SCIENTIFIC PUBLICATIONS
Ambarish Goswami
Copyright:
These papers are made available for non-commercial individual use
subject to author's and publisher's copyright.
For a longer version of this page including the abstracts please click
here
International Journals
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U. Nagarajan,
G. Aguirre-Ollinger,
and A. Goswami,
Integral admittance shaping: A unified framework for active exoskeleton control,
Robotics and Autonomous Systems, Vol. 7, Part B, 2016.
(pdf).
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G. Aguirre-Ollinger,
U. Nagarajan and A. Goswami,
An admittance shaping controller for exoskeleton assistance of the lower extremities,
Autonomous Robots, Vol. 40, No. 4, 2016.
(pdf).
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J. Chiu and A. Goswami,
Critical Hitch Angle for Jack-Knife Avoidance During Slow Backing-up
of Vehicle-Trailer System,
Vehicle System Dynamics, Vol. 52, No. 7, 2014.
(pdf).
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A. Sanyal and A. Goswami,
Dynamics and Balance Control of the Reaction Mass Pendulum (RMP): A
3D Multibody Pendulum with Variable Body Inertia,
ASME Journal of Dynamics Systems, Measurement and Control, Vol. 136, No. 2, November 2013.
(pdf).
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Ambarish Goswami,
Seung-kook Yun,
Umashankar Nagarajan,
Sung-Hee Lee,
KangKang Yin,
Shivaram Kalyanakrishnan
Direction-changing fall control of humanoid robots: theory and experiments,
Autonomous Robots, Vol. 36, No. 3, March 2014.
(pdf).
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D. Orin, A. Goswami and
S.-H Lee,
Centroidal Dynamics of a Humanoid Robot,
Autonomous Robots, Vol. 35, No. 2, October 2013.
(pdf).
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S.-H Lee and A. Goswami,
Fall on Backpack: Damage Minimizing Humanoid Fall on Targeted Body Segment Using Momentum Control,
Journal of Computational and Nonlinear Dynamics, Vol. 8, Issue 2, April 2013.
(pdf).
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S.-H Lee and A. Goswami,
A Momentum-based Balance Controller for Humanoid Robots on Non-level and Non-stationary Ground,
Journal of Autonomous Robots, Vol. 33, No. 4, November 2012.
(pdf).
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T. Koolen, T. de Boer, J. Rebula,
A. Goswami and J. Pratt,
Capturability Based Analysis and Control of Legged Locomotion, Part 1: Application to Three Simple Gait Models,
The International Journal of Robotics Research, Vol. 31 No. 9, August 2012.
(pdf).
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Gabriel Aguirre-Ollinger, J. Edward Colgate,
Michael A. Peshkin, and A. Goswami,
Inertia Compensation Control of a One-Degree-of-Freedom Exoskeleton for Lower-Limb
Assistance: Initial Experiments,
IEEE Transactions on Neural Systems Rehabilitation Engineering, Vol. 20, No. 1, January 2012.
(pdf).
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S. Kalyanakrishnan and A. Goswami,
Learning to Predict Humanoid Fall,
The International Journal of Humanoid Robotics, Vol. 8, No. 2, 2011.
(pdf).
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G. Aguirre-Ollinger, J. E. Colgate,
M. A. Peshkin, and A. Goswami,
Design of an Active 1-DOF Lower-Limb Exoskeleton with
Inertia Compensation,
The International Journal of Robotics Research, vol. 30, no. 4, April 2011
(pdf).
My affiliations in the paper are incorrect, please note the Corrigendum
(pdf).
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G. Aguirre-Ollinger, J. E. Colgate,
M. A. Peshkin, and A. Goswami,
A 1-DOF Assistive Exoskeleton with Inertia Compensation:
Effects on the Agility of Leg Swing Motion,
Proceedings of the Institution of Mechanical Engineers, Part H,
Journal of Engineering in Medicine, vol. 225, no. 3, pp. 228-245, 2011.
(pdf).
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R. C. Browning, J. R. Modica,
R. Kram and A. Goswami,
The effects of adding mass to the legs on the enrgetics and biomechanics of walking,
Medicine and Science in Sports and Exercise, March, 2007.
(pdf).
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M. B. Popovic,
A. Goswami, and H. Herr,
Ground reference points in legged locomotion: Definitions,
biological trajectories and control implications,
The International Journal of Robotics Research, Vol. 24, No. 12, 2005.
