Robotics papers, preprints, theses

On-Line Theses

"Mechanics and Planning of Workpiece Fixturing and Robotic Grasping." Ph.D. Thesis by Qiao Lin . Dept. of Mechanical Engineering, Caltech, 1998. (Approx 12 Mbytes)
"Control of Multiple Model Systems." Ph.D. Thesis by Todd Murphey. Control and Dynamical Systems, June, 2002.
"Fluid Locomotion and Trajectory Planning for Shape-Changing Robots." Ph.D. Thesis by Richard Mason. Mechanical Engineering June, 2003.
"Averaging and Control of Nonlinear Systems." Ph.D. Thesis by Patricio Vela. Control and Dynamical Systems, June, 2003.
"Spike Train Characterization and Decoding for Neural Prosthetic Devices" Ph.D. Thesis by Shiyan Cao. Mechanical Engineering June, 2003.
"Algorithms for Mobile Robot Localization and Mapping, Incorporating Detailed Noise Modeling and Multi-Scale Feature Extraction" Ph.D. Thesis by Samuel Pfister. Mechanical Engineering June, 2006.
"Tools and Algorithms for Mobile Robot Navigation with Uncertain Localization" Ph.D. Thesis by Kristopher Kriechbaum. Mechanical Engineering June, 2006.

Sensor Based Motion Planning

Sensor Based Planning and Nonsmooth Analysis

H. Choset and J. Burdick
IEEE/ICRA, San Diego, California, 1994
An abstract of this paper; a Compressed Postscript copy of the paper (115K).

Sensor Based Planning, Part I: The Generalized Voronoi Graph
- H. Choset and J. Burdick
- IEEE/ICRA Nagoya, Japan, 1995
- An abstract of this paper; Compressed Postscript copy of the paper (76K)
Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph
- H. Choset and J. Burdick
- IEEE/ICRA Nagoya, Japan, 1995
- An abstract of this paper; Compressed Postscript copy of the paper (72K)
Sensor Based Planning for a Rod Robot
- H. Choset and J. Burdick
- 1996 IEEE Int. Conf. on Robotics and Automation
- An abstract of this paper; Compressed Postscript copy of the paper
Sensor Based Exploration: the Hierarchical Generalized Voronoi Graph

H. Choset and J. Burdick
International Journal of Robotics Research, vol. 19, no. 2, Feb., 2000, pp. 96-125.
copy of the paper in PDF format

Sensor Based Exploration: Incremental Construction of the Hierarchical Generalized Voronoi Graph

H. Choset, J. Burdick, S. Walker, and K. Eiamsa-Ard
International Journal of Robotics Research, vol. 19, no. 2, Feb., 2000, pp. 126-148.
copy of the paper in PDF format

Autonomous Path-Planning for the Rocky7 Prototype Microrover
- S. Laubach, J. Burdick, and L. Matthies
- 1998 IEEE Int. Conf. on Robotics and Automation
- A Compressed (gzip) Postscript copy of the paper (361K)
An Autonomous Sensor-Based Path-Planner for Planetary Microrovers
- S. Laubach and J.W. Burdick
- 1999 IEEE Int. Conf. on Robotics and Automation ( Finalist for best paper award )
- A PDF version of the paper (466K).
Weighted Range Sensor Matching Algorithms for Mobile Robot Displacement Estimation

S.T. Pfister, K.L. Kreichbaum, S.I. Roumeliotis, and J.W. Burdick
2002 IEEE Int. Conf. on Robotics and Automation
A PDF version of the paper

Stochastic Cloning: A generalized framework for processing relative state measurements

Stergios I. Roumeliotis and Joel W. Burdick
2002 IEEE Int. Conf. on Robotics and Automation
A PDF version of the paper (~172K).

