## Lab Papers (GRASP)

#### Papers from 1997

Extending Linear System Models to Characterize the Performance Bounds of a Fixating Active Vision System, Ulf M. Cahn von Seelen and Ruzena Bajcsy

Dynamic System Representation of Basic and Non-Linear in Parameters Oscillatory Motion Gestures, Charles J. Cohen, Lynn Conway, Daniel E. Koditschek, and Gerald P. Roston

Two-arm manipulation tasks with friction assisted grasping, Jaydev P. Desai, Milos Zefran, and R. Vijay Kumar

Precision in 3-D Points Reconstructed From Stereo, Gerda Kamberova and Ruzena Bajcsy

The Effect of Radiometric Correction on Multicamera Algorithms, Gerda Kamberova and Ruzena Bajcsy

Motion Planning in Humans and Robots, R. Vijay Kumar, Milos Zefran, and James P. Ostrowski

Preliminary studies of a second generation brachiation robot controller, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek

Dynamic Control of 3-D Rolling Contacts in Two-Arm Manipulation, Nilanjan Sarkar, Xiaoping Yun, and Vijay Kumar

Characterization of Monoped Equilibrium Gaits, William J. Schwind and Daniel E. Koditschek

#### Papers from 1996

Toward A Systems Theory for the Composition of Dynamically Dexterous Robot Behaviors, R. R. Burridge, A. A. Rizzi, and Daniel E. Koditschek

Dynamical system representation, generation, and recognition of basic oscillatory motion gestures, Charles J. Cohen, Lynn Conway, and Daniel E. Koditschek

Toward a Control Oriented Model of Xerographic Marking Engines, L. K. Mestha, Y. R. Wang, S. Dianat, E. Jackson, Tracy Thieret, Pramod P. Khargonekar, and Daniel E. Koditschek

An Active Visual Estimator for Dexterous Manipulation, Alfred A. Rizzi and Daniel E. Koditschek

A simplified model based supercritical power plant controller, Wataro Shinohara and Daniel E. Koditschek

#### Papers from 1995

Assembly as a noncooperative game of its pieces: the case of endogeneous disk assemblies, H. Isil Bozma, Cem Serkan Karagöz, and Daniel E. Koditschek

Toward Obstacle Avoidance in Intermittent Dynamical Environments, Robert R. Burridge, Alfred A. Rizzi, and Daniel E. Koditschek

Toward a Dynamical Pick and Place, Robert R. Burridge, Alfred A. Rizzi, and Daniel E. Koditschek

Kripke Models and the (In)equational Logic of the Second-Order Lambda-Calculus, Jean H. Gallier

Proving Properties of Typed Lambda Terms Using Realizability, Covers, and Sheaves, Jean H. Gallier

Typing untyped λ-terms, or Reducibility strikes again!, Jean H. Gallier

A “Robust” Convergent Visual Servoing System, D. Kim, A. A. Rizzi, G. D. Hager, and Daniel E. Koditschek

The Geometry of a Robot Programming Language, Daniel E. Koditschek

Sensor Planning With Bayesian Decision Analysis, Steen Kristensen

PennEyes: A Binocular Active Vision System, Brian C. Madden and Ulf M. Cahn von Seelen

Feature-Based Localization Using Fixed Ultrasonic Transducers, Robert Mandelbaum and Max L. Mintz

Control of forward velocity for a simplified planar hopping robot, William J. Schwind and Daniel E. Koditschek

Intelligent control of a boiler-turbine plant based on switching control scheme, Wataro Shinohara and Daniel E. Koditschek

Global asymptotic stability of a passive juggler: a parts feeding strategy, P. J. Swanson, Robert R. Burridge, and Daniel E. Koditschek

Global asymptotic stability of a passive juggling strategy: A possible parts-feeding method, P. J. Swanson, Robert R. Burridge, and Daniel E. Koditschek

Design of a Wheelchair with Legs for People with Motor Disabilities, Parris Wellman, Venkat Krovi, Vijay Kumar, and William Harwin

#### Papers from 1994

Cooperative Material Handling by Human and Robotic Agents:Module Development and System Synthesis, Julie A. Adams, Ruzena Bajcsy, Jana Košecká, R. Vijay Kumar, Robert Mandelbaum, Max L. Mintz, Richard P. Paul, C. Wang, Yoshio Yamamoto, and Xiaoping Yun

