Book Contributions

• M. Amin-Javaheri and D. E. Orin, "Non-Strict Computation of the Manipulator Inertia Matrix," in Parallel Computation Systems for Robotics: Algorithms and Architectures (A. Fijany and A. Bejczy, ed.), pp. 53-76, World Scientific, 1992.
• R. Featherstone and D. E. Orin, "Review of A Spatial Operator Algebra for Manipulator Modeling and Control by G. Rodriguez, A. Jain, and K. Kreutz-Delgado," in Robotics Review 2 (O. Khatib, J. J. Craig, and T. Lozano-Perez, eds.), pp. 203-206, Cambridge, MA: The MIT Press, 1992.
• S. McMillan, D. E. Orin, and R. B. McGhee, "DynaMechs: An Object Oriented Software Package for Efficient Dynamic Simulation of Underwater Robotic Vehicles," in Underwater Robotic Vehicles: Design and Control (J. Yuh, ed.), pp. 73-98, Albuquerque, NM: TSI Press, 1995.
• R. Featherstone and D. E. Orin, "Dynamics," in Springer Handbook of Robotics (B. Siciliano and O. Khatib, eds.), pp. 35-65, Heidelberg, Germany: Springer, 2008.
• D. E. Orin, "Robotics Foundations," in Springer Handbook of Robotics (B. Siciliano and O. Khatib, eds.), pp. 5-7, Heidelberg, Germany: Springer, 2008.

Journal Articles

• S. McMillan, D. E. Orin, and P. Sadayappan, "Toward Super Real-Time Simulation of Robotic Mechanisms Using a Parallel Integration Method," IEEE Transactions on Systems, Man, and Cybernetics, vol. 22, pp. 384-391, March/April 1992.
• M. D. Hanes, S. C. Ahalt, K. Mirza, and D. E. Orin, "Power Grasp Force Distribution Control Using Artificial Neural Networks," Journal of Robotic Systems, vol. 9, no. 5, pp. 635-661, July 1992.
• K. W. Lilly and D. E. Orin, "Efficient O(N) Recursive Computation of the Operational Space Inertia Matrix," IEEE Transactions on Systems, Man, and Cybernetics, vol. 23, pp. 1384-91, September/October 1993.
• S. McMillan, P. Sadayappan, and D. E. Orin, "Efficient Dynamic Simulation of Multiple Manipulator Systems with Singular Configurations," IEEE Transactions on Systems, Man, and Cybernetics, vol. 24, pp. 306-313, February 1994.
• K. W. Lilly and D. E. Orin, "Efficient Dynamic Simulation of Multiple Chain Robotic Mechanisms," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 116, pp. 223-231, June 1994.
• S. McMillan, P. Sadayappan, and D. E. Orin, "Parallel Dynamic Simulation of Multiple Manipulator Systems: Temporal Versus Spatial Methods," IEEE Transactions on Systems, Man, and Cybernetics, vol. 24, pp. 982-990, July 1994.
• H. C. Wong and D. E. Orin, "Control of a Quadruped Standing Jump over Irregular Terrain Obstacles," Autonomous Robots, vol. 1, pp. 111-129, 1995.
• S. McMillan, D. E. Orin, and R. B. McGhee, "Efficient Dynamic Simulation of an Underwater Vehicle with a Robotic Manipulator," IEEE Transactions on Systems, Man, and Cybernetics, vol. 25, pp. 1194-1206, August 1995.
• S. McMillan and D. E. Orin, "Efficient Computation of Articulated-Body Inertias Using Successive Axial Screws," IEEE Transactions on Robotics and Automation, vol. 11, pp. 606-611, August 1995.
• M. J. Sheridan, S. C. Ahalt, and D. E. Orin, "Fuzzy Control for Robotic Power Grasp," Journal of Advanced Robotics, vol. 9, pp. 535-546, October 1995.
• D. W. Marhefka and D. E. Orin, "XAnimate: An Educational Tool for Robot Graphical Simulation," IEEE Robotics and Automation Magazine, vol. 3, pp. 6-14, June 1996.
• S. McMillan, D. E. Orin, and R. B. McGhee, "A Computational Framework for Simulation of Underwater Robotic Vehicle Systems," Journal of Autonomous Robots, vol. 3, pp. 253-268, 1996.
• D. W. Marhefka and D. E. Orin, "A Compliant Contact Model with Nonlinear Damping for Simulation of Robotic Systems," IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans, vol. 29, no. 6, pp. 566-572, November 1999.
• C. A. Tenaglia and D. E. Orin, "Design of a Roller Coaster System Through Graphical Simulation," ASME Journal of Mechanical Design, vol. 121, no. 4, pp. 640-646, December 1999.
