Recent Publications

Selected Publications

Referenced Journals

  1. "Event-Based Planning and Control for Robotic Systems". Automatica, Dec. 1996. Co-authored with T. J. Tarn and A. K. Bejczy.
  2. "Intelligent Planning and Control for Multi-Robot Coordination - An Event-Based Approach". IEEE Transactions on Robotics and Automation, June, 1996. Co-authored with T. J. Tarn and A. K. Bejczy.
  3. "Contact Transition Control and Force Regulation" IEEE Control System Magazine, Feb., 1996. Co-authored with Y. Y. Wu, T.J. Tarn and A. Isidori.
  4. "Task-Driven Control of Multi-Arm Systems", IEEE Transactions on Control Systems Technology, Vol. 2, No. 3, Sept. 1994. Co-authored with T. J. Tarn, A. K. Bejczy and A. K. Ramadorai.
  5. "Distributed Control Architecture for a Sensor-Driven Dual Arm System", Mechatronics, Vol. 4, No. 5, 1994. Co-authored with T. J. Tarn, A. K. Bejczy and A. K. Ramadorai.
  6. "Multisensor-Based Robotic Manipulation in an Uncalibrated Manufacturing Workcell", to appear in Journal of Franklin Institute. Co-authored with B.K. Ghosh, Di Xiao and T.J. Tarn.

    Book and Book Chapters

    1. "Sensor-Based Integration of Planning and Control in Robotics and Automation", with Bijoy K. Ghosh and T.J. Tarn, 1997.
    2. "Human/Machine Sharing Control for Telerobotic System", Intelligent Robots and Systems, Elsevier Science, Netherlands, 1995.