Planning and Control of Robotic Juggling and Catching Tasks, M. Buehler, Daniel E. Koditschek, and P. J. Kindlmann

View Selection Strategies for Multi-View, Wide-Baseline Stereo, Hany Farid, Sang Wook Lee, and Ruzena Bajcsy

Proving Properties of Typed lambda-Terms Using Realizability, Covers, and Sheaves, Jean Gallier

Typing Untyped Lambda-Terms, or Reducibility Strikes Again!, Jean H. Gallier

Finite Element Approach to Warping of Brain Images, James C. Gee, D. R. Haynor, Martin Reivich, and Ruzena Bajcsy

Active Motion-Based Segmentation of Human Body Outlines, Ioannis A. Kakadiaris, Dimitris Metaxas, and Ruzena Bajcsy

An Approach to Autonomous Robot Assembly, Daniel E. Koditschek

Further progress in robot juggling: solvable mirror laws, Alfred A. Rizzi and Daniel E. Koditschek

#### Papers from 1993

The Soundness and Completeness of ACSR (Algebra of Communicating Shared Resources), Patrice Brémond-Grégoire, Jin-Young Choi, and Insup Lee

VERSA: A Tool for the Specification and Analysis of Resource-Bound Real-Time Systems, Duncan Clarke, Insup Lee, and Hong-liang Xie

Kripke Models for the Second-Order Lambda-Calculus, Jean H. Gallier

On the Correspondence Between Proofs and Lambda-Terms, Jean H. Gallier

Proving Properties of Typed Lambda-Terms Using Realizability, Covers, and Sheaves (Preliminary Version), Jean H. Gallier

Realizability, Covers, and Sheaves II. Applications to the Second-Order Lambda-Calculus, Jean H. Gallier

Reducibility Strikes Again, I!, Jean H. Gallier

What's So Special About Kruskal's Theorem and the Ordinal *T*_{o}? A Survey of Some Results in Proof Theory, Jean H. Gallier

Elastically Deforming a Three-Dimensional Atlas to Match Anatomical Brain Images, James C. Gee, Martin Reivich, and Ruzena Bajcsy

*GRASP News*: Volume 9, Number 1, Faculty & Graduate Students

A Comparison of Regulation and Entrainment in Two Robot Juggling Strategies, Daniel E. Koditschek

Toward Sequential Parameter Estimation Techniques for Robot Self-Calibration, Daniel E. Koditschek

Control of Visually Guided Behaviors, Jana Košecká, Ruzena Bajcsy, and Max L. Mintz

Fast Parallel Deterministic and Randomized Algorithms for Model Checking, Insup Lee and Sanguthevar Rajasekaran

Parallel Algorithms for Relational Coarsest Partition Problems, Sanguthevar Rajasekaran and Insup Lee

A Dynamical Sensor for Robot Juggling, A. A. Rizzi and Daniel E. Koditschek

Further progress in robot juggling: the spatial two-juggle, Alfred A. Rizzi and Daniel E. Koditschek

Toward the control of attention in a dynamically dexterous robot, Alfred A. Rizzi and Daniel E. Koditschek

Comparative Experiments with a New Adaptive Controller for Robot Arms, Louis L. Whitcomb, Daniel E. Koditschek, and Alfred A. Rizzi

#### Papers from 1992

Proving Properties of Real-Time Distributed Systems: A Comparison of Three Approaches, Patrice Brémond-Grégoire, Susan B. Davidson, and Insup Lee

Theorem Proving Using Equational Matings and Rigid E-Unifications, Jean H. Gallier, Paliath Narendran, Stan Raatz, and Wayne Snyder

A Resource-Based Prioritized Bisimulation for Real-Time Systems, Richard Gerber and Insup Lee

*GRASP News*, Volume 8, Number 1, Faculty & Graduate Students

Multivariate Data Fusion Based on Fixed-Geometry Confidence Sets, Gerda Kamberova, Raymond McKendall, and Max L. Mintz

Hierarchical Feedback Controllers for Robotic Assembly, Daniel E. Koditschek

Task Encoding: Toward a Scientific Paradigm for Robot Planning and Control, Daniel E. Koditschek

