- Trajectory Stabilization for a Planar Carangiform Robot Fish
- Geometric Perspectives on the Mechanics and Control of Robotic Locomotion
- Nonsmooth controllability theory and an example T.D. Murphey, J.W. Burdick
- Construction and Modelling of a Carangiform Robotic Fish
- Controllability of Kinematic Control Systems on Stratified Configuration Spaces
- Interior Box Second-Order
- Weighted Range Sensor Matching Algorithms for Mobile Robot Displacement Estimation
- Global Exponential Stabilizability for Distributed Manipulation Systems
- Experiments in Nonsmooth Control of Distributed Manipulation International Conference on Robotics and Automation (ICRA), 2003
- Smooth Feedback Control Algorithms for Distributed Manipulators International Conference on Robotics and Automation (ICRA), 2003
- PREPRINT. MURPHEY AND BURDICK. ACCEPTED FOR PUBLICATION IN THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 1 Feedback Control Methods for Distributed
- Trajectory Planning Using Reachable-State Density Functions Richard Mason and Joel W. Burdick
- Underwater locomotion from oscillatory shape deformations Patricio A. Vela
- Control of Biomimetic Locomotion via Averaging Theory Patricio A. Vela
- On a Decentralized Active Sensing Strategy using Mobile Sensor Platforms in a Network
- ACC03-IEEE0281 A General Averaging Theory via Series Expansions
- Geometric Homogeneity and Controllability of Nonlinear Systems Patricio A. Vela
- Kinematic Reducibility of Multiple Model Systems T.D. Murphey and J.W. Burdick
- Issues in Controllability and Motion Planning for Overconstrained Wheeled Vehicles
- On WellDefined Kinematic Metric Functions Qiao Lin and Joel W. Burdick
- The Stable Poses of Multiply Contacted ThreeDimensional Objects
- An Autonomous Sensor-Based Path-Planner for Planetary Microrovers
- Objective and FrameInvariant Kinematic Metric Functions for Rigid Bodies
- To appear in 1995 IEEE International Conference on Robotics and Automation Sensor Based Planning, Part II
- On Force and Form Closure For Multiple Finger Grasps Dept. of Mechanical Engineering
- Controllability with Unilateral Control Inputs Bill Goodwine and Joel Burdick
- Motion Planning for Kinematic Stratified Systems with ap plication to Quasi--Static Legged Locomotion and Finger
- Nonlinear Control Methods for Planar Carangiform Robot Fish Locomotion
- New Bounds on the Number of Frictionless Fingers Required to Immobilize Planar Objects
- Gait Controllability for Legged Robots Bill Goodwine Joel Burdick
- The Geometric Mechanics of Undulatory Robotic Locomotion Jim Ostrowski Joel Burdick
- Stratified Motion Planning with Application to Robotic Finger Gaiting Bill Goodwine
- A Sti#nessBased Quality Measure for Compliant Grasps and Fixtures
- A Minimally Actuated Hopping Rover for Exploration of Celestial Bodies
- Mobility of Bodies in Contact--II: How Forces are Generated by Curvature E#ects
- To appear in the 2002 IEEE American Control Conference Second Order Averaging Methods for Oscillatory Control
- Scheduling for Distributed Sensor Networks with Single Sensor Measurement per Time Step
- Controllability Test and Motion Planning Primitives Overconstrained Vehicles
- to ``follow'' the lead of the threesegment kinematic By formulating the motion of the system in terms of
- Modelling and Experimental Investigation of Carangiform Locomotion for Control Scott D. Kelly Richard J. Mason Carl T. Anhalt Richard M. Murray Joel W. Burdick
- Biomechanical Modeling of the Small Intestine as Required for the Design and Operation of a Robotic Endoscope
- MinimumDeflection Grasps and Fixtures Qiao Lin, Joel Burdick
- On Stability and Design Distributed Manipulation Control Murphey, Burdick
- To appear in 1995 IEEE International Conference on Robotics and Automation The Mechanics of Undulatory Locomotion: The Mixed Kinematic and
- Mobility of Bodies in Contact--I: A 2 nd Order Mobility Index for
- The Development of a Robotic Endoscope A. Brett Slatkin (brett@robby.caltech.edu) Joel Burdick (jwb@robby.caltech.edu)
- Submitted to the 1995 IEEE Conference on Decision and Controls Control of Mechanical Systems with Symmetries and
- Experiments in Carangiform Robotic Fish Locomotion Richard Mason and Joel W. Burdick
- A General Stability Test for Multiply Contacted Objects in a Potential Field, with
- Local Motion Planning for Nonholonomic Control Systems Evolving on Principal Bundles
- Stochastic Cloning: A generalized framework for processing relative state measurements
- An Autonomous Path Planner Implemented on the Rocky7 Prototype Sharon L. Laubach
- Computation and Analysis of Compliance in Grasping and Fixturing Qiao Lin, Joel Burdick
- A Quality Measure for Compliant Grasps Qiao Lin, Joel Burdick
- An investigation into nonsmooth locomotion Milos Zefran
- Propulsion and Control of Deformable Bodies in an Ideal Fluid Richard Mason and Joel Burdick
- Motion Planning for Kinematic Strati ed Systems with Application to Quasi{Static Legged Locomotion and Finger Gaiting
- ACC03-IEEE0376 Control of Underactuated Driftless Systems Using
- Submitted to IEEE Transactions on Automatic Control, August 1998 # 1998 IEEE
- To appear in 1994 IEEE International Conference on Robotics and Automation Nonholonomic Mechanics and Locomotion: The Snakeboard Example
- Sensor Based Planning for a Planar Rod Robot Howie Choset Joel Burdick
- To appear in 1995 IEEE International Conference on Robotics and Automation Sensor Based Planning, Part I: The Generalized Voronoi Graph
- Controllability Tests for Mechanical Systems with Symmetries and Constraints
- Control of Underactuated Mechanical Systems with Drift Using Higher-Order Averaging Theory
- Weighted Line Fitting Algorithms for Mobile Robot Map Building and Efficient Data Representation
- A local controllability test for nonlinear multiple model systems Todd Murphey, Joel Burdick
