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 1987

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Adaptive Techniques for Mechanical Systems, Daniel E. Koditschek

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Exact robot navigation by means of potential functions: Some topological considerations, Daniel E. Koditschek

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High Gain Feedback and Telerobotic Tracking, Daniel E. Koditschek

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Lyapunov Analysis of Robot Motion, Daniel E. Koditschek

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Sub-Optimal Algorithms for Force Distribution in Multifingered Grippers, Vijay Kumar and Kenneth J. Waldron

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Tracking Moving Objects by a Mobile Camera, Sang Wook Lee and Kwangyoen Wohn

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A Theory for Multiresolution Signal Decomposition: The Wavelet Representation, Stephane G. Mallat

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Toward Reasoning Methods for Automatic Mechanical Repair, Pearl Pu

Papers from 1986

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Automatic Planning and Control of Robot Natural Motion Via Feedback, Daniel E. Koditschek

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Robot Control: Theoretical Foundations and Recent Trends, Daniel E. Koditschek

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Design and Implementation of a Robot Force and Motion Server, Hong Zhang

Papers from 1985

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Adaptive strategies for the control of natural motion, Daniel E. Koditschek

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Robot Kinematics and Coordinate Transformations, Daniel E. Koditschek

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The Controllability of Planar Bilinear Systems, Daniel E. Koditschek and Kumpati S. Narendra

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Language Constructs for Distributed Real-Time Programming, Insup Lee and Vijay Gehlot

Papers from 1984

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Natural motion for robot arms, Daniel E. Koditschek

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Limit Cycles of Planar Quadratic Differential Equations, Daniel E. Koditschek and K. S. Narendra

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Computational Models of Visual Hyperacuity, Eric Paul Krotkov

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The Recognition and Representation of 3D Images for a Natural Language Driven Scene Analyzer, Amy Zwarico

Papers from 1983

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Stabilizability of Second Order Bilinear Systems, Daniel E. Koditschek and Kumpati J. Narendra

Papers from 1982

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The Stability of Second Order Quadratic Differential Equations, Daniel E. Koditschek and Kumpati J. Narendra

Papers from 1977

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Fixed Structure Automata in a Multi-Teacher Environment, Daniel E. Koditschek and Kumpati S. Narendra