Invited
Conference Papers
R.L. Williams II, 2004, Recent Work in Parallel Robots, Mobile Robots, and Haptics-Augmented Education, Proceedings of the US-Korea Conference: Symposium on Robotics Technology, Research Triangle Park, NC, August 12-14.
R.L. Williams II, D. North, M. Murphy, J. Berlin, and M. Krier, Kinesthetic Force/Moment Feedback via Active Exoskeleton, Proceedings of the Image Society Conference, Scottsdale, AZ, August 2-7, 1998.
R.L. Williams II and M.E. Sklar, Manipulator Path Planning for Redundant Arms, Proceedings of the AIAA Forum on Advanced Developments in Space Robotics, Madison, WI, August 1-2, 1996.
R.L. Williams II, Active Modular Scaffolding Concept for Reduced Setup Time and Exposure, Utilities / Manufacturers Robotics User Group Fall Meeting, Brown’s Ferry Plant, Huntsville, Presentation only, Alabama, November 17, 1994.
R.L. Williams II, Forward and Inverse Kinematics of Double Universal Joint Robot Wrists, Fourth Annual Workshop on Space Operations Applications and Research, NASA Conference Publication 3103, Vol. I, Albuquerque, NM, June, 1990, pp. 23-29.
Peer-Reviewed
Conference Papers
R.L. Williams
II, R. Lucas, and J.J. Zhu, 2016, Forward and Inverse Position Kinematics for
the RRSSR Parallel Robot with Hardware Validation, Proceedings of
the ASME IDETC/CIE, Charlotte NC, August 21-24, DETC2016-59290.
R.L. Williams
II, E. Kljuno, and J.J. Zhu, 2016, Spatial
3-SUR 1-RU Platform Robot Inverse Orientation Kinematics,
Proceedings of the ASME IDETC/CIE, Charlotte NC, August 21-24, DETC2016-59291.
D. Sridhar and R.L.
Williams II, 2016, Kinematics and Statics including Cable Sag for Large Cable-Suspended
Robots, Proceedings of the ASME IDETC/CIE, Charlotte NC, August
21-24, DETC2016-60495.
E. Karadogan, R.L. Williams II, and F. Karadogan,
2015, Haptics
Modules to Augment Undergraduate Mechanics Education, Proceedings of
the ASME IDETC/CIE, Boston MA, August 2-5, DETC2015-46060.
E. Karadogan, R.L. Williams II, and F. Karadogan,
2015, Haptics Modules for Training in Undergraduate Mechanics, American Society for Engineering Education Gulf
Southwest Section Annual Conference, San Antonio TX, March
25-27.
R.L. Williams II
and Noah Needler, 2014, New
Simplified Three-Spheres Intersection Algorithm for
the Forward Pose Kinematics of Cable-Suspended Robots, Proceedings
of the ASME IDETC/CIE, Buffalo NY, August 17-20, DETC2014-35185.
A.W. Grammar and R.L. Williams II, 2013, Surface Electromyographic Control of a Humanoid Robot, Proceedings of the ASME IDETC/CIE, Portland OR, August 4-7, 2013, DETC2013-13345.
E. Karadogan and R.L. Williams II, 2012, Dynamics and Control of the Robotic Lumbar Spine, Proceedings of the ASME IDETC/CIE, Chicago IL, August 12-15, 2012, DETC2012-70293.
E. Kljuno and R.L. Williams II, 2012, Bipedal Walking Robot Driven by Elastic Cables, Proceedings of the ASME IDETC/CIE, Chicago IL, August 12-15, 2012, DETC2012-70292.
R.L. Williams II, 2012, DARwIn-OP Humanoid Robot Kinematics, Proceedings of the ASME IDETC/CIE, Chicago IL, August 12-15, 2012, DETC2012-70265.
E. Karadogan, R.L. Williams II, D.R. Moore, and T. Luo, 2012, Haptics-Augmented Training Software for Undergraduate Engineering Mechanics, Proceedings of the ASME IDETC/CIE, Chicago IL, August 12-15, 2012, DETC2012-70250.
A.W. Grammar and R.L. Williams II, 2012, Design of a Robotic Gripper based on a Psittacus Erithacu Beak, Proceedings of the ASME IDETC/CIE, Chicago IL, August 12-15, 2012, DETC2012-70244.
E. Karadogan and
R.L. Williams II, 2012, Haptic Modules for Training
in Palpatory Diagnosis, IEEE Haptics Symposium
2012, March 4-7, 2012, Vancouver Canada.
