1978 …2019
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Research Output 1978 2019

1978

Interactive Generation of Object Models with a Manipulator

Grossman, D. D. & Taylor, R. H., 1978, In : IEEE Transactions on Systems, Man and Cybernetics. 8, 9, p. 667-679 13 p.

Research output: Contribution to journalArticle

High level languages
Manipulators
1979

PLANNING AND EXECUTION OF STRAIGHT LINE MANIPULATOR TRAJECTORIES.

Taylor, R. H., Jul 1979, In : IBM Journal of Research and Development. 23, 4, p. 424-436 13 p.

Research output: Contribution to journalArticle

Manipulators
Trajectories
Planning
Interpolation
Motion planning
1982

AML: A MANUFACTURING LANGUAGE.

Taylor, R. H., Summers, P. D. & Meyer, J. M., Sep 1982, In : International Journal of Robotics Research. 1, 3, p. 19-41 23 p.

Research output: Contribution to journalArticle

Robot programming
Robot applications
Manufacturing
Programming
Robot
1983

An Integrated Robot System Architecture

Taylor, R. H. & Grossman, D. D., 1983, In : Proceedings of the IEEE. 71, 7, p. 842-856 15 p.

Research output: Contribution to journalArticle

Robots
Ships
Automation
Systems analysis
Hardware

ARCHITECTURE OF INTEGRATED ROBOT SYSTEM.

Taylor, R. H. & Grossman, D. D., 1983, Unknown Host Publication Title. Japan Industrial Robot Assoc, Tokyo, Jpn pt 1, p. 389-398 10 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Robots

FIBER-OPTIC INTERFEROMETRIC TAPE MEASURE.

Taylor, R. H., May 1983, In : IBM technical disclosure bulletin. 25, 12, p. 6437 1 p.

Research output: Contribution to journalArticle

Laser interferometry
Tapes
Fiber optics
Robotics

INTEGRATED FORCE ARRAY SENSOR.

Taylor, R. H. & Webb, D. J., May 1983, In : IBM technical disclosure bulletin. 25, 12, p. 6424-6425 2 p.

Research output: Contribution to journalArticle

Sensor arrays
Sensors
Mechanical actuators
Silicon
Force measurement

METHOD AND APPARATUS FOR CALIBRATION OF ROTARY MANIPULATOR AXES.

Grossman, D. D. & Taylor, R. H., Sep 1983, In : IBM technical disclosure bulletin. 26, 4, p. 1803-1807 5 p.

Research output: Contribution to journalArticle

Grippers
Manipulators
Calibration
Robots
Hardware

METHOD FOR CALIBRATION OF POSITION SERVO DEVICES.

Taylor, R. H., Sep 1983, In : IBM technical disclosure bulletin. 26, 4, p. 1818-1821 4 p.

Research output: Contribution to journalArticle

Calibration
Hooks
Costs
1984

AUTOMATIC SYNTHESIS OF FINE-MOTION STRATEGIES FOR ROBOTS.

Lozano-Perez, T., Mason, M. T. & Taylor, R. H., 1984, Unknown Host Publication Title. MIT Press, p. 65-96 32 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Robots

AUTOMATIC SYNTHESIS OF FINE-MOTION STRATEGIES FOR ROBOTS.

Lozano-Perez, T., Mason, M. T. & Taylor, R. H., Mar 1984, In : International Journal of Robotics Research. 3, 1, p. 3-24 22 p.

Research output: Contribution to journalArticle

Robot
Robots
Synthesis
Motion
Correctness

CHIP-PLACEMENT ALIGNMENT TECHNIQUE.

Chester, M. S., Lavin, M. A. & Taylor, R. H., Nov 1984, In : IBM technical disclosure bulletin. 27, 6, p. 3653-3655 3 p.

Research output: Contribution to journalArticle

Soldering alloys

COMPLIANT GRIPPER.

Glassman, E., Hollis, R. L. & Taylor, R. H., Jun 1984, In : IBM technical disclosure bulletin. 27, 1 B, p. 772-773 2 p.

Research output: Contribution to journalArticle

Grippers
Robots

EXCEPTION-HANDLING MECHANISM FOR EXPRESSION-ORIENTED PROGRAMMING LANGUAGES.

Nackman, L. R. & Taylor, R. H., Mar 1984, In : IBM technical disclosure bulletin. 26, 10 A, p. 4980-4988 9 p.

Research output: Contribution to journalArticle

Computer programming languages

HIERARCHICAL EXCEPTION HANDLER BINDING MECHANISM.

Nackman, L. R. & Taylor, R. H., Oct 1984, In : Software - Practice and Experience. 14, 10, p. 999-1007 9 p.