Weighted Line Fitting Algorithms for Mobile Robot Map Building and Efficient Data Representation

S.T. Pfister and J.W. Burdick
2003 IEEE Int. Conf. on Robotics and Automation
A PDF version of the paper

Grasping, Fixturing, and 2nd order mobility theory

A Configuration Space Analysis of Bodies in Contact--Part I: 1^st Order Mobility
- E. Rimon and J. Burdick
- Mechanism and Machine Theory, vol. 30, no. 6, 1995.
- An abstract of this paper; a Compressed Postscript copy of the paper (400K).
A Configuration Space Analysis of Bodies in Contact--Part II: 2^nd Order Mobility
- E. Rimon and J. Burdick
- Mechanism and Machine Theory, vol. 30, no. 6, 1995.
- An abstract of this paper; a Compressed Postscript copy of the paper (176K).
Mobility of Bodies in Contact--I: A 2nd Order Mobility Index for Multiple-Finger Grasps
- E. Rimon and J. Burdick
- IEEE Trans. on Robotics and Automation, vol. 14, no. 5, 1998.
- An abstract of this paper; a gzip'ed Postscript copy of the paper (638K compressed).
Mobility of Bodies in Contact--II: How Forces are Generated by Curvature Effects
- E. Rimon and J. Burdick
- IEEE Trans. on Robotics and Automation, vol. 14, no. 5, 1998.
- An abstract of this paper
New Bounds on the Number of Frictionless Fingers Required to Immobilize Planar Objects
- E. Rimon and J. Burdick
- Journal of Robotic Systems, vol. 12, no. 6, June 1995.
- An abstract of this paper; Compressed (gzip) Postscript copy of the paper (157K).
The Stability of Heavy Objects with Multiple Contacts
- R. Mason, E. Rimon, and J. Burdick
- 1995 IEEE Int. Conf. on Robotics and Automation
- An abstract of this paper; a Compressed Postscript copy of the paper (8 pages, 109K).
On Force and Form Closure for Multiple Finger Grasps
- E. Rimon and J. Burdick
- 1996 IEEE International Conference on Robotics and Automation
- An abstract of this paper; a Compressed (gzip) Postscript copy of the paper (157K).
A General Stability Test for Multiply Contacted Objects in a Potential Field, with Example Applications to Planar Objects Under Gravity
- R. Mason and E. Rimon and J. Burdick
- submitted to IEEE Transactions on Robotics and Automation
- An abstract of this paper; a Compressed (gzip) Postscript copy of the paper (168K compressed).
The Stable Poses of Multiply Contacted Three-Dimensional Objects
- R. Mason and E. Rimon and J. Burdick
- submitted to IEEE Transactions on Robotics and Automation
- An abstract of this paper; a Compressed (gzip) Postscript copy of the paper (833K compressed).
A Quality Measure for Compliant Grasps
- Q. Lin, E. Rimon, and J. Burdick
- 1997 IEEE International Conference on Robotics and Automation
- An abstract of this paper; a Compressed (gzip) Postscript copy of the paper (191K).
Computation and Analysis of Compliance in Grasping and Fixturing
- Q. Lin, E. Rimon, and J. Burdick
- 1997 IEEE International Conference on Robotics and Automation
- An abstract of this paper; a Compressed (gzip) Postscript copy of the paper (191K).
Minimum-Deflection Grasps and Fixture
- Q. Lin, J. Burdick, and E. Rimon
- 1998 IEEE International Conference on Robotics and Automation
- A Compressed (gzip) Postscript copy of the paper (172K).
Stratified Motion Planning with Application to Robotic Finger Gaiting.
- Bill Goodwine and Joel Burdick
- 1998 IFAC World Congress
- A Compressed (gzip) Postscript copy of the paper (727K).
Objective and Frame-Invariant Kinematic Metric Functions for Rigid Bodies
- Q. Lin and J. Burdick
- Int. J. Robotics Research, vol. 19, no. 6, pp. 612-625, June, 2000.
- A Compressed (gzip) Postscript copy of the paper (212K).
On Well-Defined Kinematic Metric Functions
- Q. Lin and J. Burdick
- 2000 IEEE Int. Conference on Robotics and Automation
- A Compressed (gzip) Postscript copy of the paper (204K).
A Stiffness-based Quality Measure for Compliant Grasps and Fixtures
- Q. Lin, J. Burdick, and E. Rimon
- IEEE Trans. Robotics and Automation, vol. 16, no. 6, pp. 675-688, Dec. 2000.
- A Compressed (gzip) Postscript copy of the paper (397K).

