Richard Voyles' List of Publications

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Paper Bio

Journal Articles

  1. Y. Sun, K. Kim, R. Voyles, and B. Nelson, "Calibration of Multi-Axis MEMS Force Sensors Using the Shape from Motion Method," in IEEE Sensors Journal, v. 7, No. 3, pp. 344-351, 2007
  2. M. Schrameck, R. Bodor, R. Voyles, "Automatic Euclidean Reconstruction for Turntable Sequences by Indirect Epipolar Search Between Pairs of Views," in Image and Vision Computing, v. 24, n. 7, July, pp. 693-708, 2006.
  3. A.C. Larson, G.K. Demir, and R.M. Voyles, "Terrain Classification Using Weakly-Structured Vehicle/Terrain Interaction ," in Autonomous Robots, v. 19, pp. 41-52, 2005.
  4. R.M. Voyles and S. Hulst, "Micro/Macro Force-Servoed Gripper for Precision Photonics Assembly and Analysis, Robotica, v. 23, n. 4, July, 2005, pp 401-408.
  5. A. Larson and R. Voyles, "TerminatorBot: A Novel Robot with Dual-Use Mechanism for Locomotion and Manipulation," in IEEE/ASME Transactions on Mechatronics, v. 10, n. 1, pp. 17-25, 2005.
  6. P.E. Rybski, N.P. Papanikolopoulos, S. A. Stoeter, D.G. Krantz, K.B. Yesin, M. Gini, R. Voyles, D.F. Hougen, B. Nelson and M.D. Erickson, "Enlisting Rangers and Scouts for Reconnaissance and Surveillance," in IEEE Robotics and Automation Magazine, v. 7, n. 4, pp. 14-24, Dec. 2000.
  7. R. Singh, R.M. Voyles, D. Littau, and N.P. Papanikolopoulos, "Shape Morphing-Based Control of Robotic Visual Servoing," in Autonomous Robots, v. 10, n. 3, pp 317-338, 2001.
  8. R.M. Voyles and P.K. Khosla, " A Multi-Agent System for Programming Robots by Human Demonstration," in Integrated Computer-Aided Engineering, v. 8, n. 1, pp. 59-67, 2001.
  9. R.M. Voyles, J.D. Morrow, and P.K. Khosla, " Gesture-Based Programming for Robotics: Human Augmented Software Adaptation,," special issue of IEEE Intelligent Systems on self-adaptive software, v. 14, n. 6, 1999, pp. 22-29.
  10. R.M. Voyles, J.D. Morrow, and P.K. Khosla, " Towards Gesture-Based Programming: Shape from Motion Primordial Learning of Sensorimotor Primitives," special issue of the Journal of Robotics and Autonomous Systems on robot learning, v. 22, n. 3-4, Dec. 1997, pp. 361-375.
  11. R.M. Voyles, Jr., J.D. Morrow and P.K. Khosla, " The Shape from Motion Approach to Rapid and Precise Force/Torque Sensor Calibration," in Journal of Dynamic Systems, Measurement and Control, v. 119, n. 2, June, 1997, pp. 229-235.