(pdf).
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S. Goldenstein,
M. Karavelas,
D. Metaxas,
L. Guibas,
E. Aaron,
and
A. Goswami,
Scalable nonlinear dynamical systems for agent steering
and crowd simulation,
Computers and Graphics, Vol. 25, No. 6, 2001.
(pdf).
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D. Tolani, A. Goswami, and
N. I. Badler
Real-time inverse kinematics techniques for anthropomorphic limbs,
Graphical Models, Vol. 62, No. 5, 2000.
(pdf).
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N.I. Badler, D.N. Metaxas, G. Huang, A. Goswami, S. Huh,
Dynamic simulation for zero-gravity activities,
Aviation, Space, and Environment Medicine Journal, 2000.
(pdf).
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A. Goswami and M. Peshkin,
Mechanically implementable accommodation matrices for passive force control,
The International Journal of Robotics Research, Vol. 18, No. 8, 1999.
(pdf).
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A. Goswami,
Postural stability of biped robots and the foot rotation indicator
(FRI) point,
The International Journal of Robotics Research, Vol. 18, No. 6, 1999.
(pdf).
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A. Goswami, B. Thuilot, and B. Espiau,
A study of the passive gait of a compass-like biped robot:
symmetry and chaos,
The International Journal of Robotics Research, Vol. 17, No. 12, 1998.
(pdf).
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A. Goswami,
A new gait parameterization technique by means of cyclogram moments:
Application to human slope walking,
Gait & Posture, Vol. 8, No. 1, 1998.
(pdf).
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A. Goswami, B. Espiau, and A. Keramane,
Limit cycles in a passive compass gait biped and passivity-mimicking control laws,
Journal of Autonomous Robots, Vol. 4, No. 3, 1997.
(pdf).
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T. C. Kienzle III, S. D. Stulberg, M. A. Peshkin, A. Quaid, J. Lea, A. Goswami, and C-H Wu
Computer-assisted total knee replacement surgical system using a calibrated robot,
IEEE Engineering in Medicine and Biology, May/June, 1995.
(pdf).
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A. Goswami and J. R. Bosnik,
On a relationship between the physical features of robotic manipulators and the kinematic parameters produced
by numerical calibration,
ASME Journal of Mechanical Design, December 1993.
Book Sections and Reports
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Humanoid Robotics: A Reference (Editors: A. Goswami and P. Vadakkepat), Springer Nature B.V., Dordrecht, 2018.
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S-H. Lee, A. Hofmann and A. Goswami,
Angular Momentum Based Balance Control,
Humanoid Robotics: A Reference (Editors: A. Goswami and P. Vadakkepat), Springer Nature B.V., Dordrecht, 2018.
(pdf).
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S-H. Lee and A. Goswami,
The reaction mass pendulum (RMP) model for humanoid robot gait and balance control,
Humanoid Robots (Editor: Ben Choi), (In-Tech), Austria, February 2009.
(pdf).
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A. Goswami and E. Cordier,
Moment-based parameterization of evolving cyclograms on gradually changing slopes,
Computer Methods in Biomechanics & Biomedical Engineering, v.2, Middleton J., Jones M.L. and Pande G.N. Eds.
Gordon and Breach Science Publishers, 1998.
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T. C. Kienzle III, S. D. Stulberg, M. A. Peshkin, A. Quaid, J. Lea, A. Goswami,
A Computer-assisted total knee replacement surgical system using a calibrated robot,
in Computer Assisted Surgery, edited by Russell H. Taylor, Stephane Lavallee, Grigore Burdea, and Ralph Moesges.
MIT Press, 1996.
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A. Goswami, B. Thuilot, and B. Espiau,
Compass-like biped robot Part I: Stability and bifurcation of passive gaits,
INRIA Research Report No. 2996, October 1996.
(download).
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A. Goswami,
Mechanical computation for passive force control,
Ph.D. Thesis, Northwestern University, 1993.
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A. Goswami,
Analysis of the relationship between the physical and the
mathematical kinematic parameters in robotic manipulator
parameter estimation algorithms,(without figures, sorry!)
M.S. Thesis, Drexel University, 1989.
(pdf).
Refereed Conference Proceedings
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G. Aguirre-Ollinger, U. Nagarajan and A. Goswami,
Integral Admittance Shaping for exoskeleton control,
ICRA 2015, Seattle, WA, May 2015.
