Book Chapters and Journal Articles
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Automatica, Submitted
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Switching Mode Generation and Optimal Estimation with Application to Skid-Steering (with
T. Caldwell) |
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IEEE Transactions on Automatic Control, Submitted
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Second-Order Switching Time Optimization For
Non-Linear Time-Varying Dynamic Systems (with E. Johnson) |
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IEEE Transactions on Robotics, Submitted
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Constructing and
implementing motion programs for robotic marionettes (with E. Johnson,
M. Egerstedt) |
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IEEE Transactions on Robotics, Accepted | Scalable variational integrators for
constrained mechanical systems in generalized coordinates (with
E. Johnson) An expanded version that includes software details is here |
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Book Chapter: Algorithmic Foundations of Robotics VII, 2009
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A Variational Approach to Strand-Based Modeling of the
Human Hand (with E. Johnson and K. Morris)
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IEEE Transactions on Robotics, 2008
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Convergence preserving switching for
topology-dependent decentralized systems (with B. Shucker and J. Bennett) |
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Automatica, 2008
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On multiple model control for multiple contact systems |
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International Journal of Robotics Research, 2008
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Case studies in planar part feeding and assembly
based on design of limit sets (with Kevin Lynch) |
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Book Chapter: Algorithmic Foundations of Robotics VI, 2008
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Mechanical Manipulation
Using Reduced Models of Uncertainty
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IEEE Transactions on Education, 2008
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Teaching rigid body mechanics using student-created virtual
environments
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Book Chapter: Hybrid Systems: Computation and Control, 2007
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Motion Programs for Puppet Choreography and Control (with
J. Ludwig and M. Egerstedt) |
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Robotica, 2007
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Kinematic reductions for uncertain mechanical contact |
| IEEE Transaction on Robotics, 2006
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The Power Dissipation Method
and Kinematic Reducibility of Multiple Model
Robotic Systems (PDF) (with Joel Burdick) |
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Book Chapter: Springer Tracts in Advanced Robotics, 2005
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On Observing Contact States in Overconstrained Systems |
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Book Chapter: Algorithmic Foundations of Robotics V, 2004
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Feedback Control for Distributed Manipulation (with Joel
Burdick)
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| International Journal of Robotics Research, 2004 |
Feedback Control Methods for Distributed Manipulation Systems
that involve Mechanical Contacts (with Joel Burdick) |
| Book Chapter: Control Problems in Robotics, 2002 |
Control of Nonprehensile Manipulation (with Kevin Lynch) |
Conference Papers
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| CDC 2009 | Multiple instantaneous collisions in a variational
framework (with V. Seghete) |
| CDC 2009 | Second order switching time
optimization for time-varying nonlinear systems (with E. Johnson) |
| CASE 2009 | Automated trajectory morphing for
marionettes using trajectory optimization (with E. Johnson) |
| CASE 2009 | Second-order optimal estimation of
slip state for a simple slip-steered vehicle (with
T. Caldwell) |
| ACC 2009 | Dangers of two-point holonomic
constraints for variational integrators (with E. Johnson) |
| CASE 2008 | Variational integrators for
constrained cables (with K. Nichols) |
| ACC 2008 | Filtering of interaction rules in
cooperation |
| ACC 2008 | Data association with ambiguous
measurements (with M. Travers and L. Pao) |
| ICRA 2008 | Discrete and continuous mechanics for
tree representations of mechanical systems (with
E. Johnson) |
| ICRA 2008 | Adaptive cooperative manipulation
with intermittent contact (with M. Horowitz) |
| IROS 2007 | Choreography for marionettes:
Imitation, planning, and control (workshop paper) |
| CASE 2007 | Geometric derived information spaces
in manipulation with mechanical contact |
| ICRA 2007 | Dynamic
modeling and motion planning for marionettes: Rigid bodies
articulated by massless strings (with E. Johnson) |
| ACC 2007 | Teaching rigid body mechanics using
student-created virtual environments |
| ACC 2007 | Switching rules for decentralized control
with simple control laws (with Brian Shucker and John Bennett) |
| IFAC ACE 2006 | Programming from the ground up in
controls laboratories using graphical programming (with
J. Falcon) |
| ICRA 2006 | Motion planning for kinematically
overconstrained vehicles using feedback primitives. |
| ICRA 2006 | Cooperative control using occasional non-local
interactions (with Brian Shucker and John Bennett) |
| ACC 2006 | Modeling and control of multiple-contact
manipulation without modeling friction |
| ACC 2006 |
An approach to switching control beyond nearest neighbor
rules (with Brian Shucker and John Bennett) |
| IROS 2005 |
An Example of Parts Handling
and Self-Assembly Using Limit Sets |
| ACC 2005 |
Application of Supervisory
Control Methods to Uncertain Multiple Model Systems |
| ICMENS 2004 |
Experiments
in the Use of Stable Limit Sets for Parts Handling (with
David Choi, Jay
Bernheisel, and Kevin Lynch) |
| CDC 2003 | Kinematic Reducibility for Multiple
Model Systems (with Joel Burdick) |
| ICRA 2003 | Smooth Feedback for Distributed
Manipulation (with Joel Budick) |
| ICRA 2003 | Experiments in Nonsmooth Control of
Distributed Manipulation (with Joel Burdick, James Burgess, and
Andrew Homyk) |
| CDC 2002 |
Nonsmooth controllability and an
example (with Joel Burdick) |
| ACC 2002 |
A local controllability
test for nonlinear multiple model systems (with Joel Burdick)
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| ICRA 2002 |
Global Exponential
Stabilizability for Distributed Manipulation Systems (with
Joel Burdick) |
| IROS 2001 |
Global Stability for Distributed Systems with Changing
Contact States. (with Joel Burdick) |
| ICRA 2001 |
A Controllability Test and Motion Primitives for
Overconstrained Vehicles. (with Joel Burdick) |
| ICRA 2001 |
On the Stability and Design of Distributed Manipulation
Control Systems. (with Joel Burdick) |
| MTNS 2000 |
Issues in Controllability and Motion Planning for
Overconstrained Wheeled Vehicles. (with Joel Burdick) |
Thesis
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| Caltech Ph.D. Thesis |
Control of Multiple Model
Systems (PDF) |
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