Refereed Conference Papers

  1. R.M. Voyles and R. Godzdanker, " Side-Slipping Locomotion of a Miniature, Reconfigurable Limb/Tread Hybrid Robot," in IEEE Workshop on Safety, Security and Rescue Robots, Sendai, Japan, Oct., 2008.
  2. R. Godzdanker and R.M. Voyles, " Steering Control of an Active Tether Through Mass Matrix Control," in IEEE Workshop on Safety, Security and Rescue Robots, Sendai, Japan, Oct., 2008.
  3. R. Voyles and J. Bae, " The Gestural Joystick and the Efficacy of the Path Tortuosity Metric for Human/Robot Interaction," in PerMIS, Gaitherburg, MD, Aug., 2008.
  4. R. Godzdanker and R. Voyles, "Non-Isomorphic Tread Design for a Side-Slipping Tread/Limb Hybrid Robot," in SICE, Tokyo, Japan, Aug., 2008.
  5. R. Voyles and J. Bae, "The Gestural Joystick and the Efficacy of Path Tortuosity in Rubbled Environments," in SICE, Tokyo, Japan, Aug., 2008.
  6. R. Voyles, J. Bae, B. Smith, D. Kusuma and L. Nguyen, "Smart Tupperware: Active Containers for Kitchen Automation," in SICE, Tokyo, Japan, Aug., 2008.
  7. A.C. Larson, R.M. Voyles, J. Bae, R. Godzdanker, " Evolving Gaits for Increased Selectivity in Terrain Classification," in Proc. of the 2007 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems
  8. E. Ribnick, S. Atev, N. Papanikolopoulos, O.Masoud, R.M. Voyles, "Detection of Thrown Objects in Indoor and Outdoor Scenes," in Proc. of the 2007 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems
  9. R.M. Voyles, R. Godzdanker, T.H. Kim, " Auxiliary Motive Power for TerminatorBot: An Actuator Toolbox," in IEEE Workshop on Safety, Security and Rescue Robots, Rome, Italy, Sept., 2007, T4.
  10. J. Bae, A. Larson, R.M. Voyles, R. Godzdanker, J. Pearce, " Development and User Testing of the Gestural Joystick for Gloves-On Hazardous Environments," in Proc. of the IEEE Intl. Symp. on Robot & Human Interactive Communication, Jeju, Korea, Aug. 2007, pp. 1096-1101.
  11. R.M. Voyles, J. Bae, "Smart Tupperware: An Example of Bluetooth Wireless Sensor Networks for Human Assistive Mechatronic Systems," in Proc. of the Intl. Conf. on Advanced Robotics, Jeju, Korea, Aug. 2007, pp. 449-454.
  12. J. Bae, R.M. Voyles, R. Godzdanker, "" Preliminary Usability Tests of the Wearable Joystick for Gloves-On Hazardous Environments," in Proc. of the Intl. Conf. on Advanced Robotics, Jeju, Korea, Aug. 2007, pp. 514-519.
  13. C. D’Souza, B. H. Kim, and R. Voyles, "Morphing Bus: A rapid deployment computing architecture for high performance, resource-constrained robots," in Proc. of the 2007 IEEE Intl. Conf. on Robotics and Automation, v. 1, pp. 311-316.
  14. E. Ribnick, S. Atev, O. Masoud, N. Papanikolopoulos, and R. Voyles, "Real Time Detection of Camera Tampering," in Proc. of the 2006 Intl. Conf. on Advanced Video and Signal Based Surveillance, Sydney, NSW, Australia.
  15. Q. Zhang, W.Cho, G. Sobelman, L. Yang, and R. Voyles, "TwinsNet: A Cooperative MIMO Mobile Sensor Network," in Proceedings of the 3rd Intl Conf. on Ubiquitous Intelligence and Computing, Lecture Notes in Computer Science, v. 4159, pp. 508-516, 2006, Springer.
  16. J. Bae and R. Voyles, "Wireless Video Sensor Networks Over Bluetooth for a Team of Urban Search and Rescue Robots," in Proceedings of the 2006 International Conference on Wireless Networks, Las Vegas, NV.
  17. Y. Sun, K. Kim, R. Voyles, and B. Nelson, "Calibration of Multi-Axis MEMS Force Sensors Using the Shape from Motion Method," in the Proceedings of the 2006 IEEE International Conference on Robotics and Automation, pp. 269-274.
  18. B.H. Kim, C. D'Souza, R.M. Voyles, J. Hersch, S. Roumeliotis, "A Reconfigurable Computing Platform for Plume Tracking with Mobile Sensor Networks," in the Proceedings of the 2006 SPIE Defense and Security Symposium, Orlando, FL, April, 2006.
  19. J. Bae and R.M. Voyles, "Wearable Joystick for Gloves-on Human/Computer Interaction," in the Proceedings of the 2006 SPIE Defense and Security Symposium, Orlando, FL, April, 2006.
  20. S. Watters, T. Miller, P. Balachandran, W. Schuler, R. Voyles, " Exploiting a Sensed Environment to Improve Human-Agent Communication," in Proceedings of the 4th International Joint Conference on Autonomous Agents and Multi-Agent Systems, v. , pp. .
  21. W. Zhao, B.H. Kim, A.C. Larson and R.M. Voyles, " FPGA Implementation of Closed-Loop Control System for Small-Scale Robot," in Proceedings of the 2005 International Conference on Advanced Robotics, pp. 70-77.