(pdf).
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U. Nagarajan and A. Goswami,
Improved Mobility with a Neutral, Motion-Amplifying Controller for an Experimental Exoskeleton,
Society of Automotive Engineers (SAE) World Congress, Detroit, Michigan, April 2015.
(pdf).
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J. Chiu and A. Goswami,
Design of A Wearable Scissored-Pair Control Moment Gyroscope (SP-CMG) for Human Balance Assist,
ASME IDETC 2014, Buffalo, New York, August 2014.
(pdf).
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S.-K. Yun and A. Goswami,
Tripod Fall: Concept and Experiments of a Novel Approach to Humanoid Robot Fall
Damage Reduction,
ICRA 2014, Hongkong, China, May 2014.
(pdf).
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Federico L. Moro,
Michael Gienger, Ambarish Goswami,
Nikos G. Tsagarakis
and Darwin G. Caldwell
An Attractor-based Whole-Body Motion Control (WBMC)
System for Humanoid Robots,
Humanoids 2013, Atlanta, GA, October 2013.
(pdf).
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J. Chiu and A. Goswami,
Driver Assist for Backing-Up a Vehicle with a Long-Wheelbase Dual-Axle Trailer
AVEC 2012, Seoul, Korea, September 2012.
(pdf).
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S.-K. Yun and A. Goswami,
Humanoid Robot Safe Fall using Aldebaran NAO
ICRA 2012, St. Paul, Minnesota, USA, May 2012.
(pdf).
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A. Sanyal and A. Goswami,
Dynamics and Control of the Reaction Mass Pendulum (RMP) as a 3D Multibody System: Application to Humanoid Modeling,
2011 ASME Dynamic Systems and Control Conference (DSCC), Arlington, VA, October 2011.
(pdf).
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S.-K. Yun and A. Goswami,
Momentum-Based Reactive Stepping Controller
on Level and Non-level Ground for Humanoid Robot Push Recovery,
IROS 2011, San Francisco, CA, September 2011.
(pdf).
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S-H. Lee and A. Goswami,
Fall on Backpack: Damage Minimizing Humanoid Fall on Targeted Body Segment Using Momentum Control,
ASME 2011
8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) inside International
Design Engineering Technical Conference (IDETC), Washington DC, USA, August 2011.
(pdf).
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S-H. Lee and A. Goswami,
Ground reaction force control at each foot:
A momentum-based humanoid balance controller for
non-level and non-stationary ground,
IROS 2010, Taipei, Taiwan, October 2010.
(pdf).
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A. Dutta and A. Goswami,
Human postural model that captures rotational inertia,
The 33rd Annual Meeting of the American Society of Biomechanics ASB 2010, Providence, Rhode Island, USA, August, 2010.
(pdf).
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S. Kalyanakrishnan and A. Goswami,
Predicting falls of a humanoid robot through machine learning,
IAAI-10, Atlanta, Georgia, USA, July, 2010.
(pdf).
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U. Nagarajan and A. Goswami,
Generalized Direction Changing Fall Control of Humanoid Robots Among Multiple Objects,
ICRA 2010, Anchorage, Alaska, USA, May 2010.
(pdf).
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S.-K. Yun, A. Goswami and Y. Sakagami,
Safe Fall: Humanoid robot fall direction change through intelligent
stepping and inertia shaping,
ICRA 2009, Kobe, Japan, May 2009.
(pdf).
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S. Stramigioli,
Vincent Duindam,
Gijs van Oort,
and A. Goswami,
Compact Analysis of 3D Bipedal Gait Using Geometric Dynamics of Simplified Models,
ICRA 2009, Kobe, Japan, May 2009.
(pdf).
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A. Goswami,
Kinematic and dynamic analogies between planar biped
robots and the reaction mass pendulum (RMP) model,
Humanoids 2008, Daejeon, Korea, December 2008.
(pdf).
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D. Orin and A. Goswami,
Centroidal Momentum Matrix of a Humanoid Robot: Structure and Properties,
IROS 2008, Nice, France, September 2008.
(pdf).
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J. Rebula,
J. Pratt, F Canas, and A. Goswami,
Learning Capture Point for Improved Humanoid Push Recovery,
Humanoids07, Pittsburgh, PA, November-December 2007.
(pdf).
