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Publications

Titles are linked to PDF versions of the papers.

2019

“Toward A Ballbot for Physically Leading People: A Human-Centered Approach,” ZHONGYU LI and RALPH HOLLIS, IEEE Symp. on Robots and Systems, Macau, China, November 3-8, 2019.

2018

2017

2016

• "Initial Results for a Ballbot Driven with a Spherical Induction Motor," Greg Seyfarth, Ankit Bhatia, Olaf Sassnick, Michael Shomin, Masaaki Kumagai, and Ralph Hollis, IEEE Int'l. Conf. on Robotics and Automation, Stockholm, Sweden, May 2016.

2015

• "Operation of the Ballbot on Slopes and with Center-of-Mass Offsets," Bhaskar Vaidya, Michael Shomin, Ralph Hollis, and George Kantor, IEEE Int'l. Conf. on Robotics and Automation, Seattle, WA, May 2015.
• "Sit-to-Stand Assistance with a Balancing Mobile Robot," Michael Shomin, Jodi Forlizzi, and Ralph Hollis, IEEE Int'l. Conf. on Robotics and Automation, Seattle, WA, May 2015.
• "Six Stator Spherical Induction Motor for Balancing Mobile Robots," Ankit Bhatia, Masaaki Kumagai and Ralph Hollis, IEEE Int'l. Conf. on Robotics and Automation, Seattle, WA, May 2015.

2014

• "Fast, Dynamic Trajectory Planning for a Dynamically Stable Mobile Robot," Michael Shomin and Ralph Hollis, IEEE/RSJ Int'l. Conf. on Intelligent Robots and Systems (IROS 2014), September 14-18, 2014, Chicago, IL, USA.
• "Human-Approaching Trajectories for a Person-Sized Balancing Robot," Michael Shomin, Bhaskar Vaidya, Ralph Hollis, and Jodi Forlizzi, IEEE Int'l. Workshop on Advanced Robotics and Its Social Impacts (ARSO 2014), September 11-13, 2014, Evanston, IL, USA.
• "Psychophysical Evaluation of Haptic Perception Under Augmentation by a Handheld Device," B. Wu, R. Klatzky, R. Lee, V. Shivaprabhu, J. Galeotti, M.l Siegel, J. Schuman, R. Hollis, and G. Stetten, Human Factors: The Journal of the Human Factors and Ergonomics Society, SAGE Publications (2014).

2013

• "The Physical Basis of Perceived Roughness in Virtual Sinusoidal Textures," B. Unger, R. Klatzky, and R. Hollis, IEEE Transactions on Haptics, Vol. 6, Number 4, October-December 2013, pp. 496-505.
• "The Ballbot: An Omnidirectional Balancing Mobile Robot," Umashankar Nagarajan, George Kantor, and Ralph Hollis, Int'l J. of Robotics Research (IJRR), Vol. 33, Number 6, May 2014, pp. 917-930.
• "Shape Space Planner for Shape-Accelerated Balancing Mobile Robots," Umashankar Nagarajan and Ralph Hollis, Int'l. J. of Robotics Research (IJRR) , Vol. 32, Issue 11 , pp. 1323-1341, September 2013.
• "Integrated Motion Planning and Control for Graceful Balancing Mobile Robots," Umashankar Nagarajan, George Kantor, and Ralph Hollis, Int'l. J. of Robotics Research (IJRR), Special Issue: Motion Planning for Physical Robots, Vol. 32, Issue 9-10, pp. 1005-1029, September 2013.
• "Development and Control of a Three DOF Spherical Induction Motor," Masaaki Kumagai and Ralph Hollis, IEEE Int'l Conf. on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013, pp. 1520-1525.
• "Differentially Flat Trajectory Generation for a Dynamically Stable Mobile Robot," Michael Shomin and Ralph Hollis, IEEE Int'l Conf. on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013, pp. 4452-4457.
• "Bimanual Haptic Teleoperation for Discovering and Uncovering Buried Objects," Hanns Tappeiner, Roberta Klatzky, Patrick Rowe, Jorgen Pedersen, and Ralph Hollis, IEEE Int'l Conf. on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013, pp. 2372-2377.