  22. G.K. Demir, R.M. Voyles and A.C. Larson, " Motion Estimation with Cooperatively Working Multiple Robots," in Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, v. 2, pp. 1556-1561.
  23. H.K. Arumugam, R.M. Voyles and S. Bapat, " Stiffness Analysis of a Class of Parallel Mechanisms for Micro-Positioning Applications," in Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, v. 2, pp. 1826-1831.
  24. R.M. Voyles, A.C. Larson, M. Lapoint and J. Bae, " Core-Bored Search-and-Rescue Applications for an Agile Limbed Robot," in Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, v. 1, pp. 58-63.
  25. A.C. Larson, R.M. Voyles and G.K. Demir, " Terrain Classification Through Weakly-Structured Vehicle/Terrain Interaction," in Proceedings of the 2004 IEEE International Conference on Robotics and Automation, v. 1, pp. 218-224.
  26. G.K. Demir and R.M. Voyles, "Use of cooperative robots in motion estimation with scale factor," IEEE 12th Signal Processing and Communications Applications Conference, pp:470 - 473, 28-30 April 2004, Kusadasi, Turkey
  27. R.M. Voyles, "PlayStation 101: Using Video Game Development to Integrate Teaching and Research in Computer Science," Poster Session, Academy of Distinguished Teachers Conference on Teaching and Learning in a Reseach University, University of Minnesota, April, 2003.
  28. R.M. Voyles, A.C. Larson, K.B. Yesin, B. Nelson, "Using Orthogonal Visual Servoing Errors for Classifying Terrain," in Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, v. 1, pp. 772 - 777.
  29. A. Larson and R. Voyles, "Automatic Training Data Selection for Sensorimotor Primitives," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, v. 1, pp. 871 - 876.
  30. M.S. Sutton, A. Larson, R. Voyles, "Performance Evaluation of Sensorimotor Primitives Using Eigenvector Learning Method," in Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, v. 1, pp. 963 - 967.
  31. R.M. Voyles, "A Mesoscale Mechanism for Adaptive Mobile Manipulation," in Proceedings of the ASME Dynamic Systems and Control Division, ASME Annual Meeting, v. 2, pp. 957-964.
  32. R.M. Voyles, "Novel Gaits for a Novel Crawling/Grasping Mechanism," in Proceedings of the International Symposium on Adaptive Motion of Animals and Machines, v 1, pp. .
  33. P. Rybski, S. Benjaafar, J. R. Budenske, M. Dvorak, M. Gini, D. Hougen, D. G. Krantz, P. Y. Li, F. Malver, B. Nelson, N. Papanikolopoulos, S. A. Stoeter, R. Voyles and K. B. Yesin, "A Robotics Reconnaissance and Surveillance Team," in Video Proceedings of the 2000 IEEE International Conference on Robotics and Automation Best Video Award
  34. R.M. Voyles, "TerminatorBot: A Robot with Dual-Use Arms for Manipulation and Locomotion," in Proceedings of the 2000 IEEE International Conference on Robotics and Automation, v 1, pp. 61-66.
  35. D. F. Hougen, S. Benjaafar, J. C. Bonney, J. R. Budenske, M. Dvorak, M. Gini, H. French, D. G. Krantz, P. Y. Li, F. Malver, B. Nelson, N. Papanikolopoulos, P. E. Rybski, S. A. Stoeter, R. Voyles and K. B. Yesin, "A Miniature Robotic System for Reconnaissance and Surveillance," in Proceedings of the 2000 IEEE International Conference on Robotics and Automation, v 1, pp. 501-507.
  36. K. Yesin, B. Nelson, N. Papanikolopoulos, R. Voyles and D. Krantz, "Active Video System for a Miniature Reconnaissance Robot" in Proceedings of the 2000 IEEE International Conference on Robotics and Automation, v 4, pp. 3920-3925.
  37. D. F. Hougen, J. C. Bonney, J. R. Budenske, M. Dvorak, M. Gini, D.G. Krantz, F. Malver, B. Nelson, N. Papanikolopoulos, P. E. Rybski, S. A. Stoeter, R. Voyles and K. B. Yesin, "Reconfigurable Robots for Distributed Robotics," in Government Microcircuit Applications Conf., Anaheim, CA, Mar. 2000, pp. 72-75.
  38. R. Singh, R.M. Voyles, D. Littau, and N.P. Papanikolopoulos, "Shape Recognition and Vision-Based Robot Control Using Shape Morphing," in Proceedings of the 1999 IEEE International Conference on Information, Intelligence, and Systems, Washington, D.C., pp. 188-195.
  39. K.B. Yesin, B.J. Nelson, N.P. Papanikolopoulos, R.M. Voyles, and D. Krantz, "A System of Launchable Mesoscale Robots for Distributed Sensing," in Proceedings of the 1999 SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, September, 1999, Boston, MA.
