Now showing items 1-20 of 45

    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • An Agent-Based Approach to the Design of Rapidly Deployable Fault Tolerant Manipulators 

      Paredis, Chris (Georgia Institute of Technology, 1996-08)
      There exists a need for manipulators that are more flexible and reliable than the current fixed configuration manipulators. Indeed, robot manipulators can be easily reprogrammed to perform different tasks, yet the range ...
    • 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 ...
    • Micro Planning for Mechanical Assembly Operations 

      Gupta, S. K.; Paredis, Chris; Brown, P. F. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1998-05-01)
      Significant advances have been made in the area of macro planning for assembly operations (i.e., dividing a product into sub-assemblies, determining the sequence of assembly operations). On the contrary, the state of the ...
    • 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 ...
    • 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 ...
    • 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 ...
    • On-Line Planning of Flexible Assembly Systems: An Agent-Based Approach 

      Wang, Cheng-Hua; Paredis, Chris (Georgia Institute of Technology, 1999-08)
      This paper presents an agent-based approach to online assembly task allocation and scheduling for flexible assembly systems. We propose an anytime-scheduling algorithm to handle dynamic changes during planning. This ...
    • 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, ...
    • Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot 

      Tsai, Shu-Jen; Ferreira, Enrique D.; Paredis, Chris (Georgia Institute of Technology, 1999-10)
      The Gyrover is a single wheel gyroscopically stabilized mobile robot developed at Carnegie Mellon University. An internal pendulum serves as a counterweight for a drive motor that causes fore/aft motion, while a tilt-mechanism ...
    • RAVE: A Real and Virtual Environment for Multiple Mobile Robot Systems 

      Dixon, Kevin; Dolan, John; Huang, Wesley; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyIEEE Industrial Electronics Society, 1999-10)
      To focus on the research issues surrounding collaborative behavior in multiple mobile-robotic systems, a great amount of low-level infrastructure is required. To facilitate our on-going research into multi-robot systems, ...
    • 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 ...
    • 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 ...
    • Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot 

      Ferreira, Enrique D.; Tsai, Shu-Jen; Paredis, Chris; Brown, H. Benjamin, Jr. (Georgia Institute of TechnologyBrill Academic Publishers, 2000)
      The Gyrover is a single wheel gyroscopically stabilized mobile robot developed at Carnegie Mellon University. An internal pendulum serves as a counter weight for a drive motor that causes fore/aft motion, while a large ...
    • 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 ...