Multi-Arm Manipulation of Large Objects With Rolling Contacts, Eric D. Paljug

Control of Rolling Contacts in Multi-Arm Manipulation, Eric Paljug, Xiaoping Yun, and R. Vijay Kumar

Exact Robot Navigation Using Artificial Potential Functions, Elon Rimon and Daniel E. Koditschek

Progress in spatial robot juggling, Alfred A. Rizzi and Daniel E. Koditschek

Distributed Real-Time Control of a Spatial Robot Juggler, Alfred A. Rizzi, Louis L. Whitcomb, and Daniel E. Koditschek

Operating Interaction and Teleprogramming for Subsea Manipulation, Craig Sayers, Richard P. Paul, and Max Mintz

Polymorphic Rewriting Conserves Algebraic Confluence, Val Tannen and Jean H. Gallier

Simulation of Mechanical Systems With Multiple Frictional Contacts, Yin-Tien Wang and R. Vijay Kumar

Toward the automatic control of robot assembly tasks via potential functions: the case of 2-D sphere assemblies, Louis Whitcomb, Daniel E. Koditschek, and Joao B. D. Cabrera

#### Papers from 1991

A Hand-Eye-Arm Coordinated System, Sanjay Agrawal, Ruzena Bajcsy, and R. Vijay Kumar

A Multiagent System for Intelligent Material Handling, Ruzena Bajcsy, Richard P. Paul, Xiaoping Yun, and R. Vijay Kumar

Constructive Logics Part I: A Tutorial on Proof Systems and Typed Lambda-Calculi, Jean H. Gallier

Constructive Logics Part II: Linear Logic and Proof Nets, Jean H. Gallier

Unification Procedures in Automated Deduction Methods Based on Matings: A Survey, Jean H. Gallier

*GRASP News*: Volume 7, Number 1, Faculty & Graduate Students

Can Dumb Feedback Produce Intelligent Machines?, Daniel E. Koditschek

Robot Assembly: Another Source of Nonholonomic Control Problems, Daniel E. Koditschek

Some Applications of Natural Motor Control, Daniel E. Koditschek

Stabilizing Feedback Controllers for Robotic Assembly Problems, Daniel E. Koditschek

The Control of Natural Motion in Mechanical Systems, Daniel E. Koditschek

Toward a Science of Robot Planning and Control, Daniel E. Koditschek

Analysis of A Simplified Hopping Robot, Daniel E. Koditschek and Martin Buehler

Communicating Shared Resources: A Paradigm for Integrating Real-Time Specification and Implementation, Insup Lee, Susan B. Davidson, and Richard Gerber

Important Considerations in Force Control With Applications to Multi-Arm Manipulation, Eric Paljug, Thomas G. Sugar, R. Vijay Kumar, and Xiaoping Yun

The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds, Elon Rimon and Daniel E. Koditschek

Preliminary Experiments in Spatial Robot Juggling, A. A. Rizzi and Daniel E. Koditschek

Preliminary Experiments in Robot Juggling: Transputer Based Real-Time Motion Control, Alfred Rizzi, Louis L. Whitcomb, and Daniel E. Koditschek

Analysis and Simulation of Mechanical Systems With Multiple Frictional Contacts, Yin Tien Wang and R. Vijay Kumar

Dynamics of Rigid Bodies Undergoing Multiple Frictional Contacts, Yin-Tien Wang, R. Vijay Kumar, and Jacob Abel

Automatic assembly planning and control via potential functions, Louis L. Whitcomb and Daniel E. Koditschek

Comparative experiments with a new adaptive controller for robot arms, Louis L. Whitcomb, Alfred A. Rizzi, and Daniel E. Koditschek

*RTC*: Language Support for Real-Time Concurrency, Victor Wolfe, Susan B. Davidson, and Insup Lee

Robotics Research at the GRASP Laboratory, Xiaoping Yun and Helen Anderson

Control of Multiple Arm Systems With Rolling Constraints, Xiaoping Yun, R. Vijay Kumar, Nilanjan Sarkar, and Eric Paljug

An Approach to Simultaneous Control of Trajectory and Interaction Forces in Dual-Arm Configurations, Xiaoping Yun and Vijay R. Kumar