Assistive Robotics Lab at UCF

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Robotics and Visual Servoing Publications

  1. D.-J. Kim, R. Hazlett, H. Godfrey, G. Rucks, T. Cunningham, D. Portee, J. Bricout, and A. Behal, "How Autonomy Impacts Performance and Satisfaction: Results from a Study with Spinal Cord Injured Subjects using an Assistive Robot," IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, revision under review.


  2. K. Tsui, D.-J. Kim, A. Behal, D. Kontak, and H. Yanco, ""I Want That": Human-in-the-Loop Control of a Wheelchair-Mounted Robotic Arm," Applied Bionics and Biomechanics: Special Issue on Assistive and Rehabilitation Robotics, in press.


  3. D.-J. Kim, Z. Wang, and A. Behal, "Motion Segmentation and Control Design for an Intelligent Assistive Robotic Manipulator," IEEE/ASME Transactions on Mechatronics, submitted, under review.


  4. D.-J. Kim, R. Hazlett, H. Godfrey, G. Rucks, T. McNally, D. Portee, J. Bricout, and A. Behal, "On the Relationship between Autonomy, Performance, and Satisfaction: Lessons from a Three-Week User Study with post-SCI Patients using a Smart 6DOF Assistive Robotic Manipulator", 2010 IEEE International Conference on Robotics and Automation, May 3-8, 2010, Anchorage, AK, USA, , pp. 217-222.

  5. Z. Wang, D.-J. Kim, and A. Behal, "An Optimization-based Approach for Design and Analysis of Stable 2.5D Visual Servoing under Sensor and Actuator Constraints", IEEE Conference on Decision and Control, Atlanta, GA, Dec 2010, accepted, to appear.

  6. D.-J. Kim, R. Lovelett, Z. Wang, and A. Behal, "A Region-Based Switching Scheme for Practical Visual Servoing under Limited FOV and Dynamically Changing Features", 2009 IASTED 14th International Conference on Robotics and Applications, Nov 4-6, 2009, Cambridge, MA, USA, CD ISBN: 978-0-88986-813-7.

  7. Z. Wang, D.-J. Kim, and A. Behal, "A Two-level Particle Filter Approach to Range Estimation using an Eye-in-Hand Configured Single Camera", 2009 IASTED 14th International Conference on Robotics and Applications, Nov 4-6, 2009, Cambridge, MA, USA, CD ISBN: 978-0-88986-813-7.

  8. A. Behal, W.E. Dixon, D.M. Dawson, and B. Xian, Lyapunov-Based Control of Robotic Systems, CRC Press, 2009-10, ISBN 0-8493-7025-6.

  9. D.-J. Kim, R. Lovelett, and A. Behal, "An Empirical Study with Simulated ADL Tasks using a Vision-Guided Assistive Robot Arm", 2009 IEEE 11th International Conference on Rehabilitation Robotics, Kyoto, Japan, June 23-26, pp.504-509, 2009.

  10. D.-J. Kim, A. Behal, and R. Lovelett, "Eye-in-Hand Stereo Visual Servoeing of an Assistive Robot Arm in Unstructured Environments", 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, May 12-17, pp. 2326-2331, 2009.

  11. G. Hu, W. MacKunis, N. Gans, W. E. Dixon, J. Chen, A. Behal, and D. Dawson, "Homography-Based Visual Servo Control with Imperfect Camera Calibration", IEEE Transactions on Automatic Control, vol. 54, no. 6, pp. 1318-1324, June 2009.

  12. D.-J. Kim and A. Behal, "Human-in-the-Loop Control of an Assistive Robotic Arm in Unstructured Environments for Spinal Cord Injured Users", late-breaking abstract presented at the 4th ACM/IEEE International Conference on Human Robot Interaction, San Diego, CA, USA, pp. 285-286, March 11-13, 2009.

  13. G.D. Fulk, M.J. Frick, A. Behal, and M. Ludwig, "A Wheelchair Mounted Robotic Arm for Individuals with Multiple Sclerosis: A Pilot Study", presented at the Combined Sections Meeting of the American Physical Therapy Association , Las Vegas, NV, February 9-12, 2009, abstract available in vol. 32, no. 4, Journal of Neurologic Physical Therapy, Dec 2008.

  14. M. Hernandez, S. Echeverry, R. Guerra, D.-J. Kim, C. Hamilton, and A. Behal, "User-Guided Vision-Based Control of a Wheelchair Mounted Assistive Robotic Arm in an Unstructured Environment", the RESNA 2008 Annual Conference, Arlington, VA, USA, PSUN23(RESNA-CP-051-2008), June 26-30, 2008.

  15. A. Behal, J. Chen, and D. Dawson, "A Novel Path Planning and Control Framework for Passive Resistance Therapy with a Robot Manipulator", International Journal of Systems Science, vol. 39. no. 6, pp. 639-653, June 2008.

  16. V.K. Chitrakaran, A. Behal, D.M. Dawson, and I.D. Walker, “Setpoint Regulation of Continuum Robots Using a Fixed Camera”, Robotica, vol. 25, no. 5, pp. 581-586, September 2007.

  17. A. Behal, P. Setlur, W. Dixon, and D. M. Dawson, “Adaptive Position and Orientation Regulation for the Camera-in-Hand Problem”, Journal of Robotic Systems, vol. 22, no. 9, pp. 457-473, Sept. 2005.