• M. H. Hung, D. E. Orin, and K. J. Waldron, "Efficient Formulation of the Force Distribution Equations for General Tree-Structured Robotic Mechanisms with a Mobile Base," IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, vol. 30, no. 4, pp. 529-538, August 2000.
• D. W. Marhefka, D. E. Orin, J. P. Schmiedeler, and K. J. Waldron, "Intelligent Control of Quadruped Gallops," IEEE/ASME Transactions on Mechatronics, vol. 8, no. 4, pp. 446-456, December 2003.
• D. P. Krasny and D. E. Orin, "Generating High-Speed Dynamic Running Gaits in a Quadruped Robot Using an Evolutionary Search," IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, vol. 34, no. 4, pp. 1685-1696, August 2004.
• J. G. Nichol, S. P. N. Singh, K. J. Waldron, L. R. Palmer III, and D. E. Orin, "System Design of a Quadrupedal Galloping Machine," The International Journal of Robotics Research, vol. 23, no. 10-11, pp. 1013-1027, October-November 2004.
• M. H. Hung, F. T. Cheng, H. L. Lee, and D. E. Orin, "Increasing the Stability Margin of Multilegged Vehicles Through Body Sway," Journal of the Chinese Institute of Engineers, vol. 28, no. 1, pp. 39-54, January 2005.
• W. Hu, D. W. Marhefka, and D. E. Orin, "Hybrid Kinematic and Dynamic Simulation of Running Machines," IEEE Transactions on Robotics, vol. 21, no. 3, pp. 490-497, June 2005.
• L. R. Palmer III and D. E. Orin, "3D Control of a High-Speed Quadruped Trot," Industrial Robot, vol. 33, no. 4, pp.298-302, 2006.
• S. Curran, B. T. Knox, J. P. Schmiedeler, and D. E. Orin, "Design Optimization of Series-Elastic Actuators for Dynamic Robots with Articulated Legs," ASME Journal of Mechanisms and Robotics, vol. 1, no. 1, pp. 011006:1-9, 2008.
• L. R. Palmer III and D. E. Orin, "Intelligent Control of High-Speed Turning in a Quadruped Trot," To be published in Journal of Intelligent and Robotic Systems, 2009.

Conference Papers

• S. McMillan, P. Sadayappan, and D. E. Orin, "Efficient Dynamic Simulation of Multiple Manipulator Systems with Singularities," in Proc. of IEEE International Conference on Robotics and Automation, (Nice, France), pp. 299-304, May 1992.
• S. McMillan, P. Sadayappan, and D. E. Orin, "Parallel Methods for Dynamic Simulation of Multiple Manipulator Systems," in 5th Annual NASA/NSF/DOD Workshop on Aerospace Computational Control, (Santa Barbara, CA), August 1992.
• K. Mirza, M. D. Hanes, and D. E. Orin, "Dynamic Simulation of Multiple-Contact Power Grasp for Dexterous Hands," in Proc. of the Fourth International Symposium on Robotics and Manufacturing (ISRAM '92), (Santa Fe, NM), pp. 59-62, November 1992.
• C. H. Chen, K. Mirza, and D. E. Orin, "Force Control of Planar Power Grasp in the DIGITS System," in Proc. of the Fourth International Symposium on Robotics and Manufacturing (ISRAM '92), (Santa Fe, NM), pp. 189-194, November 1992.
• K. Mirza, M. D. Hanes, and D. E. Orin, "Dynamic Simulation of Enveloping Power Grasps," in Proc. of IEEE International Conference on Robotics and Automation, vol. 2, (Atlanta, GA), pp. 430-435, May 1993.
• H. C. Wong and D. E. Orin, "Dynamic Control of a Quadruped Standing Jump," in Proc. of IEEE International Conference on Robotics and Automation, vol. 3, (Atlanta, GA), pp. 346-351, May 1993.
• D. E. Orin, K. Mirza, and M. D. Hanes, "Enveloping Power Grasps with the DIGITS System," in Video Proceedings of IEEE International Conference on Robotics and Automation, (Atlanta, GA), May 1993.
• H. C. Wong and D. E. Orin, "Quadruped Standing and Running Jumps," in Video Proceedings of IEEE International Conference on Robotics and Automation, (Atlanta, GA), May 1993.
• K. Mirza and D. E. Orin, "General Formulation for Force Distribution in Power Grasp," in Proc. of IEEE International Conference on Robotics and Automation, vol. 1, (San Diego, CA), pp. 880-887, May 1994.