  40. K.B. Yesin, B.J. Nelson, N.P. Papanikolopoulos, R.M. Voyles, and D. Krantz, "Active Video Modules for Launchable Reconnaissance Robots," in Proceedings of the 2nd International Conference on Recent Advances in Mechatronics, May, 1999, Istanbul, Turkey.
  41. P.E. Rybski and R.M. Voyles, "Interactive Task Training of a Mobile Robot Through Human Gesture Recognition," in Proceedings of the 1999 IEEE International Conference on Robotics and Automation, v. 1, pp. 664-669.
  42. R.M. Voyles and P.K. Khosla, "Gesture-Based Programming: A Preliminary Demonstration," in Proceedings of the 1999 IEEE International Conference on Robotics and Automation, v. 1, pp 708-713 (19MBytes!).
  43. R. Singh, R.M. Voyles, D. Littau, and N.P. Papanikolopoulos, "Grasping Real Objects Using Virtual Images," in Proceedings of the 1998 IEEE International Conference on Decision and Control, Tampa, FL, December 16-18, pp. 3269-3274.
  44. R.M. Voyles and P.K. Khosla, " A Multi-Agent System for Programming Robotic Agents by Human Demonstration"," in Proceedings of AI and Manufacturing Research Planning Workshop , Albuquerque, NM, Aug 1998. (PostScript version)
  45. N. Papanikolopoulos, R. Voyles, D. Krantz, M. Gini, and S. Parathasarathy, "Distributed Reconfigurable Robots" in Proceedings of the First NASA/JPL Workshop on Biomorphic Explorers for Future Missions, Pasadena, CA, Aug, 1998.
  46. R. Singh, R.M. Voyles, D. Littau, N.P. Papanikolopoulos, "Pose Alignment of An Eye-In-Hand System Using Image Morphing," in Proceedings of 1998 IEEE/RSJ International Conference on Robots and Systems, Vancouver, BC
  47. R.M. Voyles, A. Agah, P.K. Khosla and G.A. Bekey, " Tropism-Based Cognition for the Interpretation of Context-Dependent Gestures," in Proceedings of 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, v. 4, pp. 3481-3486, Apr. 1997. (54,694 bytes)
  48. R.M. Voyles and P.K. Khosla, " Collaborative Calibration: Extending Shape from Motion Calibration," in Proceedings of 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, v. 4, pp. 2795-2800, Apr. 1997. (37,502 bytes)
  49. R.M. Voyles, J.D. Morrow and P.K. Khosla, " Including Sensor Bias in Shape from Motion Calibration and Multisensor Fusion," in Proceedings of the 1996 IEEE/SICE/RSJ Multisensor Fusion and Integration Conference, Washington, DC, December 8-10, 1996.
  50. R.M. Voyles and P.K. Khosla, " Gesture-Based Programming, Part 1: A Multi-Agent Approach," in Intelligent Engineering Systems through Artificial Neural Networks, Volume 6; Smart Engineering Systems: Neural Networks, Fuzzy Logic and Evolutionary Programming, ASME Press, 1996.
  51. R.M. Voyles, J.D. Morrow and P.K. Khosla, " Gesture-Based Programming, Part 2: Primordial Learning," in Intelligent Engineering Systems through Artificial Neural Networks, Volume 6; Smart Engineering Systems: Neural Networks, Fuzzy Logic and Evolutionary Programming, ASME Press, 1996.
  52. R.M. Voyles, Jr., G. Fedder and P.K. Khosla, " A Modular Tactile Sensor and Actuator Based on an Electrorheological Gel," in Proceedings of 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, Apr. 1996, pp. 13-17. (86,367 bytes)
  53. R.M. Voyles, Jr., J.D. Morrow and P.K. Khosla, " Shape from Motion Approach to Rapid and Precise Force/Torque Sensor Calibration," in Proceedings of 1995 ASME International Mechanical Engineering Congress and Exposition, San Francisco, CA, Nov. 1995. (259,211 bytes compressed)
  54. R.M. Voyles, Jr. J.D. Morrow, and P.K. Khosla, " Shape from Motion Decomposition as a Learning Approach for Autonomous Agents," in Proceedings of 1995 IEEE Conf. on Systems, Man, and Cybernetics, Vancouver, B.C., Oct. 1995. (220,867 bytes compressed)
  55. R.M. Voyles, Jr. and P.K. Khosla, " Multi-Agent Gesture Interpretation for Robotic Cable Harnessing," in Proceedings of 1995 IEEE Conf. on Systems, Man, and Cybernetics, Vancouver, B.C., Oct. 1995, v. 2, pp. 1113 - 1118. (364,439 bytes compressed)
  56. R.M. Voyles, Jr. and P.K. Khosla, " Tactile Gestures for Human/Robot Interaction," in Proceedings of 1995 IEEE/RSJ Conf. on Intelligent Robots and Systems, Pittsburgh, PA, Aug. 1995. (358,839 bytes compressed)
  57. R.M. Voyles, Jr., B.L. Stavnheim, and B. Yap, "Practical Electrorheological Fluid-Based Fingertips for Robotic Applications," in Proceedings of 1989 IASTED International Symposium on Robotics and Manufacturing, Santa Barbara, CA, Nov. 1989.

