SELECTED PUBLICATIONS

1. Marcel Bergerman and Yangsheng Xu, "Robust Joint and Cartesian Control of Under- Actuated Manipulator Systems", ASME Journal of Dynamic Systems, Measurement, and Control, Vol.118, No.3, pp.557-565, 1996.

2. Marcel Bergerman and Yangsheng Xu, "Optimal Control of Manipulators with Any Number of Passive Joints", Journal of Robotic Systems, Vol.15, No.3, pp.115-130, March, 1998.

3. Marcel Bergerman, Yangsheng Xu, and Y.H. Liu, "Control of Cooperative Underactuated Manipulators: A Robustness Comparison Study", Proceedings of 1998 ISSPR, pp.I-279-286, Hong Kong, 1998.

4. Marcel Bergerman, Yangsheng Xu, and Yun-hui Liu, "Robust Control of Cooperative Underactuated Manipulators", Proceedings of International Conference on Intelligent Robots and Systems, pp.443-448, Victoria, Canada, 1998.

5. Marcel Bergerman and Yangsheng Xu, "Dexterity Measure of Underactuated Manipulators", Proceedings of the International Conference on Advanced Robotics, pp.719-724, Monterey, CA, 1997.

6. Marcel Bergerman and Yangsheng Xu, "Planning Collision Free Motions for Underactuated Manipulators in Constrained Configuration Space", Proceedings of the IEEE International Conference on Robotics and Automation, pp.549-555, Albuquerque, NM, 1997.

7. Marcel Bergerman, Yangsheng Xu, and Yun-hui Liu, "Nonlinear Feedback Control of Cooperative Underactuated Manipulators", Proceedings of the First Conference on Intelligent Robotics, pp.156-167, Brasilia, DF, Brazil, August 4-5, 1997.

8. Marcel Bergerman and Yangsheng Xu, "Neural Network Based Control of Underactuated Manipulators", Proceedings of the Third Brazilian Symposium on Intelligent Automation, pp.424-429, Victoria, ES, Brazil, September 3-5, 1997.

9. Marcel Bergerman and Yangsheng Xu, "Optimal Control Sequence of Underactuated Manipulators", Proceedings of the IEEE International Conference on Robotics and Automation, Vol.4, pp.3714-3719, Minneapolis, MN, 1996.

10. Bin Liang, Yangsheng Xu, and Marcel Bergerman, "Mapping A Free-Floating Space Manipulator to A Dynamically Equivalent Manipulators", ASME Trans on Dynamics, Measurement, and Control, Vol.120, pp.1-7, March, 1998.

11. Bin Liang, Yangsheng Xu, and Marcel Bergerman, "Dynamically Equivalent Manipulator for Space Manipulator Systems: Part 1", Proceedings of the IEEE International Conference on Robotics and Automation, pp.2765-2770, Albuquerque, NM, 1997.

12. Bin Liang, Yangsheng Xu, Marcel Bergerman, and G. Li, "Dynamically Equivalent Manipulator for Space Manipulator Systems: Part 2", Proceedings of International Conference on Intelligent Robots and Systems, pp.1493-1499, Grenoble, France, September, 1997.

RESEARCH PROJECTS

We have been developing some fundamental technologies for space robotics for many years and have made contributions in design, control, dynamics, modeling and real-time implementation of various space robotics systems.