E. Kljuno, J. Mamarak, W. Zhang, J.J. Zhu, R.L. Williams II, and S.
Reilly, 2011, A Biomimetic Elastic Cable-Driven
Quadruped Robot: The Robocat, ASME IMECE, Denver
CO, November 11-17, IMECE2011-63534.
M.M. Starkey and R.L. Williams II, 2011, Capstan as a Mechanical Amplifier, Proceedings of the ASME IDETC/CIE, Washington DC, August 28-31, 2011, DETC2011-48262.
J. Ding and R.L. Williams II, 2011, 7-DOF Cable-Driven Humanoid Robotic Arm, Proceedings of the ASME IDETC/CIE, Washington DC, August 28-31, 2011, DETC2011-48276.
R.L. Williams II, 2011, Improved Robotics Joint-Space Trajectory Generation with Via Point, Proceedings of the ASME IDETC/CIE, Washington DC, August 28-31, 2011, DETC2011-47592.
T.J. Cyders and R.L. Williams II, 2010, Analysis of a New Form of Intrinsically Automatic Continuously Variable Transmission, CD Proceedings of the ASME International Design Technical Conferences, 34th Mechanisms and Robotics Conference, Paper # DETC2010-28729, Montreal, Quebec, Canada, August 15-18.
E. Karadogan and R.L. Williams II, 2010, A Cable-Actuated Robotic Lumbar Spine for Palpatory Training of Medical Students, CD Proceedings of the ASME International Design Technical Conferences, 34th Mechanisms and Robotics Conference, Paper # DETC2010-28863, Montreal, Quebec, Canada, August 15-18.
R.L. Williams II, 2010, Tools to Assist Teaching and Learning of Mechanisms, Robotics, and Biomechanics, CD Proceedings of the ASME International Design Technical Conferences, 34th Mechanisms and Robotics Conference, Paper # DETC2010-28537, Montreal, Quebec, Canada, August 15-18.
M.-Y. Chen and R.L. Williams II, 2009, The Virtual Haptic Human Upper Body, CD Proceedings of the ASME International Design Technical Conferences, 33rd Mechanisms and Robotics Conference, Paper # DETC2009-87050, San Diego CA, August 30-September 2.
E. Kljuno and R.L. Williams II, 2009, Bipedal Robot Walking Cycle Force and Torques Prediction and an Inverse System and Gain Scheduling Based Control, CD Proceedings of the ASME International Design Technical Conferences, 33rd Mechanisms and Robotics Conference, Paper # DETC2009-87069, San Diego CA, August 30-September 2.
R.L. Williams II, 2009, Partial Decoupling of the Matrix Method for Planar Mechanisms Inverse Dynamics, CD Proceedings of the ASME International Design Technical Conferences, 33rd Mechanisms and Robotics Conference, Paper # DETC2009-87054, San Diego CA, August 30-September 2.
R.L. Williams II, M. Xin, and P. Bosscher, 2008, Contour-Crafting-Cartesian-Cable Robot System Concepts: Workspace and Stiffness Comparisons, CD Proceedings of the ASME International Design Technical Conferences, 32nd Mechanisms and Robotics Conference, Paper # DETC2008-49478, New York NY, August 3-6.
R.L. Williams II, M. Xin, and P. Bosscher, 2008, Contour-Crafting-Cartesian-Cable Robot System: Dynamics and Controller Design, CD Proceedings of the ASME International Design Technical Conferences, 32nd Mechanisms and Robotics Conference, Paper # DETC2008-49480, New York NY, August 3-6.
D. Castro-Lacouture, L.S. Bryson, C. Maynard, R.L. Williams II, and P. Bosscher, 2007, Concrete Paving Productivity Improvement Using a Multi-Task Autonomous Robot, 24th International Symposium on Automation & Robotics in Construction (ISARC-2007), September 19-21, Kochi, Kerala, India.
R.L. Williams II, 2007, Cable-Suspended Vehicle Simulation System Concept, CD Proceedings of the ASME International Design Technical Conferences, 31st Mechanisms and Robotics Conference, Paper # DETC2007-34595, Las Vegas NV, September 4-7.
C.R. Terupally, J.J. Zhu, and R.L. Williams II, 2007, Trajectory Tracking and Stair Climbing Stabilization of a Skid-Steered Mobile Robot, 2007 IEEE American Control Conference, New York, July 11-13.
Y. Liu, R.L. Williams II, and J.J. Zhu, 2007, Integrated Control and Navigation for an Omni-Directional Mobile Robot Based on Trajectory Linearization, 2007 IEEE American Control Conference, New York, July 11-13.
R.L. Williams II, W. Ji, J.N. Howell, and R.R. Conatser Jr., 2007, In Vivo Measurement of Human Tissue Compliance, SAE Digital Human Modeling Conference, Paper #2007-01-2453, June 12-14, Seattle, WA.