2012

• "Planning in High-dimensional Shape Space for a Single-wheeled Balancing Mobile Robot with Arms," Umashankar Nagarajan, Byungjun Kim, and Ralph Hollis, IEEE Int'l. Conf. on Robotics and Automation, St. Paul, MN, May 14-18, 2012.
• "Integrated Planning and Control for Graceful Navigation of Shape-Accelerated Underactuated Balancing Mobile Robots," Umashankar Nagarajan, George Kantor, and Ralph Hollis, IEEE Int'l. Conf. on Robotics and Automation, St. Paul, MN, May 14-18, 2012.
• "Development and Control of a Three DOF Planar Induction Motor," Masaaki Kumagai and Ralph Hollis, IEEE Int'l. Conf. on Robotics and Automation, St. Paul, MN, May 14-18, 2012.

2011

• "Force, Torque, and Stiffness: Interactions in Perceptual Discrimination," Bing Wu, Roberta Klatzky, and Ralph L. Hollis, IEEE Trans. on Haptics, Vol. 4, No. 3, pp. 221-228,July-September, 2011.
• "Hand-Held Force Magnifier for Surgical Instruments," George Stetten, Bing Wu, Roberta Klatzky, John Galeotti, Mel Siegel, Randy Lee, Francis Mah, Andrew Eller, Joel Schuman, and Ralph Hollis, 2nd International Conference on Information Processing in Computer-Assisted Interventions, Berlin, Germany, June 22, 2011. (Best Poster Award.)
• "Roughness Perception in Virtual Textures," Bertram Unger, Ralph Hollis, and Roberta Klatzky, IEEE Trans. on Haptics, Vol. 4, No. 2, pp. 122-133, April-June, 2011.
• "Development of a Three-Dimensional Ball Rotation Sensing System using Optical Mouse Sensors," Masaaki Kumagai and Ralph Hollis, IEEE Int'l Conf. on Robotics and Automation , Shanghai, China , May 9-13, 2011.

2010

• "Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems," Umashankar Nagarajan, George Kantor and Ralph Hollis, 49th IEEE Conference on Decision and Control, Atlanta, GA, December 15-17, 2010.
• "Dynamic Constraint-based Optimal Shape Trajectory Planner for Shape-Accelerated Underactuated Balancing Systems," Umashankar Nagarajan, Robotics: Science and Systems, Zaragoza, Spain, June 27-31, 2010.

2009

• "Remote Haptic Feedback from a Dynamic Running Machine," Hanns Tappeiner, Sarjoun Skaff, Tomas Szabo and Ralph Hollis, IEEE Int'l Conf. on Robotics and Automation, Kobe, Japan, May 12-17, 2009, pp. 2368-2373.
• "Trajectory Planning and Control of an Underactuated Dynamically Stable Single Spherical Wheeled Mobile Robot," Umashankar Nagarajan, George Kantor and Ralph L. Hollis, IEEE Int'l Conf. on Robotics and Automation, Kobe, Japan, May 12-17, 2009, pp. 3743-3748.
• "State Transition, Balancing, Station Keeping, and Yaw Control for a Dynamically Stable Single Spherical Wheel Mobile Robot, " Umashankar Nagarajan, Anish Mampetta, George Kantor and Ralph L. Hollis, IEEE Int'l Conf. on Robotics and Automation, Kobe, Japan, May 12-17, 2009, pp. 999-1003.
• "Human-Robot Physical Interaction with Dynamically Stable Mobile Robots," Umashankar Nagarajan, George Kantor and Ralph L. Hollis, Human-Robot Interaction (HRI '09), La Jolla, CA, March 11-13, 2009, pp. 281-282.
• "Good Vibrations: Asymmetric Vibrations for Directional Haptic Cues," Hanns W. Tappeiner, Roberta L. Klatzky, Bert Unger, and Ralph Hollis, Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Salt Lake City, UT, March 18-20, 2009, pp. 285-289.