    Referenced Conference Proceedings

    1. "Phase Space Planning and Control for Intelligent Robot Arm", Proceedings of 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, Raleigh, NC, USA, July 7-10, 1992. Co-authored with T. J. Tarn and A. K. Bejczy.
    2. "Hybrid Position/Force Control of Redundant Manipulator with Consideration of Motor Dynamics", Proceedings of 13th Annual Allerton Conference on Communication, Control and Computing, Urbana, IL, September 30 - October 2, 1992. Co-authored with T. J. Tarn and A. K. Bejczy.
    3. "Intelligent Motion Planning and Control for Robot Arm", the Proceedings of IFAC 12th World Congress, July 19 - 23, 1993, Sydney, Australia. Co-authored with T. J. Tarn and A. K. Bejczy.
    4. "Intelligent Motion Planning for Safe and Reliable Control of Robot Arm", the Proceedings of NATO Advanced Research Workshop, Kusadasi, Izmir, Turkey, August 24 - 27, 1992. Co-authored with T. J. Tarn and A. K. Bejczy.
    5. "Event-Based Planning and Control for Multi-Arm Coordination", the Proceedings of 1993 IEEE Robotics and Automation Conference, Atlanta, GA, May 2 - 7, 1993. Co-authored with T. J. Tarn and A. K. Bejczy.
    6. "A Versatile Experimental System for Dual-Arm Planning and Control", the Proceedings of 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994. Co-authored T.J. Tarn, A.K. Bejczy and A.K. Ramadorai.
    7. "Temporal and Spatial Sensor Fusion in a Robotic Manufacturing Workcell", Proceedings of the 1994 Hongkong International Workshop on New Directions of Control and Manufacturing, Hotel Victoria, Hongkong Nov. 7-9, 1994, pp. 317-324. Co-authored with Bijoy Ghosh, Zhenyu Yu and T. J. Tarn.
    8. "Intelligent Planning and Control for Robotic Teleoperations" the Proceedings of 1994 IEEE/RSJ International Conference on Intelligent Robots and Systems, Munich, Germany, Sept. 1994. Co-authored with T. J. Tarn, A. K. Bejczy and C. F. Guo.
    9. "Action Planning and Control for Robot Phase Transition: Singular System Approach", the Proceedings of 15th Annual Allerton Conference on Communication, Control and Computing, Urbana, IL, Sept. 1994. Co-authored with T. J. Tarn and Y.Y. Wu.
    10. "Force and Contact Transition Control via Nonlinear Feedback and Event-Based Planning". the Proceedings of 1995 IFAC Symposium on Nonlinear Control System Design, Tahoe Cindy, CA, June, 1995. Co-authored with T. J. Tarn and Y. Y. Wu.
    11. "Nonlinear Control of Dual Arm Manipulation", the Proceedings of 1995 European Control Conference, Rome, Italy, Sept. 1995. Co-authored with T. J. Tarn.
    12. "Fusion of Human and Machine Intelligence for Telerobotic Systems", the Proceedings of 1995 IEEE International Conference on Robotics and Automation. Co-authored with T. J. Tarn, A. K. Bejczy and C. F. Guo.
    13. "Temporal and Spatial Sensor Fusion in Robotic Manufacturing Workcell", the Proceedings of 1995 IEEE International Conference on Robotics and Automation. Co-authored with Z. Y. Yu, B. K. Ghosh and T. J. Tarn.
    14. "Force and Transition Control with Environmental Uncertainties", the Proceedings of 1995 IEEE International Conference on Robotics and Automation. Co-authored with T. J. Tarn and Y. Y. Wu.
    15. "Nonlinear Control of Dual-Arm Pushing and Pulling with Force Regulation", the Proceedings of 1995 IEEE International Conference on Decision and Control. Co-authored with A.K. Ramadorai and T. J. Tarn.
    16. "Function-Based Control Sharing for Robotic Systems", the Proceedings of 1995 IEEE/RSJ International Conference on Intelligent Robotics and Systems. Co-authored with T. J. Tarn, A. K. Bejczy and C. F. Guo.
    17. "Multi-Sensor Band Planning and Control for Robotics, Manufacturing Systems", Proceedings of 1995 IEEE/RSJ International Conference on Intelligent Robotics and Systems. Co-authored with Z. Y. Yu, B. K. Ghosh and T. J. Tarn.
    18. "Visually Controlled Manipulation of Parts in a Manufacturing Workcell Using a Robotic Manipulation", the Proceedings of 1995 IEEE International Conference on Decision and Control, New Orleans, Louisiana, December, 1995. Co-authored with Zhenyu Yu, Bijoy Ghosh and T. J. Tarn.
    19. "Hybrid System Approach for Task Planning and Control of Robotic Manufacturing Workcell", the Proceedings of 1996 IFAC World Congress, San Francisco, June, 1996. Co-authored with T. J. Tarn
    20. "On Robust Impact Control via Positive Acceleration Feedback for Robot Manipulators", in the Proceedings of 1996 IEEE International Conference Robotics and Automation, Minneapolis, Minnesota, April, 1996. Co-authored with Y. Wu, T. J. Tarn and A. Isidori.
    21. "Modular Controller Architecture for Multi-Arm Telerobotic System", the Proceedings of 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April, 1996. K. Brady, R. Anderson and T. J. Tarn.
    22. "Calibration Free Visually Controlled Manipulation of Parts in a Robotics Manufacturing Workcell", the Proceedings of 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April, 1996. Co-authored with zhenyu Yu, Di Xiao, B. Ghosh and T. J. Tarn.
    23. "Calibration-Free Vision Based Control of a Robotic Manipulator", the 34th Annual Allerton Conference on Communication, Control and Computation, Allerton, Illinois, USA, Oct. 1996. Co-authored with B.K. Ghosh, Di Xiao and T.J. Tarn,
    24. "Calibration-Free Visually Guided Robotic Manipulation in a Dynamic Environment", the U.S.-Japan Graduate Student Forum in Robotics, Osaka, Japan, Nov. 1996. Co-authored with Di Xiao, B.K. Ghosh and T.J. Tarn.
    25. "Multisensor Based Intelligent Planning and Control for Robotic Manipulators on a Mobile Platform", the 5th IEEE International Workshop on Robot and Human Communication, Tsukuba, Japan, Nov. 1996. Co-authored with Di Xiao, B.K. Ghosh and T.J. Tarn.
    26. "A Single Camera, Calibration Free Estimation and Tracking Scheme with Multi-Sensor Fusion in a Manufacturing Workcell", 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, Washington D.C., USA, Dec. 1996, pp.679-686. Co-authored with Di Xiao, B.K. Ghosh and T.J. Tarn.
    27. "Planning and Control of Self Calibrated Manipulation for a Robot on a Mobile Platform", the Proceedings of IEEE International Conference on Robotics and Automation, April 1997, Albuquerque, New Mexico, USA. Co-authored with Bijoy Ghosh, D. Xiao and T.J. Tarn.
    28. "Planning and Control of Self Calibrated Manipulation for a Robot on a Mobile Platform", the Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April, 1997. Co-authored with B.K. Ghosh, Di Xiao and T.J. Tarn.
    29. "Modeling and Control of Multiple Segment Robotic Operations in a Perceptive Reference Frame", IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Waseda, Japan, June 1997. Co-authored with T.J.Tarn.
    30. "Planning and Control in Reconfigurable Manufacdturing Workcell", IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Waseda, Japan, June 1997. Co-authored with B.K. Ghosh, Di Xiao and T.J. Tarn.
    31. "3D part Manipulation Aided by Uncalibrated Mono-Camera", 5th IFAC Symposium on Robot Control, Sept. 3-5, Nantes, Frnace. Co-authored with B.K. Ghosh, Di Xiao and T.J. Tarn,
    32. "Integrated Task Scheduling and Action Planning/Control for Robotic Systems Based on a Max-Plus Algebra Model", the Proceedings of 1997 the Proceedings of IEEE/RSJ International Conference on Intelligent Robotics and Systems, Sept.97, Grenoble, France. Co-authored with T. J. Tarn.
    33. "Sensor-Guided Manipulation in a Manufacturing Workcell", the Proceedings of 1997 IEEE/RSJ International Conference on Intelligent Robotics and Systems, Sept.97, Grenoble, France. Co-authored with B.K. Ghosh, Di Xiao and T.J. Tarn.