L.S. Bryson, D. Castro-Lacouture, C. Maynard, R.L. Williams II, and P. Bosscher, 2007, Productivity Analysis of a Multi-Task Autonomous Robot for Concrete Paving, P145, ASCE/CIB Construction Research Congress, May 6-8, Grand Bahama Island, Bahamas.
R.L. Williams II, V. Chadaram, and F. Giacometti, 2006, Three-Cable Haptic Interface, CD Proceedings of the ASME International Design Technical Conferences, 30th Mechanisms and Robotics Conference, Paper # DETC2006-99177, Philadelphia PA, September 10-13.
P. Bosscher, R.L. Williams II, L.S. Bryson, and D. Castro-Lacouture, 2006, Cable-Suspended Robotic Contour Crafting System, CD Proceedings of the ASME International Design Technical Conferences, 30th Mechanisms and Robotics Conference, Paper # DETC2006-99016, Philadelphia PA, September 10-13.
R.L. Williams II, J.N. Howell, R.R. Conatser Jr., J.M. Burns, and D.C. Eland, 2006, Palpatory Training on the Virtual Haptic Back Improves Detection of Compliance Differences, Eurohaptics 2006 Conference, Paper #136, July 3-6, Paris, France.
W. Ji, R.L. Williams II, J.N. Howell, and R.R. Conatser Jr., 2006, 3D Stereo Evaluation for the Virtual Haptic Back Project, 14th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, IEEE-VR2006, March 25-26, Arlington, VA.
P.M. Bosscher, R.L. Williams II, and M.A. Tummino, 2005, A Concept for Rapidly-Deployable Cable Robot Search & Rescue Systems, CD Proceedings of the ASME International Design Technical Conferences, 29th Mechanisms and Robotics Conference, Paper # DETC2005-84324, Long Beach CA, September 24-28.
R.L. Williams II, M. Srivastava, J.N. Howell, R.R. Conatser, Jr., D.C. Eland, J.M. Burns, and A.G. Chila, 2004, The Virtual Haptic Back for Palpatory Training, Sixth International Conference on Multimodal Interfaces, State College, PA, October 13-15.
R.L. Williams II, Ben Snyder, J.S. Albus, and R.V. Bostelman, 2004, Seven-DOF Cable-Suspended Robot with Independent Metrology, CD Proceedings of the ASME Design Technical Conferences, 28th Biennial Mechanisms and Robotics Conference, Paper # DETC2004/MECH-57125, Salt Lake City, UT, September 28-October 2, 2004.
A. Mudigonda and R.L. Williams II, 2004, Walking Quadruped with Support/Steering Wheels, Proceedings of the Mechatronics & Robotics Conference, IEEE Industrial Electronics Society, Aachen, Germany, September 13-15.
R.L. Williams II, J.S. Albus, and R.V. Bostelman, Cable-Based Metrology System for Sculpting Assistance, CD proceedings of the 2003 ASME Design Technical Conferences, 29th Design Automation Conference, Chicago, IL, September 2-6, 2003.
R.L. Williams II and J. Vadia, Planar Translational Cable-Direct-Driven Robots: Hardware Implementation, CD proceedings of the 2003 ASME Design Technical Conferences, 29th Design Automation Conference, Chicago, IL, September 2-6, 2003.
R.L. Williams II, M. Srivastava, R.R. Conatser, Jr., and J.N. Howell, The Virtual Haptic Back Project, Proceedings of the 2003 Image Society Conference, Scottsdale, AZ, July 14-18, 2003.
R.L. Williams II, B.E. Carter, P. Gallina, and G. Rosati, Wheeled Omni-Directional Robot Dynamics including Slip, CD Proceedings of the 2002 ASME Design Technical Conferences, 27th Biennial Mechanisms Conference, DETC2002/MECH-34221, Montreal, Canada, September 29-October 2, 2002.
B.R. Hopkins and R.L. Williams II, Modified 6-PSU Platform, CD Proceedings of the 2002 ASME Design Technical Conferences, 27th Biennial Mechanisms Conference, DETC2002/MECH-34245, Montreal, Canada, September 29-October 2, 2002.
R.L. Williams II and P. Gallina, Planar Cable-Direct-Driven Robots, Part I: Kinematics and Statics, CD Proceedings of the 2001 ASME Design Technical Conferences, 27th Design Automation Conference, DETC2001/DAC-21145, Pittsburgh, PA, September 9-12, 2001.