2008

• "The Role and Implementation of Compliance in Legged Locomotion," Jonathan W. Hurst, Ph.D. Thesis, Carnegie Mellon University, Report CMU-RI-TR-08-19, May, 2008.
• "Gait Regulation Control Techniques for Robust Legged Locomotion," Galen Clark Haynes, Ph.D. Thesis, Carnegie Mellon University, Report CMU-RI-TR-08-48, August, 2008.
• "The Geometric Model for Perceived Roughness Applies to Virtual Textures," Bertram Unger, Ralph Hollis, and Roberta Klatzky, The 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, March 13-14, 2008.
• "Haptic Rendering and Psychophysical Evaluation of a Virtual Three-Dimensional Helical Spring," Vinithra Varadharajan, Roberta Klatzky, Bertram Unger, Robert Swendsen, and Ralph Hollis, The 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, March 13-14, 2008.
• "Virtual Environments for a Magnetic Levitation Haptic Device," Martin Oberhuber, Masters Thesis, Swiss Federal Institute of Technology, April 2008.

2007

• "Haptic Rendering and Psychophysical Evaluation of a Virtual Three-Dimensional Helical Spring," Vinithra Varadharajan, Masters Thesis, Carnegie Mellon University, Report CMU-RI-TR-07-21, May, 2007.
• "Integrating Planning and Control for Constrained Dynamical Systems," David C. Conner, Ph.D. Thesis, Carnegie Mellon University, Report CMU-RI-TR-08-01, December, 2007.
• "Virtual Assembly of an Optical System and MEMS Components in a Minifactory," Christoph Bergler, Diploma Thesis, Technical University of Munich, March 2007.
• "JND Analysis of Texture Roughness Perception Using a Magnetic Levitation Haptic Device," Bertram Unger, Ralph Hollis, and Roberta Klatzky, Proc. World Haptics, Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Tsukuba, Japan, March 22-24, 2007, pp. 9-15.
• "Valet Parking Without a Valet," David C. Conner, Hadas Kress-Gazit, Howie Choset, Alfred A. Rizzi, and George J., Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems San Diego, CA, USA, Oct 29 - Nov 2, 2007.
• "A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running," Jonathan W. Hurst, Benjamin Morris, Joel E. Chestnutt, and Alfred A. Rizzi, IEEE Conference on Robotics and Automation, April, 2007.
• "Design and Philosophy of the BiMASC, a Highly Dynamic Biped," Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi, IEEE Conference on Robotics and Automation, April, 2007.

2006

• "Pick and Place in a Minifactory Environment," Cornelius Niemeyer, Diploma Thesis, Swiss Federal Institute of Technology, December 2006.
• "Vision Guided Pick and Place in a Minifactory Environment," R. L. Hollis, D. O'Halloran, G. Fedder, N. Sarkar, and J. (Red) Jones, Proc. 5th Int'l. Symp. on Microfactories, Besancon, France, October 25-27, 2006.
• "Ballbots," Ralph Hollis, Scientific American, October, 2006, pp. 50-55.
• "Gait Regulation and Feedback On a Robotic Climbing Hexapod," G. Clark Haynes and Alfred A. Rizzi, Robotics: Science and Systems II, (RSS '06), Philadelphia, PA, August, 2006.
• "Integrated Planning and Control for Convex-bodied Nonholonomic Systems using Local Feedback Control Policies," David C. Conner, Howie Choset, and Alfred A. Rizzi, Robotics: Science and Systems II , (RSS '06) , Philadelphia, PA, August, 2006.
• "Modeling Dynamics and Exploring Control of a Single-Wheeled Dynamically Stable Mobile Robot with Arms," Eric M. Schearer, MS thesis, CMU-RI-TR-06-37, August, 2006.
• "Automatic Transition of Ballbot from Statically Stable State to Dynamically Stable State," Anish K. Mampetta, MS thesis, CMU-RI-TR-06-41, August, 2006.
• "Gaits and Gait Transitions for Legged Robots," G. Clark Haynes and Alfred Rizzi, Proc. IEEE Int'l. Conf. on Robotics and Automation, Orlando, FL, May 15-19, 2006.
• "Towards Automatic Gait Generation for Dynamic Systems with Non-holonomic Constraints," Elie Shammas, Howie Choset, and Alfred Rizzi , Proc. IEEE Int'l. Conf. on Robotics and Automation, Orlando, FL, May 15-19, 2006.
• "Towards Provable Navigation and Control of Nonholonomically Constrained Convex-Bodied Systems," David C. Conner, Howie Choset, and Alfred A. Rizzi, Proc. IEEE Int'l. Conf. on Robotics and Automation, Orlando, FL, May 15-19, 2006.
• "A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive," T. B. Lauwers, G. A. Kantor, and R. L. Hollis, Proc. IEEE Int'l. Conf. on Robotics and Automation, Orlando, FL, May 15-19, 2006, pp. 2884 - 2889.

