ROBERT L. WILLIAMS II

Integrated Engineering Ph.D.

· Jianhua Wu, “Dynamic Path Planning of an Omni-Directional Robot in a Dynamic Environment”, October 8, 2004.

MSME

· Chandana Venkatayogi, “Simulation of a Humanoid Robot”, October 30, 2007.

· Elvedin Kljuno, “Vehicle Simulation System: Controls and Virtual-Reality-Based Dynamics Simulation”, June 6, 2007.

· Eric LaFay, “REACH Haptic Exoskeleton”, May 30, 2007.

· Mayank Srivastava, “Implementation and Evaluation of a Multiple-Points Haptic Rendering Algorithm”, February 27, 2007, MSCS, Robert L. Williams II, advisor.

· Venkat Chadaram, “Three-Cable Haptic Interface”, December 6, 2006.

· Ben Snyder, “Maquette-Enlarging Cable-Suspended Robot”, March, 2006.

· Andy Dick, “Development Feasibility of a Universal Robot / Automation Equipment Controller”, November 11, 2005.

· Christopher Maynard, “A Novel Approach for Road Construction using an Automated Paving Robot”, August 8, 2005.

· Wei Ji , “Viewing Options for the Virtual Haptic Back”, May 19, 2005.

· Ernur Karadogan, “Teleoperation of an Industrial Robot using Resolved Motion Rate Control with Visual Servoing”, May 24, 2005.

· Jansen Litter, “Mobile Robot for Search & Rescue”, June 2, 2004.

· Mayank Srivastava, “Implementation and Evaluation of a Haptic Playback System for the Virtual Haptic Back”, January 13, 2004.

· Adam Landis, “Optimization of a Paraffin Cooling System for an Automated Tissue Embedding Center”, November 14, 2003.

· Xingxi He, “Haptics-Augmented Undergraduate Engineering Education: Implementation and Evaluation”, August 11, 2003.

· Timothy P. Henning, “Dynamics and Control for an Omni-Directional Robot”, June 13, 2003.

· Ronald A. Nyzen, “Spherically-Actuated Platform Manipulator with Passive Prismatic Joints”, August 19, 2002.

· Jigar Vadia, “Planar Translational Cable-Direct-Driven Robots”, August 12, 2002.

· Atul R. Joshi, “Design and Control of a Three Degree-of-Freedom Planar Parallel Robot”, June 17, 2002.

· Josh Collins, “Design and Construction of a Novel Cable-Suspended Haptic Interface”, January 31, 2002.

· John Miller, “Lego DACTA Control Lab for Teaching Robotics”, August 24, 2001.

· Kerry L. Holland, “Design of a Virtual Haptic Back ”, May 25, 2001.

· Brian R. Hopkins, “Modified Paradex: Theory and Hardware Implementation of a 6-PSU Parallel Manipulator ”, May 23, 2001.

· Brian E. Carter, “Omni-Directional Locomotion for Mobile Robots ”, OU RoboCup Team, May 10, 2001.

· Marc Morgan, “Resolved-Rate Simulation of Space-Based Hyper-Redundant Robotic System”, NASA RoboNaut Simulation, November 8, 2000.

· Dana B. Poling, “Spherically-Actuated Platform Manipulator ”, May 26, 2000.

· John J. Hall, “The Design, Construction, and Control of a Four Degree-of-Freedom Inertial Measurement Unit Calibration Platform”, May 25, 2000.

· John J. Ottersbach, "Controls Development for the Pallet Handling Device", September 29, 1999.

· Robert J. Nyzen, "Analysis and Control of an Eight-Degree-of-Freedom Manipulator", August 13, 1999.

· Jason M. Henry, "Theory and Implementation the Naturally-Transitioning Rate-to-Force Controller including Force Reflection using Kinematically-Dissimilar Master/Slave Devices", 1999.

· Devon K, Jacobs, "Investigation of a Commercially-Available Haptic Interface", 1999.

· Nong Lin, "Modeling and Analysis for the Cable-Suspended Haptic Interface", 1998.

· Russell H. Moody, "Prototype Design of Cable-Suspended Haptic Interface", 1998.

· Mark A. Murphy, "Implementation of Telerobotic Control Architecture Including Force-Reflection and the Naturally-Transitioning Rate-to-Force Controller", 1998.

· Rex J. Kuriger, "Kinematics, Statics, and Dexterity of Planar Active Scaffolding Structures", 1997.

· Daqun Tong, "Modeling and Optimal Shape Control of a Laminated Composite Thin Plate with Piezoelectric Actuators Surface Embedded or Bonded ", 1997.

· Nicholas Batsios, "Design and Construction of a Multi-Segment Snake-Like Wheeled Vehicle", 1997.

· Brett H. Shelley, "Inverse Position Solutions, Workspace, and Resolved-Rate Control of all Possible 3-DOF Parallel Planar Manipulators", 1996.

· James B. Mayhew IV, "Cartesian Control of Truss-based Manipulators Using the Virtual Serial Manipulator Approach", 1996.

Current Advisees

· Justin Bahar, Robocup

· Meng-Yun Chen, Ph.D. candidate, Osteopathic motion testing, Virtual Haptic Back

· Wei Ji, Ph.D. candidate, Graphical and haptic human tissue deformation modeling for palpation, Virtual Haptic Back

· Deepak Garg, Aerial robotic transformer

· Ernur Karadogan, Ph.D. candidate, Biomechanics modeling and spine haptic interface design, Virtual Haptic Back

· Dan Kessler, Robocup

· Elvedin Kljuno, Ph.D. candidate, Vehicle simulation system

· Adam Shank, Three-Cable Haptic Interface

· Ming Xin, Cable-suspended robots for automated construction

· Wan Xu, Controls with one-sided saturation for cable-suspended robots

Visiting Faculty / Researchers

Federica Giacometti and Michele Castagnini, Undergraduate Researchers, Mechanical Engineering, University of Padova, Italy, NIST cable-direct-driven robot project and cable-direct-driven haptics interface project, 2005 - 2006.

Dr. Paolo Gallina, University of Padova, Italy, 2000-2001. Cable-direct-driven haptic interfaces and robots, Sliding dynamics for omni-directional mobile robots.

Graduate Student Defense Photos