R.L. Williams II and P. Gallina, Planar Cable-Direct-Driven Robots, Part II: Dynamics and Control, CD Proceedings of the 2001 ASME Design Technical Conferences, 27th Design Automation Conference, DETC2001/DAC-21146, Pittsburgh, PA, September 9-12, 2001.
B. Carter, M. Good, M. Dorohoff, J. Lew, R.L. Williams II, P. Gallina, 2001, Mechanical Design and Modeling of an Omni-directional RoboCup Player, RoboCup AI Conference, Seattle, WA, August 1-10.
L. Wilson, C. Williams, J. Yance, J. Lew, R.L. Williams II, 2001, Design and Modeling of a Redundant Omni-directional RoboCup Goalie, RoboCup AI Conference, Seattle, WA, August 1-10.
J.J. Hall, R.L. Williams II, and F. van Graas, Cartesian Control for the Inertial Measurement Unit Calibration Platform, CD Proceedings of the 2000 ASME Design Technical Conferences, 26th Biennial Mechanisms Conference, DETC2000/MECH-6508, Baltimore, MD, September 10-13, 2000.
R.L. Williams II and D.B. Poling, Spherically-Actuated Platform Manipulator, CD Proceedings of the 2000 ASME Design Technical Conferences, 26th Biennial Mechanisms Conference, DETC2000/MECH-6504, Baltimore, MD, September 10-13, 2000.
R.L. Williams II, Planar Cable-Suspended Haptic Interface: Design for Wrench Exertion, CD Proceedings of the 1999 ASME Design Technical Conferences, 25th Design Automation Conference, DETC99/DAC-8639, Las Vegas, NV, September 12-15, 1999.
R.R. Soper, C.F. Reinholtz, S. L. Canfield, and R.L. Williams II, Contention-Free Control of Over-Constrained Variable Geometry Trusses, CD Proceedings of the 1999 ASME Design Technical Conferences, 25th Design Automation Conference, DETC99/DAC-8668, Las Vegas, NV, September 12-15, 1999.
R.L. Williams II, J.M. Henry, M.A. Murphy, and D.W. Repperger, Free and Constrained Motion Teleoperation via Naturally-Transitioning Rate-to-Force Control, CD Proceedings of the 1999 IEEE International Conference on Automation and Robotics, Detroit, MI, May 10-15, 1999.
R.L. Williams II, Cable-Suspended Haptic Interface, 1998 International Mechanical Engineering Congress & Exposition, Haptics Symposium, Anaheim, CA, November 15-20, 1998.
H. Pasic, R.L. Williams II, C. Hui, and R.H. Moody, Collocation Algorithm for Solving Equations of Motion of Multibody Mechanical Systems, 1998 International Mechanical Engineering Congress & Exposition, Dynamics & Control Symposium, Anaheim, CA, November 15-20, 1998.
R.L. Williams II and M.A. Murphy, Naturally-Transitioning Rate-to-Force Control, CD Proceedings of the 1998 ASME Design Technical Conferences, 25th Biennial Mechanisms Conference, Atlanta, GA, September 13-16, 1998.
R.L. Williams II, Singularities of a Manipulator with Offset Wrist, CD Proceedings of the 1998 ASME Design Technical Conferences, 25th Biennial Mechanisms Conference, Atlanta, GA, September 13-16, 1998.
H. Pasic, R.L. Williams II, and C. Hui, Numerical Solution for Manipulator Forward Dynamics BVPs, CD Proceedings of the 1998 ASME Design Technical Conferences, 25th Biennial Mechanisms Conference, Atlanta, GA, September 13-16, 1998.
L. Yue, H. Pasic, and R.L. Williams II, A Simple Algorithm for Controlling Manipulators, CD Proceedings of the 1998 ASME Design Technical Conferences, 25th Biennial Mechanisms Conference, Atlanta, GA, September 13-16, 1998.
R.L. Williams II and B.H. Shelley, Inverse Kinematics for Planar Parallel Manipulators, CD Proceedings of the 1997 ASME Design Technical Conferences, 23rd Design Automation Conference, Sacramento, CA, September 14-17, 1997.
R.L. Williams II, F.W. Harrison, and D.I. Soloway, Shared Control of Multiple-Manipulator, Sensor-Based Telerobotic Systems, CD Proceedings of the 1997 IEEE International Conference on Automation and Robotics, Albuquerque, NM, April 20-25, 1997.
R.L. Williams II and J.B. Mayhew IV, Control of Truss-Based Manipulators using Virtual Serial Models, CD Proceedings of the 1996 ASME Design Technical Conferences, 24th Biennial Mechanisms Conference, Irvine, CA, August 19-22, 1996.