2005

• "Deposition Modeling of Automotive Paint Application for Automatic Trajectory Planning for Surfaces Embedded in R^3," D. C. Conner, A. Greenfield, P. Atkar, A. A. Rizzi, and H. Choset, IEEE Trans. on Automation Science and Engineering, October, 2005.
• "One is Enough!", Tom Lauwers, George Kantor, and Ralph Hollis, Proc. Int'l. Symp. for Robotics Research, San Francisco, October 12-15, 2005.
• "Teloperated Microassembly: Combining the Magnetic Levitation Haptic Interface with Minifactory," Michael Kummer, Diploma Thesis, Swiss Federal Institute of Technology Zurich (ETH), May, 2005.
• "Calibrating Courier / Overhead Manipulator Pairs in Minifactory," Rob Schlender, Masters Thesis, Carnegie Mellon University Robotics Institute, May, 2005.
• "A Context-Based State Estimation Technique for Hybrid Systems," S. Skaff, A. Rizzi, H. Choset, and P. Lin, Proc. IEEE International Conference on Robotics and Automation, IEEE, April, 2005, pp. 3935-3940.
• "Uniform Coverage of Automotive Surface Patches," Prasad N. Atkar, Aaron Greenfield, David C. Conner, Howie Choset and Alfred A. Rizzi, The International Journal of Robotics Research 2005; 24; 883.
• "Paint Deposition Modeling for Trajectory Planning on Automotive Surfaces," David C. Conner, Aaron Greenfield, Prasad N. Atkar, Alfred A. Rizzi, and Howie Choset, IEEE Transactions on Automation Science and Engineering , Vol. 2, No. 4, October 2005.

2004

• "Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod Robot," U. Saranli, A. Rizzi, and D.E. Koditschek, Proceedings of the Sixth International Workshop on the Algorithmic Foundations of Robotics (WAFR '04), July, 2004, pp. 75-90.
• "Physically Variable Compliance in Running," J.W. Hurst and A. Rizzi, CLAWAR, SPRINGER-VERLAG, www.springeronline.com, September, 2004.
• "Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot," U. Saranli, A. Rizzi, and D.E. Koditschek, International Journal of Robotics Research, Vol. 23, No. 9, September, 2004, pp. 903-918.
• "An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion," J.W. Hurst, J. Chestnutt, and A. Rizzi, Proc. IEEE Int'l. Conf. on Robotics and Automation, May, 2004.
• "An Actuator with Mechanically Adjustable Series Compliance," J.W. Hurst, J. Chestnutt, and A. Rizzi tech. report CMU-RI-TR-04-24, Robotics Institute, Carnegie Mellon University, April, 2004.
• "Haptics,'' Ralph Hollis, chapter in Encyclopedia of Human Computer Interaction, William Bainbridge, Ed., Berkshire Publishing, 2004.
• "Agile Assembly Architecture: a Technology Platform for Microassembly,'' R. L. Hollis, Proc. Am. Soc. for Precision Engineering 19th Annual Meeting, Orlando, FL, October 26-28, 2004 (invited).
• "Progress in Agile Assembly: Minifactory Couriers Based on Free-Roaming Planar Motors,'' T. B. Lauwers, Z. K. Edmondson, and R. L. Hollis, 4th Int'l. Workshop on Microfactories, Shanghai, P. R. China, October 15-17, 2004, pp. 7-10 (invited).
• "Design and Development of a Tabletop Precision Assembly System,'' R. L. Hollis, J. Gowdy, and A. A. Rizzi, Mechatronics and Robotics (MechRob '04), Aachen, Germany, September 13-15, 2004
• "Teleoperation Mediated Through Magnetic Levitation: Recent Results,'' B. J. Unger, R. L. Klatzky, and R. L. Hollis, IEEE Conf. on Mechatronics and Robotics, Aachen, Germany, September 13-15, 2004 (invited).
• "Free-Roaming Planar Motors: Toward Autonomous Precision Planar Robots,'' T. B. Lauwers, Z. K. Edmondson, and R. L. Hollis, IEEE Int'l. Conf. on Robotics and Automation, New Orleans, April 26 - May 1, 2004.
• "Design and Operation of a Force-Reflecting Magnetic Levitation Coarse-Fine Teleoperation System," B. J. Unger and R. L. Hollis, IEEE Int'l. Conf. on Robotics and Automation, New Orleans, April 26 - May 1, 2004.