• S. McMillan, D. E. Orin, and R. B. McGhee, "Efficient Dynamic Simulation of an Unmanned Underwater Vehicle with a Manipulator," in Proc. of IEEE International Conference on Robotics and Automation, vol. 2, (San Diego, CA), pp. 1133-1140, May 1994.
• M. D. Hanes, S. C. Ahalt, and D. E. Orin, "Intelligent Control of Object Acquisition for Power Grasp," in Proc. of IEEE International Symposium on Intelligent Control, (Columbus, OH), pp. 303-308, August 1994.
• S. McMillan, D. E. Orin, and R. B. McGhee, "Object-Oriented Design of a Dynamic Simulation for Underwater Robotic Vehicles," in Proc. of IEEE International Conference on Robotics and Automation, vol. 2, (Nagoya, Japan), pp. 1886-93, May 1995.
• V. Dutt, D. E. Orin, P. Yang, and K. J. Waldron, "Control of a Motion Platform for an AHS Driving Simulator," in Proc. of the Fourth National Applied Mechanisms & Robotics Conference, vol. 2, (Cincinnati, OH), pp. AMR 95-083-01 to -07, December 1995.
• P. Yang, K. J. Waldron, V. Dutt, and D. E. Orin, "Design of a Three Degree-of-Freedom Motion Platform for a Low-Cost Driving Simulator," in Proc. of the Fourth National Applied Mechanisms & Robotics Conference, vol. 2, (Cincinnati, OH), pp. AMR 95-080-01 to -05, December 1995.
• M. D. Hanes, D. E. Orin, and S. C. Ahalt, "Fuzzy and Neural Network Control of Object Acquisition for Power Grasp," in Proc. of SPIE Applications and Science of Artificial Neural Networks II, (Orlando, FL), pp. 262-272, April 1996.
• D. W. Marhefka and D. E. Orin, "Simulation of Contact Using a Nonlinear Damping Model," in Proc. of IEEE International Conference on Robotics and Automation, vol. 2, (Minneapolis, MN), pp. 1662-68, April 1996.
• P. Yang, K. J. Waldron, and D. E. Orin, "Kinematics of a Three Degree-Of-Freedom Motion Platform for a Low-Cost Driving Simulator," in Recent Advances in Robot Kinematics (J. Lenarcic and V. Parenti-Castelli, eds.), pp. 89-98, Boston: Kluwer Academic Publishers, 1996.
• D. W. Marhefka and D. E. Orin, "Gait Planning for Energy Efficiency in Walking Machines," in Proc. of IEEE International Conference on Robotics and Automation, (Albuquerque, NM), pp. 474-480, April 1997.
• P. Yang, D. E. Orin, and K. J. Waldron, "Dynamics of a Three Degree-of-Freedom Motion Platform for a Low-Cost Driving Simulator," in Proc. of the Fifth Applied Mechanisms & Robotics Conference, vol. 2, (Cincinnati, OH), pp. AMR97-070-001 to -08, October 1997.
• D. W. Marhefka and D. E. Orin, "Quadratic Optimization of Force Distribution in Walking Machines," in Proc. of IEEE International Conference on Robotics and Automation, (Leuven, Belgium), pp. 477-483, May 1998.
• S. McMillan and D. E. Orin, "Forward Dynamics of Multilegged Vehicles Using the Composite Rigid Body Method," in Proc. of IEEE International Conference on Robotics and Automation, (Leuven, Belgium), pp. 464-470, May 1998.
• M. H. Hung and D. E. Orin, "Force Distribution Equations for General Tree-Structured Robotic Mechanisms with a Mobile Base," in Proc. of IEEE International Conference on Robotics and Automation, (Detroit, MI), pp. 2711-2716, May 1999.
• C. A. Tenaglia, D. E. Orin, R. A. LaFarge, and C. Lewis, "Toward Development of a Generalized Contact Algorithm for Polyhedral Objects," in Proc. of IEEE International Conference on Robotics and Automation, (Detroit, MI), pp. 2887-2892, May 1999.
• E. Y. Raby and D. E. Orin, "Passive Walking with Leg Compliance for Energy Efficient Multilegged Vehicles," in Proc. of IEEE International Conference on Robotics and Automation, (Detroit, MI), pp. 1702-1707, May 1999.
• F. T. Cheng, H. L. Lee, and D. E. Orin, "Increasing the Locomotive Stability Margin of Multilegged Vehicles," in Proc. of IEEE International Conference on Robotics and Automation, (Detroit, MI), pp. 1708-1714, May 1999.