Distributed Manipulation

On the Stability and Design of Distributed Manipulation Control Systems

T. Murphey and J.W. Burdick
Proc. 2001 IEEE Int. Conf on Robotics and Automation
A postscript version

Global Stability for Distributed Systems with Changing Contact States

T.D. Murphey and J.W. Burdick
2001 IROS

Global Exponential Stabilizibility For Distributed Manipulation Systems

T.D. Murphey and J.W. Burdick
2002 IEEE Int. Conf on Robotics and Automation
A PDF version of the paper

Experiments in Nonsmooth Control of Distributed Manipulation

T.D. Murphey, J.W. Burdick, J. Burgess, and A. Homyk
2003 IEEE Int. Conf on Robotics and Automation
A PDF version of the paper

Smooth Feedback Control Algorithms for Distributed Manipulation

T.D. Murphey, J.W. Burdick, J. Burgess, and A. Homyk
2003 IEEE Int. Conf on Robotics and Automation
A PDF version of the paper

Feedback Control Methods for distributed manipulation systems that involve mechanical contacts

T.D. Murphey and J.W. Burdick
Int. J. of Robotics Research, 23(7-8):763-781, 2004
A PDF version of the paper

Robotic Locomotion

A.F. Vakakis, J.W. Burdick, and T.K. Caughey, ``An Interesting Attractor in the Dynamics of a Hopping Robot,'' International Journal of Robotics Research, vol. 10, no. 6, Dec. 1991, pp. 606-618.

R.T. M'Closkey and J.W. Burdick, ``On the Periodic Motions of a Hopping Robot with Vertical and Forward Motion,'' International Journal of Robotics Research, vol. 12, no. 3, June, 1993, pp. 197-218.

J. Burdick, J. Radford, and G.S. Chirikjian, ``A Sidewinding Locomotion Gait for Hyper-Redundant Robots,'' Advanced Robotics, vol. 9, No. 3, pp. 195-216.

G.S. Chirikjian and J.W. Burdick, ``The Kinematics of Hyper-Redundant Robotic Locomotion,'' IEEE Trans. on Robotics and Automation, vol. 11, no. 6, Dec. 1995, pp. 781-793.
Designing Feedback Algorithms for the Control of Robotic Locomotion

J.P. Ostrowski and J.W. Burdick
IEEE Int. Conf. on Robotics and Automation, 1993.
An abstract of this paper; a Compressed Postscript copy of the paper (8 pages, 339K).

Nonholonomic Mechanics and Locomotion: the Snakeboard Example

A. D. Lewis, J. P. Ostrowski, R. M. Murray, and J. W. Burdick
IEEE Int. Conf. on Robotics and Automation, 1994.
An abstract of this paper; a Compressed Postscript copy of the paper (7 pages, 229K).

