Lab Papers (GRASP)

 
The General Robotics, Automation, Sensing and Perception (GRASP) Lab is a multidisciplinary research laboratory at the University of Pennsylvania. Founded in 1979, the lab has grown to be one of the premier research labs focusing on fundamental research in robotics, vision, perception, control and automation.

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Papers from 1995

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

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

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

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

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

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

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Sensor Planning With Bayesian Decision Analysis, Steen Kristensen

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

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

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

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

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

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

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

Papers from 1994

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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

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

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

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

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

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

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

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An Approach to Autonomous Robot Assembly, Daniel E. Koditschek

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

Papers from 1993

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

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

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

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

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

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

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Reducibility Strikes Again, I!, Jean H. Gallier

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What's So Special About Kruskal's Theorem and the Ordinal To? A Survey of Some Results in Proof Theory, Jean H. Gallier

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

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

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

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

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

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

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

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

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

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

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

Papers from 1992

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

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

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

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

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

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

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Hierarchical Feedback Controllers for Robotic Assembly, D. E. Koditschek

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

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

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

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

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

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

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

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

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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

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

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

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

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

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

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

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Some Applications of Natural Motor Control, Daniel E. Koditschek

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Papers from 1990

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Real-Time Vision-Based Robot Localization, Sami Atiya and Greg Hager

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Image Understanding at the GRASP Laboratory, Ruzena Bajcsy

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Identification of Address Blocks Through Multiple Illuminations, Multiple Images and Multicolor Images, Ruzena Bajcsy, Helen Anderson, and Sang Wook Lee

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From stable to chaotic juggling: theory, simulation, and experiments, Martin Buehler and Daniel E. Koditschek

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A Family of Robot Control Strategies for Intermittent Dynamical Environments, Martin Buehler, Daniel E. Koditschek, and Peter J. Kindlmann

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Planning and Control of Robotic Juggling Tasks, Martin Buehler, D. E. Koditschek, and P. J. Kindlmann

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A Robotic Haptic System Architecture, Mario Campos and Ruzena Bajcsy

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A Proof of Strong Normalization for the Theory of Constructions Using a Kripke-Like Interpretation, Thierry Coquand and Jean H. Gallier

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

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CCSR: A Calculus for Communicating Shared Resources, Richard Gerber and Insup Lee

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GRASP News, Volume 6, Number 1, Faculty & Graduate Students

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Deciding Not to Decide Using Resource-Bounded Sensing, Greg Hager

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Interval-Based Techniques for Sensor Data Fusion, Greg Hager

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Computational Methods for Task-Directed Sensor Data Fusion and Sensor Planning, Greg Hager and Max L. Mintz

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Robust Multi-Sensor Fusion: A Decision-Theoretic Approach, Gerda Kamberova and Max L. Mintz

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Globally stable closed loops imply autonomous behavior, Daniel E. Koditschek