Download animations:
Robot performance before learning
Robot performance after learning
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G. Aguirre-Ollinger,
J. Edward Colgate,
Michael A. Peshkin,
and A. Goswami,
A 1-DOF Assistive Exoskeleton with Virtual Negative Damping: Effects on
the Kinematic Response of the Lower Limbs,
IROS 2007, San Diego, CA.
(pdf).
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G. Aguirre-Ollinger,
J. Edward Colgate,
Michael A. Peshkin, and A. Goswami,
Active impedance control of a lower-limb assistive exoskeleton,
10th Int. Conf. on Rehabilitation Robotics (ICORR'07), Noordwijk,
the Netherlands, Jun 13-15 2007.
(pdf).
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S-H. Lee and A. Goswami,
Reaction Mass Pendulum (RMP): An explicit model for centroidal angular momentum
of humanoid robots,
IEEE Int. Conf. on Robotics and Automation, Rome, Italy, April 2007.
(pdf).
KangKang Yin contributed
an important correction to the above paper. (Correction)
Download animations:
HOAP2 Sumo motion with simultaneous RMP
Fujitsu HOAP2 gait with simultaneous RMP
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J. Pratt, J. Carff,
S. Drakunov and A. Goswami,
Capture Point: A Step toward Humanoid Push Recovery,
Humanoids2006, Genoa, Italy, December 2006.
(pdf).
Download animations:
Push recovery with lunge only
Push recovery under increasing forward pushes
Push recovery under forward and lateral pushes
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M. Abdallah and A. Goswami,
A biomechanically motivated two-phase strategy for biped upright balance control,
IEEE Int. Conf. on Robotics and Automation, Barcelona, Spain, April 2005.
(pdf).
Download animations:
Recovery under potential energy control
Reflex and recovery against a 300N horizontal force
Robot balancing on a swaying table
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R. C. Browning, J. Modica, R. Kram and A. Goswami,
The effects of added leg mass on the biomechanics and
energetics of walking,
American Society of Biomechanics (ASB), April 2004.
(pdf).
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A. Goswami and V. Kallem,
Rate of change of angular momentum and balance maintenance of biped robots,
IEEE Int. Conf. on Robotics and Automation, New Orleans, April 2004.
(pdf).
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A. Goswami,
Kinematic quantification of gait symmetry based on bilateral cyclograms,
XIXth Congress of the International Society of
Biomechanics (ISB), Dunedin, New Zealand, July 2003.
(paper pdf)
(poster pdf).
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S. Goldenstein, M. Karavelas, D. Metaxas, L. Guibas and
A. Goswami,
Scalable Dynamical Systems for Multi-Agent Steering and Simulation,
IEEE Int. Conf. on Robotics and Automation,
Seoul, Korea, May 2001.
(pdf).
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A. Goswami,
Segmentation of biomechanical signals by joint-space distance criterion,
17th Congress of the International Society of
Biomechanics (ISB), Calgary, Canada, August 1999.
(pdf).
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H. Sun, A. Goswami, D. Metaxas,
Cyclogram planarity is preserved in upward slope walking,
17th Congress of the International Society of Biomechanics (ISB),
Calgary, Canada, August 1999.
(Download from Harold Sun's website).
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A. Goswami,
Foot rotation indicator (FRI) point: A new gait planning tool to evaluate postural stability of biped robots,
IEEE Int. Conf. on Robotics and Automation, Detroit, May 1999, pp.47-52.
(pdf).
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L. Roussel, C. Canudas de Wit, and A. Goswami,
Generation of energy-optimal complete gait cycles for biped robots,
IEEE Int. Conf. on Robotics and Automation, Leuven, Belgium, May 1998.
(pdf).
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M. Mata-Jimenez, B. Brogliato, and A. Goswami,
On the control of mechanical systems with dynamic backlash,
CDC Conf, San Diego, CA, December 1997.
(pdf).
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M. Mata-Jimenez, B. Brogliato, and A. Goswami,
Analysis of PD control of mechanical systems with dynamic backlash,
2nd Int. Symp. MV2 on Active Control in Mechanical Engineering, Lyon, France, October 1997.
(pdf).
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C. Canudas de Wit, L. Roussel, and A. Goswami,
Periodic stabilization of a 1-dof hopping robot over nonlinear compliant surface,
IFAC Symp. on Robot Control (SyRoCo), Nantes, France, September 1997.
(pdf).
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A. Goswami and E. Cordier,
Moment-based parameterization of cyclograms of slope-walking,
XVIth Congress of the Int. Society of Biomechanics, Tokyo, Japan, August 1997
(finalist for the Best Young Investigator award).
