbing Hexapod
Galen Clark Haynes and Alfred Rizzi

Conference Paper, Proceedings of Robotics: Science and Systems, August, 2006
Integrated Planning and Control for Convex-bodied Nonholonomic Systems Using Local Feedback
David C. Conner, Howie Choset and Alfred Rizzi

Conference Paper, Proceedings of Robotics: Science and Systems II, pp. 57-64, August, 2006
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
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
A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive
Tom Lauwers, George A. Kantor and Ralph Hollis

Conference Paper, Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), pp. 2884 - 2889, May, 2006
Gaits and Gait Transitions for Legged Robots
Galen Clark Haynes and Alfred Rizzi

Conference Paper, Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006
Towards Provable Navigation and Control of Nonholonomically Constrained Convex-BodiedSystems
David C. Conner, Howie Choset and Alfred Rizzi

Conference Paper, Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006
Towards Automated Gait Generation for Dynamic Systems with Non-holonomic Constraints
Elie A. Shammas, Howie Choset and Alfred Rizzi

Conference Paper, In Proceedings of the International Conference on Robotics and Automation (ICRA '06), April, 2006
Solving Models of Controlled Dynamic Planar Rigid-Body Systems with Frictional Contact
Aaron L. Greenfield, Uluc Saranli and Alfred Rizzi

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 24, No. 11, pp. 911 - 931, November, 2005
Uniform Coverage of Automotive Surface Patches
Prasad Atkar, Aaron L. Greenfield, David C. Conner, Howie Choset and Alfred Rizzi

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 24, No. 11, pp. 883 - 898, November, 2005
One is Enough!
Tom Lauwers, George A. Kantor and Ralph Hollis

Conference Paper, Proc. Int'l. Symp. for Robotics Research, October, 2005
Paint Deposition Modeling for Trajectory Planning on Automotive Surfaces
David C. Conner, Aaron L. Greenfield, Prasad Atkar, Alfred Rizzi and Howie Choset

Journal Article, Carnegie Mellon University, IEEE Transactions on Automation Science and Engineering, Vol. 2, No. 4, pp. 381 - 392, October, 2005
A Context-Based State Estimation Technique for Hybrid Systems
Sarjoun Skaff, Alfred Rizzi, Howie Choset and Pei-Chun Lin

Conference Paper, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 3935-3940, April, 2005
Calibrating Courier/Overhead Manipulator Pairs in Minifactory
Robert Schlender

Master's Thesis, Tech. Report, January, 2005
Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot
Uluc Saranli, Alfred Rizzi and Daniel E. Koditschek

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 23, No. 9, pp. 903-918, September, 2004
Physically Variable Compliance in Running
Jonathan W. Hurst and Alfred Rizzi

Conference Paper, CLAWAR, September, 2004
Teleoperation Mediated Through Magnetic Levitation: Recent Results
Bertram Unger, Roberta Klatzky and Ralph Hollis

Conference Paper, Proceedings of Mechatronics and Robotics (MechRob '04), pp. 1453 - 1457, September, 2004
Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod Robot
Uluc Saranli, Alfred Rizzi and Daniel E. Koditschek

Conference Paper, Proceedings of the Sixth International Workshop on the Algorithmic Foundations of Robotics (WAFR '04), pp. 75-90, July, 2004
An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion
Jonathan W. Hurst, Joel Chestnutt and Alfred Rizzi

Conference Paper, Proceedings of the 2004 International Conference on Robotics and Automation, Vol. 5, pp. 4662 - 4667, May, 2004
Design and operation of a force-reflecting magnetic levitation coarse-fine teleoperation system
Bertram Unger and Ralph Hollis

Conference Paper, 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, Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 5, pp. 4498 - 4503, May, 2004
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
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
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
Composition of local potential functions for global robot control and navigation
David C. Conner, Alfred Rizzi and Howie Choset

Conference Paper, Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Vol. 4, pp. 3546- 3551, October, 2003
Inertial navigation and visual line following for a dynamical hexapod robot
Sarjoun Skaff, George A. Kantor, David Maiwand and Alfred Rizzi

Conference Paper, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol. 2, pp. 1808-1813, October, 2003
Towards optimal coverage of 2-dimensional surfaces embedded in IR/sup 3/: choice of start curve
Prasad Atkar, Howie Choset and Alfred Rizzi

Conference Paper, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 4, pp. 3581 - 3587, October, 2003
A Telemanipulation System for Psychophysical Investigation of Haptic Interaction
Bertram Unger, Roberta Klatzky and Ralph Hollis

