Contacts

Chapters

  1. S. Bhasin, K. Dupree and W. E. Dixon, “Control of Robotic Systems Undergoing a Non-Contact to Contact Transition” in Robot Manipulators, Edited by Marco Ceccarelli, I-Tech, September 2008, pp. 113-136.

Journal Papers

  1. S. Bhasin, K. Dupree, P. M. Patre, and W. E. Dixon, "Neural Network Control of a Robot Interacting with an Uncertain Viscoelastic Environment," IEEE Transactions on Robotics, submitted.
  2. C. Liang, S. Bhasin, K. Dupree, and W. E. Dixon, “An Impact Force Limiting Adaptive Controller for a Robotic System Undergoing a Non-Contact to Contact Transition,” IEEE Transactions on Control Systems Technology , accepted, to appear.
  3. K. Dupree, C. Liang, G. Hu and W. E. Dixon, “Global Adaptive Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing an Impact-Collision,” IEEE Transactions on Systems, Man and Cybernetics, Vol. 38, No. 4, pp. 1050-1061, (2008).
  4. K. Dupree, C. Liang, G. Hu and W. E. Dixon, “Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing an Impact Collision,” International Journal of Robotics and Automation, to appear.
  5. G. Hu, C. Makkar, and W. E. Dixon, “Energy-Based Nonlinear Control of Underactuated Euler-Lagrange Systems Subject to Impacts,” IEEE Transactions on Automatic Control, Vol. 52, No.9, pp. 1742-1748, (2007).

Conference Papers


  1. S. Bhasin, K. Dupree, Z. D. Wilcox, and W. E. Dixon, “Adaptive Control of a Robotic System Undergoing a Non-Contact to Contact Transition with a Viscoelastic Environment,” 2009 IEEE American Controls Conference, submitted.
  2. S. Bhasin, K. Dupree, P. M. Patre, and W. E. Dixon, “Neural Network Control of a Robot Interacting with an Uncertain Hunt-Crossley Viscoelastic Environment,” ASME Dynamic Systems and Control Conference, Ann Arbor, Michigan, 2008, to appear.
  3. C. Liang, S. Bhasin, K. Dupree and W. E. Dixon, “An Impact Force Limiting Adaptive Controller for a Robotic System Undergoing a Non-Contact to Contact Transition,” Proceedings of the 2007 IEEE Conference on Decision and Controls, New Orleans, Louisiana, 2007, pp. 3555-3560.
  4. K. Dupree, W. E. Dixon, G. Hu and C. Liang, “Global Adaptive Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing an Impact-Collision,” Proceedings of the 2006 IEEE Conference on Decision and Controls, San Diego, California, 2006, pp. 2039-2044.
  5. K. Dupree, W. E. Dixon, G. Hu and C. Liang, “Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing an Impact-Collision,” Proceedings of the 2006 IEEE American Control Conference, Minneapolis, MN, 2006, pp. 3241-3246.