Now showing items 1-20 of 21

    • Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking 

      Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1997-04)
      A rapidly deployable fault tolerant manipulator system consists of modular hardware and support software that allow the user to quickly configure and deploy a fault tolerant manipulator that is custom-tailored for a ...
    • Agent-Based Planning and Control of a Multi-Manipulator Assembly System 

      Fraile, Juan-Carlos; Paredis, Chris; Wang, Cheng-Hua; Khosla, Pradeep K. (Georgia Institute of Technology, 1999-05)
      This paper presents a distributed planning and control architecture for autonomous Multi-Manipulator Systems (MMS). The control architecture is implemented using an agent-based approach. A team of distributed and autonomous ...
    • An Approach for Mapping Kinematic Task Specifications Into a Manipulator Design 

      Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyIEEE, 1991)
      The Reconfigurable Modular Manipulator System, (RMMS) consists of modular links and joints which can be assembled into many manipulator configurations. This capability allows the RMMS to be rapidly reconfigured in order ...
    • An Architecture for Gesture-Based Control of Mobile Robots 

      Iba, Soshi; Vande Weghe, J. Michael; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyIEEE Industrial Electronics Society, 1999-10)
      Gestures provide a rich and intuitive form of interaction for controlling robots. This paper presents an approach for controlling a mobile robot with hand gestures. The system uses Hidden Markov Models (HMMs) to spot and ...
    • Behavioral Model Composition in Simulation-Based Design 

      Sinha, Rajarishi; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of Technology, 2002-04)
      We present a simulation and design framework for simultaneously designing and modeling electromechanical systems. By instantiating component objects and connecting them to each other via ports, a designer can configure ...
    • Combining Information Technology Components and Symbolic Equation Manipulation in Modeling and Simulation of Mechatronic Systems 

      Diaz-Calderon, Antonio; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyIEEE Industrial Electronics Society, 1999-08)
      We present a hybrid representation for modeling of mechatronic systems. This representation consists of a linear graph and block diagrams and supports our concept of composable simulation. By composable simulation we mean ...
    • Composable Models for Simulation-Based Design 

      Paredis, Chris; Diaz-Calderon, Antonio; Sinha, Rajarishi; Khosla, Pradeep K. (Georgia Institute of TechnologySpringer-Verlag, 2001)
      This article introduces the concept of combining both form (CAD models) and behavior (simulation models) of mechatronic system components into component objects. By connecting these component objects to each other through ...
    • Designing Fault Tolerant Manipulators: How Many Degrees-of-Freedom? 

      Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologySage Publications, 1996)
      One of the most important parameters to consider when designing a manipulator is the number of degrees-of-freedom (DOFs). This article focuses on the question: How many DOFs are necessary and sufficient for fault tolerance ...
    • Fault Tolerant Task Execution through Global Trajectory Planning 

      Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyElsevier, 1996)
      Whether a task can be completed after a failure of one of the degrees-of-freedom of a redundant manipulator depends on the joint angle at which the failure takes place. It is possible to achieve fault tolerance by globally ...
    • Global Trajectory Planning for Fault Tolerant Manipulators 

      Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyIEEE Computer Society, 1995-08)
      Whether a task can be completed after a failure of one of the degrees-of-freedom of a redundant manipulator depends on the joint angle at which the failure takes place. It is possible to achieve fault tolerance by globally ...
    • Heterogeneous Teams of Modular Robots for Mapping and Exploration 

      Grabowski, Robert; Navarro-Serment, Luis E.; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of Technology, 2000)
      In this article, we present the design of a team of heterogeneous, centimeter-scale robots that collaborate to map and explore unknown environments. The robots, called Millibots, are configured from modular components ...
    • Integration of Mechanical CAD and Behavioral Modeling 

      Sinha, Rajarishi; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyIEEE Computer Society, 2000-10)
      This article introduces the concept of combining both form (CAD models) and behavior (simulation models) of mechatronic system components into component objects. By composing these component objects, designers automatically ...
    • Intention Aware Interactive Multi-Modal Robot Programming 

      Paredis, Chris; Khosla, Pradeep K.; Iba, Soshi (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers (IEEE), 2003-10)
      As robots enter the human environment, there are increasing needs for novice users to be able to program robots with ease. A successful robot programming system should be intuitive, interactive, and intention aware. ...
    • Interactive Multi-Modal Robot Programming 

      Iba, Soshi; Khosla, Pradeep K.; Paredis, Chris (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers (IEEE), 2002-05)
      As robots enter the human environment and come in contact with inexperienced users, they need to be able to interact with users in a multi-modal fashion—keyboard and mouse are no longer acceptable as the only input modalities. ...
    • Interactive Multi-Modal Robot Programming 

      Paredis, Chris; Khosla, Pradeep K.; Iba, Soshi (Georgia Institute of TechnologySage Publications, 2005)
      As robots enter the human environment and come in contact with inexperienced users, they need to be able to interact with users in a multi-modal fashion—keyboard and mouse are no longer acceptable as the only input ...
    • Mapping Tasks into Fault Tolerant Manipulators 

      Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyIEEE Computer Society, 1994-05)
      The application of robots in critical missions in hazardous environments requires the development of reliable or fault tolerant manipulators. In this paper, we define fault tolerance as the ability to continue the performance ...
    • Millibots: The Development of a Framework and Algorithms for a Distributed Heterogeneous Robot Team 

      Paredis, Chris; Khosla, Pradeep K.; Grabowski, Robert; Navarro-Serment, Luis E. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers (IEEE), 2002)
    • Modularity in Small Distributed Robots 

      Navarro-Serment, Luis E.; Grabowski, Robert; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologySociety of Photo-optical Instrumentation Engineers, 1999-09)
      This paper describes the development of small mobile robots for collaborative surveillance tasks. Each of the robots, called Millibots, has only limited sensing, computation, and communication capabilities. However, ...
    • On the Synthesis of the System Graph for 3D Mechanics 

      Diaz-Calderon, Antonio; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyAmerican Automatic Control CouncilIEEE, 1999-06)
      This paper presents a methodology for deriving the system graph of a 3D mechanism from CAD models. That is, a linear graph that captures the energy flow in a system. This work is part of a larger research effort in composable ...
    • A Rapidly Deployable Manipulator System 

      Paredis, Chris; Brown, H. Benjamin, Jr.; Khosla, Pradeep K. (Georgia Institute of TechnologyIEEE Computer Society Press, 1996-04-01)
      A rapidly deployable manipulator system combines the flexibility of reconfigurable modular hardware with modular programming tools, allowing the user to rapidly create a manipulator which is custom-tailored for a given ...