• J. P. Schmiedeler, K. J. Waldron, D.W. Marhefka, and D. E. Orin, "Design of Compliant Articulated Limbs for a Quadrupedal Galloping Machine," in Proc. of Sixth Applied Mechanisms and Robotics Conference, (Cincinnati, OH), December 1999.
• D. W. Marhefka and D. E. Orin, "Fuzzy Control of Quadrupedal Running," in Proc. of IEEE International Conference on Robotics and Automation, (San Francisco, CA), pp. 3063-3069, April 2000.
• R. Featherstone and D. E. Orin, "Robot Dynamics: Equations and Algorithms," in Proc. of IEEE International Conference on Robotics and Automation, (San Francisco, CA), pp. 826-834, April 2000.
• J. P. Schmiedeler, D. W. Marhefka, D. E. Orin, and K. J. Waldron, "A Study of Quadruped Gallops," in Proc. of 2001 NSF Design, Service, and Manufacturing Grantees and Research Conference, (Tampa, FL), January 2001.
• M. H. Hung and D. E. Orin, "Dynamic Simulation of Actively-Coordinated Wheeled Vehicle Systems on Uneven Terrain," in Proc. of IEEE International Conference on Robotics and Automation, (Seoul, Korea), pp. 779-786, May 2001.
• D. P. Krasny and D. E. Orin, "Achieving Periodic Leg Trajectories to Evolve a Quadruped Gallop," in Proc. of IEEE International Conference on Robotics and Automation, (Taipei, Taiwan), pp. 3842-3848, September 2003.
• L. R. Palmer, D. E. Orin, D. W. Marhefka, J. P. Schmiedeler, and K. J. Waldron, "Intelligent Control of an Experimental Articulated Leg for a Galloping Machine," in Proc. of IEEE International Conference on Robotics and Automation, (Taipei, Taiwan), pp. 3821-3827, September 2003.
• W. Hu, D. W. Marhefka, D. P. Krasny, and D. E. Orin, "Using Hybrid Simulation for a Quadruped Standing Leap," Proc. of 5th World Congress on Intelligent Control and Automation, (Hangzhou, China), pp. 4603-4608, June 2004.
• D. P. Krasny and D. E. Orin, "A 3D Galloping Quadruped Robot," 8th International Conference on Climbing and Walking Robots (CLAWAR 2005), (London, U.K.), pp. 467-474, September 2005.
• L. R. Palmer and D. E. Orin, "Control of a 3D Quadruped Trot," 8th International Conference on Climbing and Walking Robots (CLAWAR 2005), (London, U.K.), pp. 165-172, September 2005.
• D. P. Krasny and D. E. Orin, "Dynamic Maneuvers in a 3D Galloping Quadruped Robot (Video)," in Video Proc. of IEEE International Conference on Robotics and Automation, (Orlando, Florida), May 2006.
• D. P. Krasny and D. E. Orin, "Dynamic Maneuvers in a 3D Galloping Quadruped Robot," in Proc. of IEEE International Conference on Robotics and Automation, (Orlando, Florida), pp. 4291-4293, May 2006.
• D. P. Krasny and D. E. Orin, "Evolution of Dynamic Maneuvers in a 3D Galloping Quadruped Robot," in Proc. of IEEE International Conference on Robotics and Automation, (Orlando, Florida), pp. 1084-1089, May 2006.
• L. R. Palmer III and D. E. Orin, "Attitude Control of a Quadruped Trot While Turning," Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), (Beijing, China), pp. 5743-5749, October 2006.
• L. R. Palmer III and D. E. Orin, "Force Redistribution in a Quadruped Running Trot," in Proc. of IEEE International Conference on Robotics and Automation, (Rome, Italy), pp. 4343-4348, April 2007.
• L. R. Palmer III and D. E. Orin, "Quadrupedal Running at High Speed Over Uneven Terrain," Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), (San Diego, California), pp. 303-308, October/November 2007.
• S. Curran and D. E. Orin, "Evolution of a Jump in an Articulated Leg with Series-Elastic Actuation," in Proc. of IEEE International Conference on Robotics and Automation, (Pasadena, CA), pp. 352-358, May 2008.
• D. E. Orin and A. Goswami, "Centroidal Momentum Matrix of a Humanoid Robot: Structure and Properties," Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), (Nice, France), pp. 653-659, September 2008.
• S. Curran, D. E. Orin, B. T. Knox, and J. P. Schmiedeler, "Analysis and Optimization of a Series-Elastic Actuator for Jumping in Robots with Articulated Legs," in Proc. of 2008 ASME Dynamic Systems and Control Conference (DSCC 2008), (Ann Arbor, Michigan), paper DSCC2008-2142 (8 pages), October 2008.