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 1990

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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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Transputers at Work: Real-Time Distributed Robot Control, Louis L. Whitcomb and Daniel E. Koditschek

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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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A Distributed Message Passing Computational and I/O Engine for Real-Time Motion Control, M. Buehler, L. L. Whitcomb, F. Levin, and Daniel E. Koditschek

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The Cyclops Vision System, Martin Buhler, N. Vlamis, Camillo J. Taylor, and A. Ganz

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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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Natural Control in Manufacturing, Daniel E. Koditschek

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Robot Planning and Control Via Potential Functions, Daniel E. Koditschek

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The Application of Total Energy as a Lyapunov Function for Mechanical Control Systems, 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

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Preliminary Clinical Evaluation of Elastic Matching System, Robert Dann, John Hoford, Stane Kovacic, Martin Reivich, and Ruzena Bajcsy

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Partial Computation in Real-Time Database Systems: A Research Plan, Susan B. Davidson and Insup Lee

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An Investigation of Language Input and Performance Timing for Task Animation, Jeffrey Esakov and Norman I. Badler

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Specifying Theorem Provers in a Higher-Order Logic Programming Language, Amy Felty and Dale Miller

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A Procedure for Characterizing Tactile Sensors, Filip Fuma and John Bradley

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A Computational Analysis of Line-Oriented Screw Transformations in Robotics, Janez Funda

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Order-Sorted Congruence Closure, Jean H. Gallier and Tomas Isakowitz

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Rigid E-Unification: NP-Completeness and Applications to Equational Matings, Jean H. Gallier, Paliath Narendran, David Plaisted, and Wayne Snyder

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Coherence and Consistency in Domains (Extended Outline), Carl A. Gunter and Achim Jung

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Range Image Segmentation for 3-D Object Recognition, Alok Gupta

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The Systolic/Cellular System Assembler: User's Guide, Miriam A. Hartholz

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Cube Analyzer - A Medical Image Analysis Program, John Hoford, Howie Choset, Stane Kovacic, James Gee, and Ruzena Bajcsy

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Estimation of 3-D Motion and Structure Based on a Temporally-Oriented Approach With the Method of Regression, Siu-Leong Iu and Kwangyoen Wohn

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SEAFACT: Semantic Analysis for Animation of Cooking Tasks, Robin F. Karlin

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Application of a new Lyapunov function to global adaptive attitude tracking, Daniel E. Koditschek

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Strict Global Lyapunov Functions for 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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Distributed Control System for a Juggling Robot, Daniel E. Koditschek and Martin Buehler

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Force Distribution in Closed Kinematic Chains, Vijay R. Kumar and Kenneth J. Waldron

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Formally Integrating Real-Time Specification: A Research Proposal, Insup Lee, Susan B. Davidson, and Richard Gerber

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A New Computer Board for Distributed Real-Time Motion Control, Forrest Levin, Martin Buehler, Louis Whitcomb, and Daniel E. Koditschek

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Dyadic Wavelets Energy Zero-Crossings, Stephane G. Mallat

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Generalized Image Translation and Realignment: The GITR Process, Scott H. Novack

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Jack: A Toolkit for Manipulating Articulated Figures, Cary B. Phillips and Norman I. Badler

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Grouping Straight Line Segments in Real Images, Hervé Poilvé

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Exact robot navigation using cost functions: the case of distinct spherical boundaries in En, Elon Rimon and Daniel E. Koditschek

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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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An Adaptive Tracking Algorithm for Robotics and Computer Vision Application, Reem Bassam Safadi

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Synthesizing Minimum Total Expansion Topologies for Reconfigurable Interconnection Networks, David Smitley and Insup Lee

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Comparative Analysis of Hill Climbing Mapping Algorithms, David L. Smitley and Insup Lee

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Redundant Multi-Modal Integration of Machine Vision and Programmable Mechanical Manipulation for Scene Segmentation, Constantine J. Tsikos and Ruzena Bajcsy

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Learning Algorithms for Connectionist Networks: Applied Gradient Methods of Nonlinear Optimization, Raymond L. Watrous

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Preliminary Experiments in Real Time Distributed Robot Control, Louis L. Whitcomb, Martin Buehler, and Daniel E. Koditschek

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Modeling Reliable Distributed Real-Time Programs, Victor Wolfe, Susan B. Davidson, and Insup Lee

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On the Deformation of Image Intensity and Zero-Crossing Contours Under Motion, Jian Wu and K. Wohn

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A Contour Base Recovery of Image Flow: Iterative Method, Jian Wu, K. Wohn, and Roger Brockett

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RFMS Software Reference Manual, Hong Zhang

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RFMS Source Code, Hong Zhang

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Robot Manipulator Control and Computational Cost, Yehong Zhang and Richard P. Paul

Papers from 1987

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Edge Detection for Object Recognition in Aerial Photographs, Helen Anderson

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Robotics in an Intermittent Dynamical Environment: A Prelude to Juggling, Martin Buehler and Daniel E. Koditschek

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Information Maps for Active Sensor Control, Greg Hager