Publications

There are over 50 peer reviewed publications on the research that led to the development of Kinematix software technology. Some of these represent applications whereas other represent fundamental algorithms and techniques.  A selection of these is listed below:

1.    Garcia, P., Rosen, J., Kapoor, C., et al., ‘Trauma Pod: a semi-automated telerobotic surgical system,’ International Journal on Medical Robotics and Computer Assisted Surgery, 2009; 5: 136–146.

2.    Spencer, A., Pryor, M., Kapoor, C., and Tesar, D., ' Collision Avoidance Techniques for Tele-Operated and Autonomous Manipulators in Overlapping Workspaces,' Proceedings of the International Conference on Robotics and Automation, LA, May 2008.

3.    Gulati, S., Jung, H., Kapoor, C., 'Execution Engine for Robotic Surgery Support Functions in an Unmanned Operating Room' Proceedings of 7th IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), 2007, Jacksonville, Florida.

4.    Kapoor, C., Tesar, D., 'Integrated Teleoperation and Automation for Nuclear Facility Cleanup'Industrial Robot: An International Journal, Vol. 33 No. 6, 2006.

5.    Sevier, J., Kapoor, C., Tesar, D., 'Benefitting From Underutilized Task Specific Resources for Industrial Robotic Systems' Proceedings of the 11th International Symposium on Robotics and Applications (ISORA) Budapest, July 2006.

6.   Pholsiri, C. Kapoor, C. Tesar, D., “Real-Time Robot Capability Analysis,” DETC2005-84223, Proceedings of the ASME 2005 Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA, September 24-28,2005.

7.   Harden, T. Kapoor, C. Tesar, D., “Obstacle Avoidance Influence Coefficients for Manipulator Motion Planning,” DETC2005-84223, Proceedings of the ASME 2005 Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA, September 24-28, 2005.

8.   Jung, E., Kapoor, C., Batory, Don, “Automatic Code Generation for Actuator Interfacing from a Declarative Specification,” 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada.

9.  Pholsiri, C. Kapoor, C. Tesar, D., “Manipulator Task-Based Performance Optimization,” Proceedings of ASME 2004 Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Salt Lake City, UT, Sept. 28 - Oct. 2, 2004.

10. Taylor, R., Kapoor, C. and Tesar, D., “Automatic Generation of Robot Interface Specifications and Representations,” The Proc. of IEEE Conference on Robotics and Automation, New Orleans, 2004.

11.  March, P., Taylor, R., Kapoor, C. and Tesar, D., “Decision Making for Remote Robotic Operations,” The Proceedings of IEEE Conference on Robotics and Automation, New Orleans, 2004.

12.  Pholsiri, C., Rabindran, D., Pryor, M., and Kapoor, C., “Extended Generalized Impedance Control for Redundant Manipulators,” The Proceedings of IEEE Conference on Decision and Control, Hawaii, Dec. 9-12, 2003.

13.  Pryor, M., Taylor, R., Kapoor, C., Tesar, D., “Generalized Software Components for Reconfiguring Hyper-Redundant Manipulators,” IEEE/ASME Transactions on Mechatronics, December 2002, Volume 7, Number 4. 

14.  Pholsiri, C., Kapoor, C., and Tesar, D., “Singularity Robust Inverse Kinematics for Teleoperation,” Proceedings of Spectrum 2002 Int. Conf. on Nuclear and Hazardous Waste Management, Reno, NV, Aug. 4-8., 2002.

15.  Kapoor, C., and Tesar, D., “Kinematic Abstractions for General Manipulator Control,” Proceedings of The 1999 ASME Design Engineering Technical Conferences and Computers in Engineering Conference, September 12-16, 1999, Las Vegas, Nevada.