Research output: Contribution to journalArticle

Computer programming languages

POSITION SENSOR USING FIBER-OPTIC INTERFEROMETER.

Hodgson, R. T., Johnson, M. & Taylor, R. H., Nov 1984, In : IBM technical disclosure bulletin. 27, 6, p. 3622 1 p.

Research output: Contribution to journalArticle

Fiber optic sensors
Interferometers
Magnetic films
Gas lasers
Distance measurement

ROBOT POSITION AND ORIENTATION SENSOR.

Brennemann, A. E., Taylor, R. H. & Hollis, R. L., Feb 1984, In : IBM technical disclosure bulletin. 26, 9, p. 4457-4462 6 p.

Research output: Contribution to journalArticle

Diodes
Robots
Fiber optics
Light sources
Sensors
1985

PRECISE MANIPULATION WITH ENDPOINT SENSING.

Taylor, R. H., Hollis, R. L. & Lavin, M., 1985, Unknown Host Publication Title. Hanafusa, H. & Inoue, H. (eds.). MIT Press, p. 59-69 11 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hardware
Robots
Bandwidth
Experiments

PRECISE MANIPULATION WITH ENDPOINT SENSING.

Taylor, R. H., Hollis, R. L. & Lavin, M. A., Jul 1985, In : IBM Journal of Research and Development. 29, 4, p. 363-376 14 p.

Research output: Contribution to journalArticle

Hardware
Robots
Bandwidth
Experiments

ROBOTIC CIRCUIT BOARD TESTING USING FINE POSITIONERS WITH FIBER-OPTIC SENSING.

Hollis, R. L., Taylor, R. H., Johnson, M., Levas, A. & Brennemann, A., 1985, Unknown Host Publication Title. Japan Industrial Robot Assoc, Vol. 1. p. 315-322 8 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Fiber optics
Robotics
Robots
Networks (circuits)
Dimensional stability
1986

AML/X: A PROGRAMMING LANGUAGE FOR DESIGN AND MANUFACTURING.

Nackman, L. R., Lavin, M. A., Taylor, R. H., Dietrich, W. C. & Grossman, D. D., 1986, Unknown Host Publication Title. Stone, H. S. (ed.). IEEE, p. 145-159 15 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Program interpreters
DOS
UNIX
Object oriented programming
Computer programming languages

CONFIGURABLE SYSTEM FOR AUTOMATION PROGRAMMING AND CONTROL.

Korein, J. U., Maier, G. E., Taylor, R. H. & Durfee, L. F., 1986, Unknown Host Publication Title. IEEE, p. 1871-1877 7 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Real time systems
Computer systems programming
Automation
Data flow graphs
Subroutines

GENERAL-PURPOSE CONTROL ARCHITECTURE FOR PROGRAMMABLE AUTOMATION RESEARCH. .

Taylor, R. H., Korein, J. U., Maier, G. & Durfee, L. F., 1986, Unknown Host Publication Title. Faugeras, O. D. & Giralt, G. (eds.). MIT Press, p. 165-173 9 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Computer systems programming
Real time systems
Automation
Data flow graphs
Motion control
1987

A computational architecture for programmable automation research

Taylor, R. H., Korein, J. U., Maier, G. E. & Durfee, L. F., Mar 27 1987, In : Proceedings of SPIE - The International Society for Optical Engineering. 726, p. 438-444 7 p.

Research output: Contribution to journalArticle

automation
Automation
real time operation
Sensor
sensors
1988

The efficient computation of uncertainty spaces for sensor-based robot planning

Taylor, R. H. & Rajan, V. T., Jan 1 1988, In : IEEE International Conference on Intelligent Robots and Systems. 1988-October, p. 231-236 6 p., 593281.

Research output: Contribution to journalConference article

Linear systems
Robots
Planning
Sensors
Uncertainty
1989

Robotic total hip replacement surgery in dogs

Taylor, R. H., Paul, H. A., Mittelstadt, B. D., Glassman, E., Musits, B. L. & Bargar, W. L., Nov 1989, Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings. Kim, Y. & Spelman, F. A. (eds.). Publ by Alliance for Engineering in Medicine & Biology, Vol. 11 pt 3. p. 887-889 3 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Surgery
Robotics
Broaches
Operating rooms
Experiments
1990

On Homogeneous Transforms, Quaternions, and Computational Efficiency

Funda, J., Taylor, R. H. & Paul, R. P., 1990, In : IEEE Transactions on Robotics and Automation. 6, 3, p. 382-388 7 p.