(pdf).
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B. Espiau and the BIP team,
BIP: A joint project for the development of an anthropomorphic biped robot,
8th Int. Conf. on Advanced Robotics (ICAR), Monterey, CA, July 1997..
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C. Canudas de Wit, L. Roussel, and A. Goswami,
Comparative study of methods for energy-optimal gait generation for biped robots,
Int. Conf. on Informatics and Control, St. Petersburg, Russia, June 1997.
(pdf).
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E. Cordier, A. Goswami, and M. Bourlier,
Kinematic parameterization of natural slope walking,
13th Int. Symp. on ``Posture and Gait'',
Paris, France, June 1997..
(pdf).
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A. Goswami and E. Cordier,
Moment-based parameterization of evolving cyclograms on gradually changing slopes,
3rd Int. Symp. on Computer Methods in Biomechanics & Biomedical Engr, Barcelona, May, 1997.
(pdf).
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B. Thuilot, A. Goswami, and B. Espiau,
Bifurcation and chaos in a simple passive bipedal gait,
IEEE Int. Conf. on Robotics and Automation,
Albuquerque, NM, April 1997.
(pdf).
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K. Kedzior, A. Morecki, M. Wojtyra, T. Zagrajek, T. Zielinska, A. Goswami, M. Waldron, and K. Waldron,
Development of a mechanical simulation of human walking,
ROMANSY, Udine, Italy, July 1996..
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A. Goswami, B. Espiau, and A. Keramane,
Limit cycles and their stability in a passive bipedal gait,
IEEE Int. Conf. on Robotics and Automation, Minneapolis, MN, April 1996.
(The signature phase diagram of a compass gait robot that we frequently encounter
now, was first introduced in this paper.).
(pdf).
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A. Goswami, J. T. Lea, A. Quaid, M. A. Peshkin, T. C. Kienzle III, and S. D. Stulberg,
Achieving surgical accuracy with robots using parameter identification,
First Medical Robotics and Computer Assisted Surgery (MRACS) Symposium, Pittsburgh, PA, 1994.
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B. Espiau and A. Goswami,
Compass gait revisited,
IFAC Symp. on Robot Control (SyRoCo), Capri, Italy, September 1994.
(pdf).
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M. A. Peshkin, A. Goswami, and J. M. Schimmels,
Force-guided assembly,
31st Annual Allerton Conf. on Communication, Control, and Computing,
Urbana-Champaign, IL, October 1993..
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A. Goswami and M. A. Peshkin,
Task-space/joint-space damping transformations for passive redundant manipulators,
IEEE Int. Conf. on Robotics and Automation (invited session),
Atlanta, GA, April 1993.
(pdf).
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A. Goswami and M. A. Peshkin,
Mechanical computation for passive force control,
IEEE Int. Conf. on Robotics and Automation,
Atlanta, GA, April 1993.
(pdf).
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A. Goswami, A. Quaid, and M. A. Peshkin,
Complete parameter identification of a robot using partial pose information,
IEEE Int. Conf. on Robotics and Automation,
Atlanta, GA, April 1993.
(pdf).
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A. Goswami, A. Quaid, and M. A. Peshkin,
Calibration and parameter identification of a 6-DOF robot using
a ball-bar system,
IEEE Int. Conf. on Systems, Man, and Cybernetics (invited session),
Chicago, IL, September 1992..
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A. Goswami and M. A. Peshkin,
Implementation of passive force control with redundant manipulators,
IEEE Int. Conf. on Systems, Man, and Cybernetics,
Charlottesville, VA, October 1991.
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A. Goswami and M. A. Peshkin,
A task-space formulation of passive force control,
IEEE Int. Symp. on Intelligent Control (invited session),
Alexandria, VA, October 1991..
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A. Goswami, M. A. Peshkin, and J. E. Colgate,
Passive robotics: An exploration of mechanical computation,
IEEE Int. Conf. on Robotics and Automation, Cincinnati,
OH, April 1990 (Also in American Control Conference,
San Diego, CA, invited session), May 1990.
(pdf).
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A. Goswami and J. R. Bosnik,
Interpretation of redundant kinematic parameters in robotic manipulator calibration algorithms,
ASME Biennial Mechanisms Conference,
Orlando, FL, September 1988.
Page last updated September 1, 2014