R.L. Williams II and G. Tamasi, Follow-the-Leader Control for the Payload Inspection and Processing System, CD Proceedings of the 1996 ASME Design Technical Conferences, 24th Biennial Mechanisms Conference, Irvine, CA, August 19-22, 1996.
R.L. Williams II, Kinetostatic Analysis for the Ross Yoke-Drive Stirling Engine, CD Proceedings of the 1996 ASME Design Technical Conferences, 24th Biennial Mechanisms Conference, Irvine, CA, August 19-22, 1996.
R.L. Williams II, F.W. Harrison, and D.I. Soloway, Naturally-Transitioning Rate-to-Force Controller for Manipulators, Proceedings of the 1996 IEEE International Conference on Automation and Robotics, Vol. 1, Minneapolis, MN, April 22-28, 1996, pp. 299-304.
R.L. Williams II, Survey of Active Truss Modules, Proceedings of the 1995 ASME Design Technical Conferences, 21st Design Automation Conference, Boston, MA, September 17-21, 1995.
R.L. Williams II, The Double Universal Joint Wrist on a Manipulator: Inverse Position Kinematics and Singularities, Proceedings of the 1994 ASME Design Technical Conferences, 23rd Biennial Mechanisms Conference, DE-Vol. 72, Minneapolis, MN, September 11-14, 1994, pp. 355-360.
R.L. Williams II, Local Performance Optimization for a Class of Redundant Eight-Degree-of-Freedom Manipulators, Proceedings of the 1994 IEEE International Conference on Automation and Robotics, Vol. 2, San Diego, CA, May 8-13, 1994, pp. 992-997.
R.L. Williams II and C.F. Reinholtz, Forward Dynamic Analysis and Power Requirement Comparison of Parallel Robotic Mechanisms, 1988 ASME Design Technical Conferences, 20th Biennial Mechanisms Conference, Trends and Developments in Mechanisms, Machines, and Robotics, DE Vol. 15-3, Kissimmee, FL, September, 1988, pp. 71-78.
R.L. Williams II and C.F. Reinholtz, Closed-Form Workspace Determination and Optimization for Parallel Robotic Mechanisms, 1988 ASME Design Technical Conferences, 20th Biennial Mechanisms Conference, Trends and Developments in Mechanisms, Machines, and Robotics, DE Vol. 15-3, Kissimmee, FL, September, 1988, pp. 341-351.
R.L. Williams II, C.F. Reinholtz, and A.A. Myklebust, Function Generation Synthesis and Design of RSSR Spatial Mechanisms, 1986 ASME Design Technical Conferences, 19th Biennial Mechanisms Conference, ASME Paper 86-DET-151, Columbus, OH, October, 1986.
Abstract-Reviewed
Conference Papers
R.L. Williams II, E. Karadogan, T.
Luo, and D.R. Moore, 2013, “Interactive Virtual Haptics-Augmented
Training System for Undergraduate Engineering”, NSF TUES/CCLI Grantees
Conference, January 23 – 25, Washington
DC.
T. Luo, D.R. Moore, R.L.
Williams II, and E. Karadogan,
2012, “Design, Development and Evaluation
of an Interactive Virtual Haptics-Augmented Training System for Undergraduate
Engineering”, Association for Educational Communications and Technology
International Convention, Louisville KY, October
30 – November 3.
T. Luo, D.R. Moore, R.L.
Williams II, and E. Karadogan,
2011, “Formative Research:
Design and Evaluation of Interactive Virtual Haptics-Augmented Training Suite
for Undergraduate Engineering”, E-LEARN 2011, World Conference on E-Learning in Corporate,
Government, Healthcare & Higher Education, Association for the Advancement of Computing in Education, Honolulu, Hawaii, October 18-21.
E. Karadogan, R.L.
Williams II, J.N. Howell, and D. Eland, 2011, “Haptic Modules for Palpatory Diagnosis Training”, OSEAN (European Osteopathic
Palpation), Potsdam, Germany, September 29-30.
R.L. Williams II and M.-Y. Chen, 2010, “K-12 Haptics-Augmented Science Education”, e-Tech Ohio Conference, February 1-3, Columbus OH.
J.N. Howell, R.L. Williams II, and R.R. Conatser Jr., 2010, “Haptic Simulation of the Feel of the Body Surface for Training in Palpatory Diagnosis”, AAA Surface Anatomy Workshop, April, Anaheim CA.
M.-Y. Chen, R.L. Williams II, J.N. Howell, R.R. Conatser Jr., and D.C. Eland, 2009, “Simulation of Gross Motion Testing in Palpatory Diagnosis”, 53rd Annual AOA Research Conference, October, New Orleans LA.