Research output: Contribution to journalArticle

Computational efficiency
Mathematical transformations
Robots
Inverse kinematics
Kinematics
1992

A surgical robot for total hip replacement surgery

Paul, H. A., Mittlestadt, B., Bargar, W. L., Musits, B., Taylor, R. H., Kazanzides, P., Zuhars, J., Williamson, B. & Hanson, W., Apr 1992, Proceedings - IEEE International Conference on Robotics and Automation. Publ by IEEE, Vol. 1. p. 606-611 6 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Surgery
Robotics
Broaching
Prosthetics
Bone

Computer aided planning and execution of craniofacial surgical procedures

Cutting, C., Taylor, R. H., Bookstein, F., Khorramabadi, D., Haddad, B., Kalvin, A., Kim, H. & Noz, M., Jan 1 1992, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 1992. Morucci, J. P., Plonsey, R., Coatrieux, J. L. & Laxminarayan, S. (eds.). Institute of Electrical and Electronics Engineers Inc., p. 1069-1070 2 p. 5761357. (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS; vol. 3).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

X-Rays
Operating rooms
Planning
Blueprints
X rays

Development of a surgical robot for cementless total hip arthroplasty

Paul, H. A., Bargar, W. L., Mittlestadt, B., Musits, B., Taylor, R. H., Kazanzides, P., Zuhars, J., Williamson, B. & Hanson, W., 1992, In : Clinical Orthopaedics and Related Research. 285, p. 57-66 10 p.

Research output: Contribution to journalArticle

Thigh
Arthroplasty
Prostheses and Implants
Hip
Bone and Bones

Force sensing and control for a surgical robot

Kazanzides, P., Zuhars, J., Mittelstadt, B. & Taylor, R. H., Apr 1992, Proceedings - IEEE International Conference on Robotics and Automation. Publ by IEEE, Vol. 1. p. 612-617 6 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Force control
Robots
Feedback
Surgery
Cones
1993

A model-based optimal planning and execution system with active sensing and passive manipulation for augmentation of human precision in computer-integrated surgery

Taylor, R. H., Cutting, C. B., Kim, Y. Y., Kalvin, A. D., Larose, D., Haddad, B., Khoramabadi, D., Noz, M., Olyha, R., Bruun, N. & Grimm, D., Jan 1 1993, Experimental Robotics II - The 2nd International Symposium, 1991. Springer Verlag, p. 179-195 17 p. (Lecture Notes in Control and Information Sciences; vol. 190).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

surgery
manipulation
planning
planning methods
synergy

Hip implant insertability analysis

Taylor, R. H. & Joskowicz, L., 1993, Proceedings - IEEE International Conference on Robotics and Automation. Anon (ed.). Publ by IEEE, Vol. 1. p. 901-908 8 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Surgery
Bone
Trajectories
1994

An Image-Directed Robotic System for Precise Orthopaedic Surgery

Taylor, R. H., Mittelstadt, B. D., Paul, H. A., Hanson, W., Kazanzides, P., Zuhars, J. F., Williamson, B., Musits, B. L., Glassman, E. & Bargar, W. L., 1994, In : IEEE Transactions on Robotics and Automation. 10, 3, p. 261-275 15 p.

Research output: Contribution to journalArticle

Orthopedics
Surgery
Robotics
Machining
Bone
1995

A Telerobotic Assistant for Laparoscopic Surgery

LaRose, D., Taylor, R. H., Funda, J., Eldridge, B., Gomory, S., Talamini, M., Kavoussi, L., Anderson, J. & Gruben, K., 1995, In : IEEE Engineering in Medicine and Biology Magazine. 14, 3, p. 279-288 10 p.

Research output: Contribution to journalArticle

Robotics
Laparoscopy
Surgery

Comparison of two manipulator designs for laparoscopic surgery

Funda, J., Eldridge, B. N., Gruben, K., Gomory, S. & Taylor, R. H., 1995, Proceedings of SPIE - The International Society for Optical Engineering. Society of Photo-Optical Instrumentation Engineers, Vol. 2351. p. 172-183 12 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

surgery
Surgery
Manipulators
manipulators
robots

Control and evaluation of a 7-axis surgical robot for laparoscopy

Funda, J., Gruben, K., Eldridge, B., Gomory, S. & Taylor, R. H., 1995, Proceedings - IEEE International Conference on Robotics and Automation. IEEE, Vol. 2. p. 1477-1484 8 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Laparoscopy
Ergonomics
Cameras
Ceilings
Manipulators

Medical robotics at IBM research

Taylor, R. H., Funda, J., Joskowicz, L., Kalvin, A., Gomory, S., Gueziec, A. & Brown, L., 1995, In : Service Robot. 1, 1, p. 9-13 5 p.