  18. J. Chen, D. M. Dawson, W. E. Dixon, and A. Behal, “Adaptive Homography-Based Visual Servo Tracking for a Fixed Camera Configuration with a Camera-in-Hand Extension”, IEEE Transactions on Control Systems Technology, vol. 13, no. 5, pp. 814-825, Sept. 2005.

  19. X. Zhang, A. Behal, D.M. Dawson, and J. Chen, “A Novel Passive Path Following Controller for a Rehabilitation Robot”, Proc. of the IEEE Conference on Decision and Control, Paradise Island, Bahamas, pp. 5374-5379, December 2004.

  20. C. Vilas, A. Behal, and D. Dawson , “Setpoint Regulation of Continuum Robots Using a Fixed Camera”, Proc. of the American Control Conference, Boston , MA , June 2004.

  21. J. Chen, A. Behal, D. M. Dawson, and W.E. Dixon, “Adaptive Visual Servoing in the Presence of Intrinsic Calibration Uncertainty”, Proc. of the IEEE Conference on Decision and Control, pp. 5396-5401, Maui, Hawaii USA, December, 2003.

  22. J. Chen, D. M. Dawson, W. E. Dixon, and A. Behal, “Adaptive Homography-Based Visual Servo Tracking”, Proceedings of the 2003 IEEE International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, October 2003, pp. 230-235.

  23. J. Chen, A. Behal, D. M. Dawson, and Y. Fang, “2.5D Visual Servoing with a Fixed Camera”, Proc. of the American Control Conference, Denver, CO, pp. 3442-3447, June 2003.

  24. W. E. Dixon, A. Behal, D. M. Dawson, and S. Nagarkatti, Nonlinear Control of Engineering Systems, Birkhauser, May 2003, ISBN 0-8176-4265-X.

  25. Y. Fang, A. Behal, W.E. Dixon, and D. M. Dawson, “Adaptive 2.5D Visual Servoing of Kinematically Redundant Robot Manipulators”, Proc. of the IEEE Conference on Decision and Control, Las Vegas, NV, pp. 2860-2865, December 2002.

  26. W. E. Dixon, D. M. Dawson, E. Zergeroglu, and A. Behal, Nonlinear Control of Wheeled Mobile Robots, Prentice-Hall, 2001, ISBN 1-85233-414-2.

  27. E. Zergeroglu, D. M. Dawson, M. de Queiroz, and A. Behal, “Vision-based Nonlinear Tracking Controllers in the Presence of Parametric Uncertainty”, IEEE/ASME Transactions on Mechatronics, vol. 6, no. 3, pp. 322-337, Sept. 2001.

  28. W. E. Dixon, D. M. Dawson, E. Zergeroglu, and A. Behal, “Adaptive Tracking Control of a Wheeled Mobile Robot via an Uncalibrated Camera System”, IEEE Transactions on Man, Systems, and Cybernetics - Part B: Cybernetics, vol. 31, no. 3, pp. 341-352, 2001.

  29. P. Setlur, A. Behal, W. Dixon, and D. M. Dawson, “Adaptive Position and Orientation Regulation for the Camera-in-Hand Problem”, 2001 International Symposium on Adaptive and Intelligent Systems and Control, Arlington, VA, June 2001.

  30. E. Zergeroglu, W. E. Dixon, A. Behal, and D. M. Dawson, “Adaptive Set-Point Control of Robotic Manipulators with Amplitude-Limited Control Inputs”, Robotica, vol. 18, no. 2, pp. 171-181, 2000.

  31. W.E. Dixon, D. M. Dawson, E. Zergeroglu, and A. Behal, “Adaptive Tracking Control of a Wheeled Mobile Robot via an Uncalibrated Camera System”, Proc. of the American Control Conference, Chicago , IL , pp. 1493-1497, June 2000.

  32. E. Zergeroglu, D. M. Dawson, I. Walker, and A. Behal, “Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators”, Proc. of the American Control Conference, Chicago, IL, pp. 2513-2517, June 2000.

  33. M. Feemster, D. Dawson , A. Behal, and W. Dixon , “Tracking Control in the Presence of Nonlinear Dynamic Frictional Effects: Robot Extension,” Asian Journal of Control, vol. 1, no. 3, pp. 153-168, 1999.

  34. E. Zergeroglu, W. E. Dixon, D. M. Dawson, and A. Behal, “Lyapunov-Based Set-Point Control of the Acrobot”, International Journal of Robotics and Automation, vol. 14, no. 4, pp. 161-170, 1999.

  35. M. Feemster, D. M. Dawson, A. Behal, and W. Dixon, “Tracking Control in the Presence of Nonlinear Dynamic Frictional Effects: Robot Extension”, Proc. of the IEEE Conference on Control Applications, Kohala, HI, pp. 1169-1174, August 1999.

  36. E. Zergeroglu, D. M. Dawson, M. de Queiroz, and A. Behal, “Vision-based Nonlinear Tracking Controllers with Uncertainty Robot-Camera Parameters”, Proc. of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA., pp. 854 - 859, September 1999.

  37. W. Dixon, F. Zhang, D. Dawson, and A. Behal, “Global Robust Output Feedback Tracking Control of Robot Manipulators”, Proc. of the IEEE Conference on Control Applications, Trieste, Italy, pp. 897-901, September 1998.