E. Karadogan, R.L. Williams II, J.N. Howell, and R.R. Conatser Jr., 2009, “A Stiffness Discrimination Experiment including Analysis of Palpation Forces and Velocities”, Ninth Annual International Meeting on Simulation in Healthcare (IMSH), January 12-13, Orlando FL.
J.N. Howell, R.R. Conatser Jr., K. Bajaj, D.C. Eland, and R.L. Williams II, 2008, “The Effect of Learning Strategies on Mastery of Palpation with the Virtual Haptic Back”, 52nd Annual AOA Research Conference, October, Las Vegas NV.
K. Bajaj, J.N. Howell, R.R. Conatser Jr., and R.L. Williams II, 2008, “Repeated Palpatory Training of Medical Students on the Virtual Haptic Back”, Medicine Meets Virtual Reality, January 29 - February 1, Long Beach CA.
J.M. Burns, R.L. Williams II, J.N. Howell, R.R. Conatser Jr., and D.C. Eland, 2007, “Virtual Reality Simulation of Fascial Drag using the PHANToM 3.0 Haptic Interface”, First International Fascia Research Congress, October 4-5, Boston MA.
J.N. Howell, J.M. Burns, D.C. Eland, R.L. Williams II, and R.R. Conatser Jr., 2007, “Student Achievement in a Virtual Reality Test of Palpatory Diagnosis”, 51st Annual AOA Research Conference, September 30 – October 2, San Diego CA.
J.N. Howell, R.R. Conatser Jr., R.L. Williams II, J.M. Burns, and D.C. Eland, 2007, “The Virtual Haptic Back (VHB): A Teaching Tool for Palpatory Diagnosis”, FASEB Journal, 21 (5 – part 1): A594, presented at Experimental Biology 2007, April 28 – May 2, Washington, DC.
M.-Y. Chen, R.L. Williams II, R.R. Conatser Jr., and J.N. Howell, 2006, The Virtual Movable Human Upper Body for Palpatory Diagnostic Training, SAE Digital Human Modeling Conference, Paper #06DHM-5, July 4-6, Lyon, France.
J.N. Howell, R.L. Williams II, J.M. Burns, D.C. Eland, and R.R. Conatser Jr., 2006, The Virtual Haptic Back: Detection of Compliance Differences, SAE Digital Human Modeling Conference, Paper #06DHM-27, July 4-6, Lyon, France.
C. Maynard, R.L. Williams II, P.M. Bosscher, L.S. Bryson, and D. Castro-Lacouture, 2006, “Autonomous Robot for Paving Construction in Challenging Environments”, ASCE Earth & Space Conference, March 5-8, League City/Houston TX.
J.N. Howell, R.L. Williams II, D.C. Eland, J.M. Burns, M.-Y. Chen, W. Ji, and R.R. Conatser, 2005, “Haptic Simulation of Somatic Tissues In Vivo: the Virtual Haptic Back”, Workshop on the Investigation of Human Muscle Function In Vivo, October 20-23, Nashville, TN.
J.N. Howell, J.M. Burns, D.C. Eland, R.L. Williams II, and R.R. Conatser, 2005, “The Virtual Haptic Back (VHB): A Progress Report”, J. Am. Osteopath. Assoc. 105:318, Unified Osteopathic Convention, October 23-27, Orlando, FL.
J.M. Burns, J.S. Pleskow, D.C. Eland, J.N. Howell, R.L. Williams II, and R.R. Conatser, 2005, “Contribution of Cutaneous and Proprioceptive Inputs to Osteopathic Palpatory Diagnosis”, J. Am. Osteopath. Assoc. 105: 319, Unified Osteopathic Convention, October 23-27, Orlando, FL.
J.N. Howell, R.R. Conatser, J.M. Burns, D.C. Eland, R.L. Williams II, and M. Srivastava, 2005, The Virtual Haptic Back (VHB): a Simulation of the Human Back for Palpatory Diagnosis Training, SAE Digital Human Modeling Conference, June 14-16, Iowa City, IA.
L.S. Bryson, C. Maynard, D. Castro-Lacouture, and R.L. Williams II, 2005, “Fully Autonomous Robot for Paving Operations”, Construction Research Conference, April 5-7, San Diego, CA.
J.N. Howell, R.R. Conatser, J.M. Burns, D.C. Eland, A.G. Chila, R.L. Williams II, and M. Srivastava, 2004, “The Virtual Haptic Back for Osteopathic Training”, American Osteopathic Research Conference, JAOA 104(9), November 7-11, San Francisco, CA.