Research output: Contribution to journalArticle

Robotics
Surgery
Engineers
1996

An overview of computer-integrated surgery at the IBM Thomas J. Watson Research Center

Taylor, R. H., Funda, J., Joskowicz, L., Kalvin, A. D., Gomory, S. H., Gueziec, A. P. & Brown, L. M. G., Mar 1996, In : IBM Journal of Research and Development. 40, 2, p. 163-182 20 p.

Research output: Contribution to journalArticle

Surgery
Orthopedics
Research laboratories

A remote center of motion robotic arm for computer assisted surgery

Eldridge, B., Gruben, K., LaRose, D., Funda, J., Gomory, S., Karidis, J., McVicker, G., Taylor, R. H. & Anderson, J., 1996, In : Robotica. 14, 1, p. 103-109 7 p.

Research output: Contribution to journalArticle

Robotic arms
Surgery
Robotics
Robots
Motion

Constrained cartesian motion control for teleoperated surgical robots

Funda, J., Taylor, R. H., Eldridge, B., Gomory, S. & Gruben, K. G., 1996, In : IEEE Transactions on Robotics and Automation. 12, 3, p. 453-465 13 p.

Research output: Contribution to journalArticle

Motion control
Robots
Laparoscopy
Kinematics
Navigation

Interference-free insertion of a solid body into a cavity: An algorithm and a medical application

Joskowicz, L. & Taylor, R. H., 1996, In : International Journal of Robotics Research. 15, 3, p. 211-229 19 p.

Research output: Contribution to journalArticle

Medical Applications
Medical applications
Insertion
Cavity
Interference

Superfaces: Polygonal mesh simplification with bounded error

Kalvin, A. D. & Taylor, R. H., May 1996, In : IEEE Computer Graphics and Applications. 16, 3, p. 64-77 14 p.

Research output: Contribution to journalArticle

Approximation theory
Computational geometry
Rapid prototyping
Computational methods
Real time systems
1997

An automated system for precise percutaneous access of the renal collecting system

Bzostek, A., Schreiner, S., Barnes, A. G., Cadeddu, J. A., Roberts, W. W., Anderson, J. H., Taylor, R. H. & Kavoussi, L., 1997, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer Verlag, Vol. 1205. p. 299-308 10 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 1205).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Needles
Liver
Surgery
Recovery
Morbidity

An efficient needle injection technique and radiological guidance method for percutaneous procedures

Stoianovici, D., Cadeddu, J. A., Demaree, R. D., Basile, S. A., Taylor, R. H., Whitcomb, L. L., Sharpe, W. N. & Kavoussi, L. R., 1997, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer Verlag, Vol. 1205. p. 295-298 4 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 1205).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Needles
Guidance
Injection
Injector
Manipulator

A path-planning algorithm for image-guided neurosurgery

Vaillant, M., Davatzikos, C., Taylor, R. H. & Nick Bryan, R., 1997, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer Verlag, Vol. 1205. p. 467-476 10 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 1205).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Neurosurgery
Path Planning
Motion planning
Brain
Cost functions

A robotic system for percutaneous renal access

Cadeddu, J. A., Bzostek, A., Schreiner, S., Barnes, A. C., Roberts, W. W., Anderson, J. H., Taylor, R. H. & Kavoussi, L. R., Oct 1997, In : Journal of Urology. 158, 4, p. 1589-1593 5 p.

Research output: Contribution to journalArticle

Robotics
Needles
Kidney
Swine
Sepharose

A system for percutaneous delivery of treatment with a fluoroscopically-guided robot

Schreiner, S., Anderson, J. H., Taylor, R. H., Funda, J., Bzostek, A. & Barnes, A. C., 1997, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer Verlag, Vol. 1205. p. 747-756 10 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 1205).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Liver
Surgery
Robot
Robots
Tissue

Novel mechanical transmission applied to percutaneous renal access

Stoianovici, D., Cadeddu, J. A., Demaree, R. D., Basile, S. A., Taylor, R. H., Whitcomb, L. L. & Kavoussi, L. R., 1997, American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. Chang, W. S., Gopinath, A., Sadhal, S. S., Trinh, E. H., Kim, C. J. & et al, A. (eds.). ASME, Vol. 61. p. 401-406 6 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Needles
Operating rooms
Robotics
Costs

Robot-assisted minimally invasive neurosurgical procedures: First experimental experience

Goradia, T. M., Taylor, R. H. & Auer, L. M., 1997, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer Verlag, Vol. 1205. p. 319-322 4 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 1205).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Endoscopy
Evacuation
Robot
Robots
Robotics