2003

• "Experimental Verification of Deposition Models for Automotive Painting with Electrostatic Rotating Bell Atomizers," D.C. Conner, A. Rizzi, and H. Choset, Experimental Robotics VIII (proceedings of ISER '02), Springer-Verlag, Berlin, Heidelberg, 2003, pp. 136-145.
• "Composition of local potential functions for global robot control and navigation," D.C. Conner, A. Rizzi, and H. Choset, Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), IEEE, Vol. 4, October, 2003, pp. 3546- 3551
• "Sequential Composition for Control of Underactuated Systems," G.A. Kantor and A. Rizzi,
  tech. report CMU-RI-TR-03-23, Robotics Institute, Carnegie Mellon University, December, 2003
• "A Telemanipulation System for Psychophysical Investigation of Haptic Interaction,'' B. J. Unger, R. L. Klatzky, and R. L. Hollis, Proc. IEEE Int'l. Conf. on Robotics and Automation, Taipei, Taiwan, September 16-18, 2003 pp. 1253-1259.
• "Toward a Second-Generation Minifactory for Precision Assembly,'' R. L. Hollis, A. A. Rizzi, H. B. Brown, A. E. Quaid, and Z. J. Butler, Proc. Int'l. Advanced Robotics Program Workshop on Microrobots, Micromachines, and Microsystems, Moscow, Russia, April 24-25, 2003.
• "Construction and Automated Deployment of Local Potential Functions for Global Robot Control and Navigation," D.C. Conner, A. Rizzi, and H. Choset, tech. report CMU-RI-TR-03-22, Robotics Institute, Carnegie Mellon University, November, 2003.
• "Inertial navigation and visual line following for a dynamical hexapod robot" S. Skaff, G.A. Kantor, D. Maiwand, and A. Rizzi , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol. 2, October, 2003, pp. 1808-1813.
• "Towards optimal coverage of 2-dimensional surfaces embedded in IR/sup 3/: choice of start curve," P. Atkar, H. Choset, and A. Rizzi, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 4, October, 2003, pp. 3581 - 3587.
• "Template Based Control of Hexapedal Running," U. Saranli and D.E. Koditschek, Proceedings of the IEEE International Conference On Robotics and Automation, September, 2003.

 

2002

• "Virtual Peg-In-Hole Performance using a 6-DOF Magnetic Levitation Haptic Device: Comparison with Real Forces and with Visual Guidance Alone,'' B. J. Unger, A. Nicolaidis, P. J. Berkelman, A. Thompson, R. L. Klatzky, S. J. Lederman, and R. L. Hollis, Proc. of the 10th Symposium on Haptic Interfaces for Teleoperator and Virtual Environment Systems, Orlando, FL, March 2002, pp. 263-270.
• "Deposition Modeling for Paint Application on Surfaces Embedded in R^3," D.C. Conner, P. Atkar, A. Rizzi, and H. Choset, tech. report CMU-RI-TR-02-08, Robotics Institute, Carnegie Mellon University, October, 2002.
• "Development of Deposition Models for Paint Application on Surfaces Embedded in R^3 for Use in Automated Path Planning," D.C. Conner, P. Atkar, A. Rizzi, and H. Choset, Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002.
  