Conference Paper, Proc. Int'l Conf. on Robotics and Automation (ICRA '03), pp. 1253 - 1259, September, 2003
Template Based Control of Hexapedal Running
Uluc Saranli and D. E. Koditschek

Conference Paper, Proceedings of the IEEE International Conference On Robotics and Automation, September, 2003
Experimental Verification of Deposition Models for Automotive Painting with Electrostatic Rotating Bell Atomizers
David C. Conner, Alfred Rizzi and Howie Choset

Conference Paper, Experimental Robotics VIII (proceedings of ISER '02), pp. 136-145, January, 2003
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
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

Conference Paper, Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002
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
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

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 11, pp. 207 - 213, November, 2001
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, Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), Vol. 3, pp. 1751 - 1756, September, 2001
RHex: A Simple and Highly Mobile Hexapod Robot
Uluc Saranli, Martin Buehler and D. E. Koditschek

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 20, No. 7, pp. 616 - 631, July, 2001
A high-performance network infrastructure and protocols for distributed automation
Shinji Kume and Alfred Rizzi

Conference Paper, Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), Vol. 3, pp. 3121 - 3126, May, 2001
Proprioception Based Behavioral Advances in Hexapod Robot
H. Komsuoglu, D. McMordie, Uluc Saranli, N. Moore, Martin Buehler and D. E. Koditschek

Conference Paper, IEEE Int. Conf. Robotics and Automation (ICRA '01), May, 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
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

Book Section/Chapter, Experimental Robotics VII, pp. 291 - 302, January, 2001
Force-based Interaction for Distributed Precision Assembly
Richard DeLuca, Alfred Rizzi and Ralph Hollis

Conference Paper, Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, January, 2001
A Planar Robot for High-Performance Manipulation
Arthur Quaid

PhD Thesis, Tech. Report, CMU-RI-TR-00-19, Robotics Institute, Carnegie Mellon University, December, 2000
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
Distributed Coverage of Rectilinear Environments
Zack Butler

PhD Thesis, Tech. Report, CMU-RI-TR-00-23, Robotics Institute, Carnegie Mellon University, September, 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, 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, IEEE International Conference on Robotics and Automation 2000, Vol. 2, pp. 1621 - 1626, April, 2000
Robust and Efficient Motion Planning for a Planar Robot Using Hybrid Control
Arthur Quaid and Alfred Rizzi

Conference Paper, IEEE International Conference on Robotics and Automation 2000, Vol. 4, pp. 4021 - 4026, April, 2000
Visually Guided Coordination for Distributed Precision Assembly
Michael Chen, Shinji Kume, Alfred Rizzi and Ralph Hollis

Conference Paper, 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
A Miniature Mobile Parts Feeder: Operating Principles and Simulation Results
Arthur Quaid

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 2221 - 2226, May, 1999
An Integrated Interface Tool for the Architecture for Agile Assembly
Jay Gowdy and Zack Butler

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 4, pp. 3097 - 3102, May, 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
Programming in the Architecture for Agile Assembly
Jay Gowdy and Alfred Rizzi

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 4, pp. 3103 - 3108, May, 1999
Tool-Based Haptic Interaction with Dynamic Physical Simulations using Lorentz Magnetic Levitation
Peter Berkelman

PhD Thesis, Tech. Report, CMU-RI-TR-99-11, Robotics Institute, Carnegie Mellon University, May, 1999
Mechatronic objects for real-time control software development
Patrick Muir and Jeremy Horner

Conference Paper, Proceedings of the 1998 SPIE International Symposium on Intelligent Systems and Advanced Manufacturing: Mechatronics Conference, November, 1998
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
Hybrid Control as a Method for Robot Motion Programming
Alfred Rizzi

Conference Paper, IEEE Int'l. Conf. on Robotics and Automation, Vol. 1, pp. 832 - 837, 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
A Miniature Mobile Parts Feeder: Operating Principles and Simulation Results
Arthur Quaid

Tech. Report, CMU-RI-TR-98-26, Robotics Institute, Carnegie Mellon University, January, 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
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
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
Whither Microbots?
Ralph Hollis

Conference Paper, Proc. 7th Int'l. Symp. on Micromachine and Human Science, October, 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
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
Interactive simulation of solid rigid bodies
David Baraff

Journal Article, IEEE Computer Graphics and Applications, Vol. 15, pp. 63 - 75, 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

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2017-09-13T10:51:38+00:00