Workshops

  1. R. Voyles and A. Larson, "Active Sensing of Terrain by a Crawling Robot: Optimizing Gait for Terrain Selectivity" ARO Workshop on Mobility and Control in Challenging Environments, Oct, 2006.
  2. R. Voyles, "Collaborative Sensing Strategies for Small Emergency Response Robots" ICRA Workshop, 2004.
  3. R. Singh, R.M. Voyles, D. Littau, N.P. Papanikolopoulos, "Alignment of An Eye-In-Hand System To Real Objects Using Virtual Images," Workshop on Robust Vision for Vision-Based Control of Motion, 1998 IEEE International Conference on Robotics and Automation, May, 1998.
  4. R.M. Voyles, and P.K. Khosla, "A Multi-Agent System for Programming Robotic Agents by Human Demonstration," Workshop on Agents in Manufacturing, 1998 AAAI International Conference on Autonomous Agents, May, 1998.

Invited Talks

  1. "Wireless Video Sensor Networks over Bluetooth for Small Search and Rescue Robots" CU Boulder, Dec. 2007
  2. "Using Visual Servoing Errors for Terrain Classification on a Resource-Constrained Robot" Hanyang University, Korea, August, 2007
  3. "Embedded Real-Time Control of a Resource-Constrained CRAWLER Robot" GE, April, 2006
  4. "Embedded Real-Time Control of a Resource-Constrained CRAWLER Robot" UCCS, Nov, 2005
  5. "Embedded, Real-Time Control of a Resource-Constrained CRAWLER Robot" Dartmouth College, April, 2005
  6. "The Engineer Wore Fire Boots" MTS Systems Engineers' Week Colloquium, February, 2005
  7. "Robotic Technologies for Surveillance and Response" Utah State University, November, 2004.
  8. "Terminators and Scouts and Robots that Go Bump in the Night" Honeywell Labs Seminar, July, 2004.
  9. "Terminators and Scouts and Robots that Go Bump in the Night" University of Alaska, Fairbanks, November, 2003.
  10. "Terminators and Scouts and Robots that Go Bump in the Night" Northwestern University, July, 2003.
  11. "TerminatorBot: A Two-Limbed Locomotor/Manipulator for Surveillance and Search-and-Rescue" UC Berkeley, Intelligent Systems Seminar, May, 2003.
  12. "Gesture-Based Programming and TerminatorBot: Mechanisms for Force-Based Manipulation" Stanford University, CS Dept. Seminar, April, 2003.
  13. "TerminatorBot: A Miniature Robot for Search-and-Rescue and Exploration" Harvard University, Applied Mechanics Seminar, April, 2003.
  14. "Gesture-Based Programming and TerminatorBot: Human-Directed Mobile Manipulation" University of Massachusetts, Amherst, CS Dept. Seminar, April, 2003.
  15. "CRAWLER: A Cylindrical Robot for Autonomous Walking and Lifting for Emergency Response" Carnegie Mellon University Robotics Seminar, Feb., 2003.
  16. "Cool Robots and What They Do" MnIPS, May 2001.
  17. "Terminators and Scouts and Robots that Go Bump in the Night" Iowa State University Computer Science Colloquium, Nov. 2, 2000.
  18. "Cool Robots and What They Do" Metro State University, April 2000.
  19. "Robots: Flexible Machines? The Needs of Robotics in Manufacturing" at the AAAI Artificial Intelligence in Manufacturing Workshop: State of the Art, State of the Practice in Albuquerque, NM, August 31 - September 2, 1998.
Prof. Voyles' home

University of Denver