2001

• "Comparison of 3D Haptic Peg-In-Hole Tasks in Real and Virtual Environments,'' B. J. Unger, P. J. Berkelman, A. Nicolaidis, A. Moore, R. Klatzky, and R. L. Hollis, Int'l Conf. on Intelligent Robots and Systems, IROS '01, Maui, Hawaii, Oct. 29---Nov. 3, 2001.
• "A Precision Manipulator Module for Assembly in a Minifactory Environment,'' H. B. Brown, P. M. Muir, A. A. Rizzi, M. Sensi, and R. L. Hollis, IEEE Int'l Conf. on Intelligent Robots and
  Systems, IROS '01, Maui, Hawaii, Oct. 29---Nov. 3, 2001 (Nakamura Prize for Best Paper).
• "Distributed Coordination in Modular Precision Assembly Systems,'' A. A. Rizzi, J. Gowdy, and R. L. Hollis, Int'l. J. of Robotics Research, 20[10], October, 2001, pp. 819-838.
• "A high-performance network infrastructure and protocols for distributed automation," S. Kume and A. Rizzi, Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), Vol. 3, May, 2001, pp. 3121 - 3126.
  

2000

• "Simulation and Experimental Evaluation of Complete Sensor-Based Coverage in Rectilinear Environments,'' Z. J. Butler, A. A. Rizzi, and R. L. Hollis, Proc. Int'l Symp. on Experimental Robotics, Honolulu, Hawaii, December 10-13, 2000.
• "Force-Based Interaction for Distributed Precision Assembly,'' R. Deluca, A. A. Rizzi, and R. L. Hollis, Proc. Int'l Symp. on Experimental Robotics, Honolulu, Hawaii, December 10-13, 2000.
• "Force-Based Interaction for Distributed Precision Assembly,'' R. Deluca, master's thesis, tech. report CMU-RI-TR-00-29, Robotics Institute, Carnegie Mellon University, December, 2000.
• "Lorentz Magnetic Levitation for Haptic Interaction: Device Design, Performance, and Integration with Physical Simulations," Peter J. Berkelman and Ralph L. Hollis, Int'l J. of Robotics Research, Vol. 19, No. 7, July 2000, pp. 644-667
• "Agile Assembly Architecture: Cooperative Precision Assembly," (video) Jay Gowdy, Alfred A. Rizzi, and Ralph L. Hollis, IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000, video proceedings.
• "Visually Guided Coordination for Distributed Precision Assembly," Michael L. Chen, Shinji Kume, Alfred A. Rizzi, and Ralph L. Hollis, IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000, pp. 1651-1656.
• "Optical Coordination Sensor for Precision Cooperating Robots," Wing-Choi Ma, Alfred A. Rizzi, and Ralph L. Hollis, IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000, pp. 1621-1626.
• "Cooperative Coverage of Rectilinear Environments," Z.J. Butler, A.A. Rizzi, and R. L. Hollis, IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000, pp. 2722-2727.
• "Robust and Efficient Motion Planning for a Planar Robot Using Hybrid Control," A. E. Quaid and A.A. Rizzi, IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000, pp. 4021-4026.
• "Complete Distributed Coverage of Rectilinear Environments," Z.J. Butler, A.A. Rizzi, and R. L. Hollis, Workshop on the Algorithmic Foundations of Robotics, Hanover, NH, March 2000.
• "Design and Simulation of a Miniature Mobile Parts Feeder," A.E. Quaid and R.L. Hollis, in Distributed Manipulation, Howie Choset and Karl F. Bohringer (eds.), Kluwer, 2000, pp. 127-146.
• "A Planar Robot for High-Performance Manipulation," A. Quaid, doctoral dissertation, tech. report CMU-RI-TR-00-19, Robotics Institute, Carnegie Mellon University, December, 2000.
• "Distributed Coverage of Rectilinear Environments," Z. Butler, doctoral dissertation, tech. report CMU-RI-TR-00-23, Robotics Institute, Carnegie Mellon University, September, 2000.
  