The Mechanics of Undulatory Locomotion: the Mixed Kinematic and Dynamic Case
- J. P. Ostrowski, J. W. Burdick, A. D. Lewis, and R. M. Murray
- IEEE Int. Conf. on Robotics and Automation, 1995
- An abstract of this paper; a Compressed Postscript copy of the paper (7 pages, 60K).
The Control of Mechanical Systems with Symmetries and Nonholonomic Constraints
- J. P. Ostrowski and J. W. Burdick
- 1995 Conf. on Decision and Control
- An abstract of this paper; a Compressed Postscript copy of the paper (13 pages, 224K).
Geometric Perspectives on the Mechanics and Control of Robotic Locomotion
- J. P. Ostrowski and J. W. Burdick
- Preprints, 1995 Int. Symp. on Robotics Research
- An abstract of this paper; a Compressed Postscript copy of the paper (18 pages, 366K).
Gait Kinematics for a Serpentine Robot
- J. P. Ostrowski and J. W. Burdick
- 1996 Int. Conf. on Robotics and Automation
- An abstract of this paper; a Compressed Postscript (gzip) copy of the paper (8 pages, 150K)
Controllability with Unilateral Control Inputs
- Bill Goodwine and Joel Burdick
- See the Applied Control Theory section
Controllability Tests for Mechanical Systems with Constraints and Symmetries
- Jim Ostrowski and Joel Burdick
- See the Applied Control Theory section
Trajectory Generation for Legged Robotic Systems
- Bill Goodwine and Joel Burdick
- Proc. 1997 IEEE Int. Conf. on Robotics and Automation
- A compressed postscript copy of the paper
The Mechanics and Control of Undulatory Locomotion
- Jim Ostrowski and Joel Burdick
- International Journal of Robotics Research, vol. 17, no. 7, July 1998, pp. 683-701.
- A compressed postscript copy of the paper
Gait Controllability for Kinematic Legged Robots
- Bill Goodwine and Joel Burdick
- 1998 IEEE Int. Conf. on Robotics and Automation
- A Compressed Postscript copy of the paper (512K).
Modelling and Experimental Investigation of Carangiform Locomotion for Control
- Scott D. Kelly, Richard J. Mason, Carl T. Anhalt, Richard M. Murray, and Joel W. Burdick
- 1998 American Control Conference
- A Compressed Postscript copy of the paper (64K).
Trajectory Generation for Mechanical Systems with Application to Robotic Locomotion
- Richard M. Murray, Joel W. Burdick, Scott D. Kelly, James Radford
- Proc. 1998 Workshop on Algorithmic Founds of Robotics
- Abstract and downloading link
An Investigation into Nonsmooth Locomotion
- M. Zefran, F. Bullo, and J. Radford
- 1999 IEEE International. Conference on Robotics and Automation
- compressed postscript copy of the paper
Construction and Modelling of a Carangiform Robotic Fish
- Richard Mason and Joel Burdick
- 1999 International Symposium on Experimental Robotics
- postscript copy of the paper
Propulsion and Control of Deformable Bodies in an Ideal Fluid
- Richard Mason and Joel W. Burdick
- 1999 IEEE International Conference on Robotics and Automation
- postscript copy of the paper
Motion Planning for Kinematic Stratified Systems with application to Quasi--Static Legged Locomotion and Finger Gaiting
- Bill Goodwine and Joel W. Burdick
- Proc. Workshop Algorithmic Foundations of Robotics (2000)
- gzip'ed postscript copy of the paper
Motion Planning for Kinematic Stratified Systems with application to Quasi--Static Legged Locomotion and Finger Gaiting
- Bill Goodwine and Joel Burdick
- IEEE Trans. on Robotics and Automation, vol. 18, no. 2, pp. 209-222, April, 2002.
- A compressed postscript copy of the paper
Experiments in Carangiform Robotic Fish Locomotion
- Richard Mason and Joel W. Burdick
- Proc. IEEE International Conference on Robotics and Automation (2000)
- postscript copy of the paper
A Minimally Actuated Hopping Rover for Exploration of Celestial Bodies
- E.Hale, N. Schara, J.W. Burdick, P. Fiorini
- 2000 IEEE International Conference on Robotics and Automation ( finalist for best conference paper award )
- postscript copy of the paper
Nonlinear Control Methods for Planar Carangiform Robot Fish Locomotion
- K.A. Morgansen, V. Duindam, R.J. Mason, J.W. Burdick, R.M. Murray
- 2001 IEEE International Conference on Robotics and Automation
- compressed postscript copy of the paper
Trajectory Planning Using Reachable-State Density Functions
- Richard Mason and Joel W. Burdick
- 2002 IEEE International Conference on Robotics and Automation
- PDF copy of the paper
Trajectory Stabilization for a Planar Carangiform Fish
- Patricio Velo, Kristi Morgansen, Joel W. Burdick
- 2002 IEEE International Conference on Robotics and Automation
- compressed postscript copy of the paper
Underwater Locomotion From Oscillatory Shape Deformations
- Patricio Velo, Kristi Morgansen, Joel W. Burdick
- 2002 IEEE International Conference on Decision and Control
- A PDF version of the paper
Control of Biomimetic Locomotion via Averaging Theory
- Patricio Velo and Joel W. Burdick
- 2003 IEEE International Conference on Robotics and Automation
- A PDF version of the paper

Hyper-Redundant Robots

G.S. Chirikjian and J.W. Burdick, ``The Kinematics of Hyper-Redundant Robotic Locomotion,'' IEEE Trans. on Robotics and Automation, vol. 11, no. 6, Dec. 1995, pp. 781-793.