R.L. Williams II, X. He, T. Franklin, and S. Wang, 2004, "Haptics-Augmented Undergraduate Engineering Education", International Conference on Engineering Education, Gainesville, FL, October 16-21, 2004.
J.N. Howell, R.L. Williams II, D.C. Eland, J.M. Burns, A.G. Chila, R.R. Conatser, and M. Srivastava, 2004, “The Virtual Haptic Back (VHB): A Virtual Reality Simulation of Palpation of the Human Back for Teaching and Testing Palpatory Skills”, International Conference on Advances in Osteopathic Research, September 10-11, Erie, PA.
J.M. Burns, J.N. Howell, R.R. Conatser, D.C. Eland, A.G. Chila, R.L. Williams II, and M. Srivastava, 2004, “A Simulation of the Human Back for Teaching and Testing Palpatory Skills”, Ohio Osteopathic Association, June 26, Sandusky, OH.
J.N. Howell, R.L. Williams II, D.C. Eland, J.M. Burns, A.G. Chila, R.R. Conatser, and M. Srivastava, 2004, “The Virtual Haptic Back (VHB): A Simulation of the Human Back for Teaching and Testing Palpatory Skills”, FASEB J. 18/4 Part I, A393, 299.10, presented at Experimental Biology 2004, April 17-21, Washington, DC.
T. Franklin, X. He, S. Wang, and R.L. Williams II, 2003, "Understanding Physics using a Haptics-Augmented Physics Tutorial", National Education Computing Conference (NECC), June 29 – July 2, 2003, Seattle, WA.
T. Franklin, X. He, S. Wang, and R.L. Williams II, 2003, "Understanding Physics using a Haptics-Augmented Physics Tutorial", National Education Computing Conference (NECC), June 29 – July 2, 2003, Seattle, WA.
T. Franklin, S. Wang, R.L. Williams II, and X. He, 2003, "Improving Physics Understanding through Haptics-Augmented Physics Tutorial", Society for Information Technology & Teacher Education (SITE) International Conference, March 24-29, 2003, Albuquerque, NM.
R.L. Williams II, M. Srivastava, R.R. Conatser, Jr., and J.N. Howell, "Evaluation of the PHANToM Playback Capability", Proceedings of the Seventh PHANToM User’s Group Conference, Santa Fe, NM, October 26-29, 2002.
R.L. Williams II, J. Hall, B. Hopkins, A. Joshi, J. Collins, J. Vadia, D. Poling, R. Nyzen, and P. Gallina, Parallel Robot Projects at Ohio University, NSF-Sponsored Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec City, Canada, October 3-4, 2002.
D.W. Repperger, R.L. Williams II, R.W. Baker, J.D. Ianni, and J. Berlin, “A Study Involving Time Delay and Remote Teleoperation Systems”, AIAA 27th Annual Dayton-Cincinnati Aerospace Science Symposium, Session 14 Space II, March 5, 2002, Dayton, OH.
R.L. Williams II and M.-Y. Chen, “Haptics-Augmented Science Education”, Ohio SchoolNet State Technology Conference, Columbus, OH, February 6, 2002.
J.D. Ianni, D.W. Repperger, R.W. Baker, and R.L. Williams II, “Human Interfaces for Robotic Satellite Servicing”, LASE Conference – Photonics West, SPIE (The International Society for Optical Engineering), Paper # LA4632-14, January 19-25, 2002, San Jose, CA.
S. Patlu, S.-H. Chen, P. Petkar, R.L. Williams II, B.V. Mehta, J.M. Kennedy, L.P. Bindeman, J. Pellettiere, " Enhanced Modeling Capabilities for ATB by Integration with Finite Element Analysis (LS-DYNA)", 2000 ATB Model User’s Group Conference, Wichita, Kansas, 28 April, 2000.
S.-H. Chen, S. Patlu, P.N. Petkar, R.L. Williams II, B.V. Mehta, L.P. Bindeman, J.M. Kennedy, and J. Pellettiere, "Integration of Finite Element Analysis (LS-DYNA) with Rigid Body Dynamics (ATB) for Crash Simulation", 6th International LS-DYNA Users Conference (Simulation 2000), Dearborn, Michigan, April 9 - 11, 2000.
J.J. Ottersbach and R.L. Williams II , Pallet Handling Device Controls Implementation, Proceedings of the Sixth Conference on Applied Mechanisms and Robotics, Cincinnati OH, December 12-15, 1999.
J.J. Hall, R.L. Williams II, and F. van Graas, Inertial Measurement Unit Calibration Platform, Proceedings of the Sixth Conference on Applied Mechanisms and Robotics, Cincinnati OH, December 12-15, 1999.