1999

• "Distributed Programming and Coordination for Agent-Based Modular Automation," A.A. Rizzi, J. Gowdy, and Ralph L. Hollis, The Ninth International Symposium of Robotics Research, Snowbird, Utah, October 1999.
• Tool-Based Haptic Interaction with Dynamic Physical Simulations using Lorentz Magnetic Levitation , Peter Berkelman, doctoral dissertation, tech. report CMU-RI-TR-99-11, Robotics Institute, Carnegie Mellon University, May, 1999.
• "Contact Sensor-based Coverage of Rectilinear Environments," Z.J. Butler, A.A. Rizzi and Ralph L. Hollis, IEEE Int'l Symposium on Intelligent Control, Boston, September 15-17, 1999.
• "WYSIWYF Display: A Visual/Haptic Interface to Virtual Environment," Y. Yokokohji, R. L. Hollis, and T. Kanade, Presence, Vol. 8, No. 4, August, 1999, pp. 412-434.
• "Interaction with Simulated Environments using a Magnetic Levitation Haptic Interface Device (video)," P. J. Berkelman and R. L. Hollis, IEEE International Conference on Robotics and Automation Video Proceedings, Detroit, May 10-15, 1999. Link to abstract and preview
• "Exploiting Redundancy for Autonomous Calibration of a Planar Robot," A.E. Quaid and A.A. Rizzi, Experimental Robots VI: the 6th International Symposium, March 26-28, 1999, Sydney, Australia, Springer-Verlag.
• "Interaction with a Realtime Dynamic Environment Simulation using a Magnetic Levitation Haptic Interface Device," P. J. Berkelman, R. L. Hollis, and D. Baraff, IEEE International Conference on Robotics and Automation, Detroit, May 10-15, 1999, pp. 3261-3266.
• "A Miniature Mobile Parts Feeder: Operating Principles and Simulation Results," A.E. Quaid, IEEE International Conference on Robotics and Automation, Detroit, May 10-15, 1999, pp. 2221-2226.
• "An Integrated Interface Tool for the Architecture for Agile Assembly," J. Gowdy and Z. J. Butler, IEEE International Conference on Robotics and Automation, Detroit, May 10-15, 1999, pp. 3097-3102.
• "Programming in the Architecture for Agile Assembly," J. Gowdy and A. A. Rizzi, IEEE International Conference on Robotics and Automation, Detroit, May 10-15, 1999, pp. 3103-3108.
• "Fluorescent Dye Based Optical Position Sensing for Planar Linear Motors," G.A. Fries, A.A. Rizzi, and R.L. Hollis, IEEE International Conference on Robotics and Automation, Detroit, May 10-15, 1999, pp. 1614-1619.

1998

• "Miniature Factories for Precision Assembly," R. L. Hollis and J. Gowdy, International Workshop on Microfactories, Tsukuba, Japan, December 7-9, 1998, pp. 9-14.
• "Mechatronic objects for real-time control software development," P. Muir and J. Horner, Proceedings of the 1998 SPIE International Symposium on Intelligent Systems and Advanced Manufacturing: Mechatronics Conference, November, 1998.
• "Miniature Factories: Tabletop Assembly Systems for Mechatronic Products," R. L. Hollis and J. Gowdy, IARP Micro Robots and Systems Conference, Beijing, October 20-22, 1998.
• "Opportunities for Increased Intelligence and Autonomy in Robotic Systems for Manufacturing," A. A. Rizzi and R. L. Hollis, Robotics Research, the Eighth International Symposium of Robotics Research, Hayama, Japan, October 3-7, 1997, Y. Shirai and S. Hirose, (Eds.) Springer-Verlog 1998, pp. 141-151.
• "Hybrid Control as a Method for Robot Motion Programming," A.A. Rizzi, IEEE Int'l. Conf. on Robotics and Automation, Leuven, Belgium, May, 1998, pp. 832-837.
• "3-DOF Closed-Loop Control for Planar Linear Motors," A.E. Quaid and R.L. Hollis, IEEE Int'l. Conf. on Robotics and Automation, Leuven, Belgium, May, 1998, pp. 2488-2493.
• "Integrated Precision 3-DOF Position Sensor for Planar Linear Motors," Z. J. Butler, A. A. Rizzi, and R. L. Hollis, IEEE Int'l Conf. Robotics and Automation, Leuven, Belgium, May 1998, pp. 3109-3114.