J. Burdick, J. Radford, and G.S. Chirikjian, ``A Sidewinding Locomotion Gait for Hyper-Redundant Robots,'' Advanced Robotics, vol. 9, No. 3, pp. 195-216.

G.S. Chirikjian and J.W. Burdick, ``A Modal Approach to Hyper-Redundant Manipulator Kinematics,'' IEEE Trans. on Robotics and Automation , vol. 10, no. 3, pp. 343-354, June, 1994.

G.S. Chirikjian and J.W. Burdick, ``Kinematically Optimal Hyper-Redundant Manipulator Configurations,'' IEEE Trans. on Robotics and Automation , vol. 11, no. 6, Dec. 1995, pp. 794-806.

G.S. Chirikjian and J.W. Burdick, ``A Hyper-Redundant Manipulator,'' IEEE Robotics and Automation Magazine, December 1995, pp. 22-29.

G.S. Chirikjian and J.W. Burdick, ``A Geometric Approach to Hyper-Redundant Manipulator Obstacle Avoidance,'' ASME J. of Mechanical Design, vol. 114, no. 4, pp. 580-585. 1992.

Multiple Robots and Sensor Networks

Communication and Sensing Trade-Offs in Decentralized Mobile Sensor Networks: A Cross-Layer Design Approach

Y. Mostofi, T.H. Chung, R.M. Murray, J.W. Burdick
2005 Int. Conf. on Information Processing in Sensor Networks (IPSN)
A PDF version of the paper .

On a Decentralized Active Sensing Strategy using Mobile Sensor Platforms in a Network

T.H. Chung, V. Gupta, J.W. Burdick and R.M. Murray
2004 IEEE Int. Conf. on Decision and Control (CDC '04)
A PDF version of the paper.

Scheduling for Distributed Sensor Networks with Single Sensor Measurements per Time Step

T. Chung, V. Gupta, B. Hassibi, J.W. Burdick and R. M. Murray
2004 IEEE Int. Conf. on Robotics and Automation (CDC '04)
A PDF version of the paper.

Applied Control Theory

Controllability with Unilateral Control Inputs
- Bill Goodwine and Joel Burdick
- 1996 Conference on Decision and Control
- An abstract of this paper; a Compressed Postscript copy of the paper (84K).
Controllability Tests for Mechanical Systems with Constraints and Symmetries
- Jim Ostrowski and Joel Burdick
- Journal of Applied Mathematics and Computer Science, vol. 17, no. 7, July 1998, pp. 683-701.
- An abstract of this paper; a Compressed Postscript copy of the paper (24 pages, 236K).
Stabilization of Systems with Changing Dynamics
- Milos Zefran and Joel Burdick
- Conference Version (postscript), Proc. Hybrid Systems, Computation and Control (Berkeley, CA)
- Long Version (submitted IEEE Trans. on Automatic Control)
Design of Switching Controllers for Systems with Changing Dynamics
- Milos Zefran and Joel Burdick
- 1998 IEEE Conf. on Decision and Control, Tampa, FL, Dec. 1998.
- Postscript Version
Controllability of Kinematic Control Systems on Stratified Configuration Spaces
- Bill Goodwine and Joel Burdick
- IEEE Trans. on Automatic Control, vol. 46, no. 3, pp. 358-368, March, 2001.
- A compressed postscript copy of the paper (1273 K uncompressed)
Local Motion Planning for Nonholonomic Control Sytems Evolving on Principal Bundles
- J.E. Radford and J.W. Burdick
- Proc. 1998 Conf. Mathematical Theory of Networks and Systems (MTNS98)
- A postscript version
Issues in Controllability and Motion Planning for Overconstrained Wheeled Vehicles
- T. Murphey and J.W. Burdick
- Proc. 2000 Mathematical Theory of Networks and Systems (MTNS 2000)
- A gzip'ed postscript version
A Controllability Test and Motion Primitives for Overconstrained Vehicles
- T. Murphey and J.W. Burdick
- Proc. 2001 IEEE Int. Conf on Robotics and Automation
- A postscript version
A Local Controllability Test for Nonlinear Multiple Model Systems
- T. Murphey and J.W. Burdick
- 2002 American Control Conference
- A PDF version
A Local Controllability Test for Nonlinear Multiple Model Systems
- T. Murphey and J.W. Burdick
- 2002 IEEE Conference on Decision and Control
- A PDF version
Second Order Averaging Methods for Oscillatory Control of Underactuated Mechanical Systems
- P. Vela, K.A. Morgansen, and J.W. Burdick
- 2002 American Control Conference
- A g'zipped postscript version
A General Averaging Theory via Series Expansions
- P. Vela and J.W. Burdick
- 2003 American Control Conference
- A PDF version of the paper
Control of Underactuated Driftless Systems Using Higher-Order Averaging Theory
- P. Vela and J.W. Burdick
- 2003 American Control Conference
- A PDF version of the paper
Control of Underactuated Mechanical Systems with Drift Using Higher-Order Averaging Theory
- P. Vela and J.W. Burdick
- 2003 IEEE Conference on Decision and Control
- A PDF version of the paper
Geometric Homogeneity and Controllability of Nonlinear Systems
- P. Vela and J.W. Burdick
- 2003 IEEE Conference on Decision and Control
- A PDF version of the paper
Kinematic Reducibility of Multiple Model Systems
- T. Murphey and J.W. Burdick
- 2003 IEEE Conference on Decision and Control
- A PDF version

