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 1992

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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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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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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

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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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

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How to Decide from the First View Where to Look Next, Jasna Maver and Ruzena Bajcsy

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Statistical Decision Theory for Sensor Fusion, Raymond McKendall

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Non-Monotonic Decision Rules for Sensor Fusion, Raymond McKendall and Max L. Mintz

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Sensor-Fusion with Statistical Decision Theory: A Prospectus of Research in the GRASP Lab, Raymond McKendall and Max L. Mintz

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A Kinematic Model of the Human Spine and Torso, Gary Monheit and Norman I. Badler

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TRACS: The Hardware and Software Architecture of a New Two Robotic Arm Coordination System, Eric Paljug, Xiaoping Yun, and Filip Fuma

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Exact robot navigation in geometrically complicated but topologically simple spaces, Elon Rimon and Daniel E. Koditschek

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Exploration of Surfaces for Robot Mobility, Pramath R. Sinha and Ruzena Bajcsy

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Robotic Exploration of Surfaces to Measure Mechanical Properties, Pramath R. Sinha and Ruzena Bajcsy

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How Does a Robot Know Where to Step? Measuring the Hardness and Roughness of Surfaces, Pramath R. Sinha, Ruzena Bajcsy, and Richard P. Paul

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

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Robot control in a message passing environment: theoretical questions and preliminary experiments, Louis L. Whitcomb and Daniel E. Koditschek

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Control Software of Robot Compliant Wrist System, Yangsheng Xu

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Coordination of Two-Arm Pushing, Xiaoping Yun

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TRACS: An Experimental Multiagent Robotic System, Xiaoping Yun, Eric Paljug, and Ruzena Bajcsy

Papers from 1989

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Control Framework for Hand - Arm Coordination, Sanjay Agrawal

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Active Perception and Exploratory Robotics, Ruzena Bajcsy

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Scene Segmentation in the Framework of Active Perception, Ruzena Bajcsy, Alok Gupta, and Helen Anderson

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Research on Symbolic Inference in Computational Vision, Ruzena Bajcsy, Alok Gupta, and Max Mintz

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Assembly via Disassembly: A Case in Machine Perpetual Development, Ruzena K. Bajcsy and Constantine J. Tsikos

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Machine Systems for Exploration and Manipulation: A Conceptual Framework and Method of Evaluation, Ruzena Bajcsy, Susan Lederman, and Roberta L. Klatzky

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Computational Aspects of Color Constancy, Ruzena Bajcsy, Sang Wook Lee, and Aleš Leonardis

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Image Segmentation with Detection of Highlights and Inter-Reflections Using Color, Ruzena Bajcsy, Sang Wook Lee, and Aleš Leonardis

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A new distributed real-time controller for robotics applications, Martin Buehler, Louis L. Whitcomb, F. Levin, and Daniel E. Koditschek

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Active Vision with Multiresolution Wavelets, Howard Choset, Ruzena Bajcsy, and Helen Anderson

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A New Approach to Laboratory Motor Control: MMCS The Modular Motor Control System, Peter I. Corke

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Fast Image Segmentation, Peter I. Corke and Helen I. Anderson

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Video Rate Visual Servoing for Robots, Peter I. Corke and Richard P. Paul

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A Real-Time Display for Tactile Images, Filip Fuma and John Bradley

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On Girard's "Candidats De Reductibilité", Jean H. Gallier

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Complete Sets of Transformations for General E-Unification, Jean H. Gallier and Wayne Snyder

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Communicating Shared Resources: A Model for Distributed Real-Time Systems, Richard Gerber and Insup Lee

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Part Description and Segmentation Using Contour, Surface and Volumetric Primitives, Alok Gupta

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Quantitative and Qualitative Measures for the Evaluation of the Superquadric Models, Alok Gupta, Luca Bogoni, and Ruzena Bajcsy

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A General Device Driver for Ultrix or Leave the Driver to /dev/bus, Gaylord Holder

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Control of Randomly Sampled Robotic Systems, Hiroaki Kobayashi, Xiaoping Yun, and Richard P. Paul

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Autonomous Mobile Robots Controlled by Navigation Functions, Daniel E. Koditschek

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Exploration of Unknown Mechanical Assemblies through Manipulation, R. Vijay Kumar, Xiaoping Yun, and Ruzena Bajcsy

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The Korean Causative: A TAG Analysis, Young-Suk Lee

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Software Tools for Dynamic and Kinematic Modeling of Human Emotion, Ernest M. Otani

The construction of analytic diffeomorphisms for exact robot navigation on star worlds, Elon Rimon and Daniel E. Koditschek

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Higher Order Unification Revisited: Complete Sets of Transformations, Wayne Snyder and Jean H. Gallier

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

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Image Wavelet Decomposition and Applications, Nicolas Treil, Stephane Mallat, and Ruzena Bajcsy

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Estimation of Textured Surface Inclination by Parallel Local Spectral Analysis, M. R. Turner, Ruzena Bajcsy, and G. L. Gerstein

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Receptive Fields for the Determination of Textured Surface Inclination, M. R. Turner, Marcos Salganicoff, G. L. Gerstein, and Ruzena Bajcsy

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Language Constructs for Distributed Real-Time Consistency, Victor Wolfe, Susan Davidson, and Insup Lee

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A Two-Arm Exploratory System for Identifying Moving and Removable Parts, Xiaoping Yan, Robert King, Insup Lee, and R. Vijay Kumar

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Real Time Inverse Kinematics with Joint Limits and Spatial Constraints, Jianmin Zhao and Norman I. Badler

Papers from 1988

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GRASP Lab Camera Systems and Their Effects on Algorithms, Helen L. Anderson

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Adaptive Image Segmentation, Helen L. Anderson, Ruzena Bajcsy, and Max Mintz

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Task-Oriented Computer Animation of Human Figures, Norman I. Badler

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Slice Display for Human Models Constructed with Spheres, Norman I. Badler, Barry B. Hunter Jr., and Cary Phillips

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Constraint-Based Temporal Planning, Norman I. Badler, S. Kushnier, and Jugal Kalita

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Active Perception, Ruzena Bajcsy

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Second Interim Technical Report for Advanced Research in Range Image Interpretation for Automated Mail Handling, Ruzena K. Bajcsy, Kwangyoen Wohn, Franc Solina, Alok Gupta, Pramath Sinha, and Constantine J. Tsikos

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Evaluation of Registration of PET Images with CT Images, Ruzena Bajcsy, Martin Reivich, and Stane Kovacic

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Segmentation versus object representation - are they separable?, Ruzena Bajcsy, Franc Solina, and Alok Gupta

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Exploratory Procedure for Computer Vision, Ruzena Bajcsy, K. Wong, and S. W. Lee

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Analysis of a simplified hopping robot, Martin Buehler and Daniel E. Koditschek

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A One Degree of Freedom Juggler in a Two Degree of Freedom Environment, Martin Buehler, Daniel E. Koditschek, and P. J. Kindlmann