1997

• "Minifactory: A Precision Assembly System Adaptable to the Product Life Cycle," Patrick F. Muir, Alfred A. Rizzi, and Jay Gowdy, SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Pittsburgh, PA, October, 1997.
• "Dynamic performance of a hemispherical magnetic levitation haptic interface device," P. J. Berkelman and R. L. Hollis, in SPIE Int'l Symposium on Intelligent Systems and Intelligent Manufacturing, SPIE Proc. Vol. 3602, Greensburgh PA, September 1997.
• "Magnetic levitation haptic interfaces will impact training and design," P. Berkelman and R. L. Hollis interview by Frederick Su, Int'l. Soc. for Optical Eng., SPIE OE Reports no. 165, SPIE, September, 1997 (link to web document).
• "Modular Precision Assembly Systems," R. L. Hollis, SPIE Newsletter article, April, 1997.
• "Agile Assembly Architecture: An Agent-Based Approach to Modular Precision Assembly Systems," Alfred A. Rizzi, Jay Gowdy, and Ralph L. Hollis, IEEE Int'l. Conf. on Robotics and Automation, Albuquerque, NM, April 20-25, 1997.
• "Force Characterization and Commutation of Planar Linear Motors," A.E. Quaid, Yangsheng Xu, and R.L. Hollis, IEEE Int'l. Conf. on Robotics and Automation, Albuquerque, NM, April 20-25, 1997.

1996

• "Design of a Hemispherical Magnetic Levitation Haptic Interface Device," P.J. Berkelman, Z.J. Butler, and R.L. Hollis, 1996 ASME IMECE, Atlanta, November 17-22, 1996, DSC-Vol. 58 pp. 483-488
• "Toward Machine Mediated Training of Motor Skills -Skill Transfer from Human to Human via Virtual Environment-," Y. Yokokohji, R. L. Hollis, T. Kanade, K. Henmi, and T. Yoshikawa, 5th IEEE International Workshop on Robot and Human Communication, RO-MAN '96, Tsukuba, Japan, November 11-14, 1996, pp. 32-37.
• "Vision-based Visual/Haptic Registration for WYSIWYF Display," Y. Yokokohji, R. L. Hollis, and T. Kanade, International Conference on Intelligent Robots and Systems, IROS '96, Osaka, Japan, November 4-8, 1996, pp. 1386-1393.
• "Whither Microbots?" R. L. Hollis, Proc. 7th Int'l. Symp. on Micromachine and Human Science, Nagoya, October 2-4, 1996.
• "Cooperative 2-DOF Robots for Precision Assembly," A.E. Quaid and R. L. Hollis, IEEE International Conference on Robotics and Automation, Minneapolis, April 22-28, 1996.
• "What you can see is what you can feel. -Development of a visual/haptic interface to virtual environment-," Y. Yokokohji, R. L. Hollis, and T. Kanade, IEEE Virtual Reality Annual International Symposium, March 30 - April 3, 1996, pp. 46-53.

1995

• "Design and Control of a Force-Reflecting Teleoperation System with Magnetically Levitated Master and Wrist," S. E. Salcudean, N. M. Wong, and R. L. Hollis, IEEE Transactions on Robotics and Automation, Vol. 11, No. 6, December, 1995, pp. 844-858.
• "Sensor-based Registration and Stacking of Electronic Substrate Layers," A. E. Brennemann, R. Hammer, W. V. Jecusco II, and R. L. Hollis, IEEE Robotics and Automation magazine, Vol. 2, No. 4, December 1995, pp. 30-35.
• "An Architecture for Agile Assembly," R. L. Hollis and A. Quaid, American Society of Precision Engineering 10th Annual Mtg., Austin, October 15-19, 1995.
• "Interacting with Virtual Environments using a Magnetic Leviation Haptic Interface," P. J. Berkelman, R. L. Hollis, and S. E. Salcudean, International Conference on Intelligent Robots and Systems, IROS '95, Pittsburgh, August, 1995.
• "Magnetic and Optical-Fluorescence Position Sensing for Planar Linear Motors," A. E. Brennemann and R. L. Hollis, International Conference on Intelligent Robots and Systems, IROS '95, Pittsburgh, August, 1995.

1994

• "Accurate Alignment of Laminate Materials using Sensor-Based Robot Techniques, " A. E. Brennemann, R. Hammer, R. L. Hollis, and W. V. Jecusco, IEEE Int'l Conf. on Robotics and Automation, San Diego, May 8-13, 1994, pp. 2273-2278.

1993

• "Lorentz Levitation Technology: a New Approach to Fine Motion Robotics, Teleoperation, Haptic Interfaces, and Vibration Isolation," R. L. Hollis and S. E. Salcudean, Int'l Symposium for Robotics Research, Hidden Valley, Pa., October 1-3, 1993.