R.L. Williams II and A.R. Joshi, Planar Parallel 3-RPR Manipulator, Proceedings of the Sixth Conference on Applied Mechanisms and Robotics, Cincinnati OH, December 12-15, 1999.
R.L. Williams II, Cartesian Control of Force-Reflecting Hand Controllers, Proceedings of the Fifth National Conference on Applied Mechanisms and Robotics, Cincinnati OH, October 12-15, 1997.
R.L. Williams II, Control Architecture for Telerobotic Systems, Proceedings of the Fifth National Conference on Applied Mechanisms and Robotics, Cincinnati OH, October 12-15, 1997.
R.L. Williams II and J.B. Mayhew IV, Cartesian Control of VGT Manipulators with Application to DOE Hardware, Proceedings of the Fifth National Conference on Applied Mechanisms and Robotics, Cincinnati OH, October 12-15, 1997.
R.L. Williams II and J.B. Mayhew IV, Obstacle-Free Control of the Hyper-Redundant NASA Inspection Manipulator, Proceedings of the Fifth National Conference on Applied Mechanisms and Robotics, Cincinnati OH, October 12-15, 1997.
R.R. Soper, C.F. Reinholtz, S.L. Canfield, and R.L. Williams II, Jacobian Analysis for Deployable/Controllable Space Structures, Proceedings of the Structural Dynamics Conference, Blacksburg, VA, May, 1997.
R.L. Williams II, J.B. Mayhew IV, and J.C. Tucker, Cartesian Control of Truss-Based Manipulators, Proceedings of the American Nuclear Society Seventh Topical Meeting on Robotics and Remote Systems, Augusta, GA, April 27-May 1, 1997.
R.L. Williams II, C.G. Horner, and R.G. Remus, Control of a Variable Geometry Truss Module as an Extensible Gimbal, Proceedings of the American Nuclear Society Sixth Topical Meeting on Robotics and Remote Systems, Monterey, CA, February 5-10, 1995.
R.L. Williams II and H.A. Aldridge, Comparison of Pseudoinverse Computation Methods to Control an Eight-Degree-of-Freedom Manipulator, Proceedings of the Third National Conference on Applied Mechanisms and Robotics, Vol. 2, Paper #75, Cincinnati, OH, November, 1993.
F.W. Harrison, D.I. Soloway, R.L. Williams II, and E.F. Hogge, Natural Transition from Rate to Force Control of a Manipulator, AIAA Paper 92-1452, AIAA Space Programs Conference, Huntsville, AL, March, 1992.
K. Willshire, F.W. Harrison, E.F. Hogge, R.L. Williams II, and D.I. Soloway, Results of Telerobotic Hand Controller Study Using Force Information and Rate Control, AIAA Paper 92-1451, AIAA Space Programs Conference, Huntsville, AL, March, 1992.
R.L. Williams II and C.F. Reinholtz, Planar Robotic Mechanisms-Part I: Forward and Inverse Kinematic Simulation, Proceedings of the 1987 Applied Mechanisms Conference, Vol. I, Session 3B, New Orleans, LA, December, 1987.
R.L. Williams II and C.F. Reinholtz, Planar Robotic Mechanisms-Part II: Workspace Optimization, Proceedings of the 1987 Applied Mechanisms Conference, Vol. I, Session 3B, New Orleans, LA, December, 1987.
R.L. Williams II, C.F. Reinholtz, and V. Arun, A Reassessment of the Tasks of Kinematic Synthesis, Proceedings of the 1987 Applied Mechanisms Conference, Vol. III, Session 7C, New Orleans, LA, December, 1987.
Peer-Reviewed
Conference Videotapes
R.L. Williams II and J.J. Ottersbach, Prototype Pallet Handling Device, 2000 IEEE International Conference on Automation and Robotics Video Proceedings, San Francisco, CA, April 24-28, 2000.
R.L. Williams II, J.B. Mayhew IV, T.C. Lippitt, and C.W. Cooper, Follow-the-Leader Control of Hyper-Redundant Serpentine Truss Manipulator Prototype Hardware, 1997 IEEE International Conference on Automation and Robotics Video Proceedings, Albuquerque, NM, April 1997.
R.L. Williams II, G. Tamasi, and C.W. Cooper, The Payload Inspection and Processing System, 1996 IEEE International Conference on Automation and Robotics Video Proceedings, Minneapolis, MN, April 1996.
J.M. Seaton, R.L. Williams II, and R. Fox, Telerobotic Replacement of Thermal Protection System Tiles Bonded by Induction Heating, 1993 IEEE International Conference on Automation and Robotics Video Proceedings, Atlanta, GA, May 1993.