Neural Prosthetics and Spinal Cord Rehabilitation

K.V. Shenoy, D. Meeker, S. Cao, S. A. Kureshi, B. Pesaran, C. Buneo, A. Battista, P. Mitra, J. Burdick, R.A. Andersen. ``Neural Prosthetic Control Signals from Plan Activity,'' Neuroreport 14(4):591-597, 2003.
R.A. Andersen, J.W. Burdick, S. Mussallah, et. al.. ``Cognitive Neural Prosthetics,'' Trends in Cognitive Neuroscience, 8(11):486-493, Nov. 2004.
J.G. Cham, E.A. Branchaud, Z. Nenadic, B. Greger, R.A. Andersen, and J.W. Burdick. "A Semi-chronic motorized microdrive and control algorithm for autonomously isolating and maintaining optimal extracellular action potentials, J. Neurophysiology 93(1):570-579, Jan., 2005.
Z. Nenadic and J.W. Burdick, ``Spike Detection Using the Continuous Wavelet Transform,'' IEEE Trans. on Biomedical Engineering, 52(1):74-87, Jan. 2005.

BioEngineering

Designing future underwater vehicles: Principles and mechanisms of the weakly electric fish

M.A. MacIver, E. Fontaine, and J.W. Burdick
IEEE J. Oceanic Engineering 29(3): 651-659, July, 2004.

Medical Robots

The Development of a Robot Endoscope
- A.B. Slatkin and J. Burdick
- Proc. 1995 IROS Conf.
- An abstract of this paper; a Compressed (gzip) Postscript copy of the paper (10 pages 514K).
Biomechanical Modeling of the Small Intestine as Required for the Design and Operation of a Robotic Endoscope
- H.D. Hoeg, A.B. Slatkin, J. Burdick,
- 2000 IEEE Int. Conf. on Robotics and Automation
- A Compressed (gzip) Postscript copy of the paper (8 pages 2.7M compressed).

Modular Robots

Enumerating the Non-Isomorphic Assembly Configurations of a Modular Robotic System
- I.M. Chen and J. Burdick
- Int. J. of Robotics Research, vol. 17, no. 7, pp. 702-719.
- An abstract of this paper; a Compressed Postscript copy of the paper (297K).
Determining Task Optimal Modular Robot Assemmbly Configurations
- I.M. Chen and J. Burdick
- Proc. IEEE Int. Conf on Robotics and Automation, 1995, Nagoya, Japan
- Compressed Postscript copy of the paper (139K)