Journal Articles

R.L. Williams II and E. Graf, 2018, Six-Cable RoboCrane Adapted to Eight Cables, International Journal of Engineering and Robot Technology, www.ijerobot.com, 5(2): 25-36.

R.L. Williams II, E. Kljuno, and J. Zhu, 2018, 3-dof Windmobile Orientational Platform Robot, International Journal of Engineering and Robot Technology, www.ijerobot.com, 5(1): 13-24.

R.L. Williams II and J. Pagan, 2018, Algae Harvesting from Large Outdoor Ponds using a Novel Parallel Robot System, Journal of Computer Sciences and Applications, ISSN 2328-725X, http://www.sciepub.com/jcsa/content/6/1.

D. Sridhar and R.L. Williams II, 2017, Kinematics and Statics including Cable Sag for Large Cable-Suspended Robots, Global Journal of Research in Engineering, Robotics and Nano, 17(1): 18 pgs.

R.L. Williams II and R. Lucas, 2017, The 2-dof RRSSR Parallel Robot: Forward and Inverse Position Kinematics Solutions, International Journal of Engineering and Robot Technology, 3(2): 29-38.

E. Kljuno, J.J. Zhu, and R.L. Williams II, 2016, A Biomimetic Elastic Cable-Driven Quadruped Robot: Design, Dynamics, and Controls, Austin Journal of Robotics & Automation, February 2016.

E. Karadogan and R.L. Williams II, 2013, The Robotic Lumbar Spine (RLS): Dynamics and Feedback Linearization Control, Hindawi Journal of Computational and Mathematical Models in Medicine, special issue on Numerical Methods and Applications in Biomechanical Modeling, doi: 10.1155/2013/985248.

D.R. Moore, R.L. Williams II, T. Luo, E. Karadogan, 2013, Elusive Achievement Effects of Haptic Feedback, Journal of Interactive Learning Research, in press, JILR 24(3).

R.L. Williams II, 2013, Simplified Robotics Joint-Space Trajectory Generation with Via Point using a Single Polynomial, Hindawi Journal of Robotics, Article ID 735958, 6 pages, March, doi: 10.1155/2013/735958.

E. Karadogan and R.L. Williams II, 2013, Haptic Modules for Palpatory Diagnosis Training of Medical Students, Virtual Reality Journal, Springer, 17(1): 45-48.

E. Karadogan and R.L. Williams II, 2012, Three-Dimensional Static Modeling of the Lumbar Spine, Journal of Biomechanical Engineering, Transactions of the ASME, 134(8): 084504-1-084504-5.

R.L. Williams II and J. Wu, 2010, Dynamic Obstacle Avoidance for an Omni-Directional Mobile Robot, Hindawi Journal of Robotics, Vol 2010, Article ID 901365, 14 pages.

E. Karadogan, R.L. Williams II, J.N. Howell, and R.R. Conatser Jr., 2010, A Stiffness Discrimination Experiment including Analysis of Palpation Forces and Velocities, The Journal of the Society for Simulation in Healthcare, 5(5): 279-288, October.

E. Kljuno and R.L. Williams II, 2010, Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control, Hindawi Journal of Robotics, Vol 2010, Article ID 278597, 19 pages.

E. Kljuno and R.L. Williams II, 2008, Vehicle Simulation System: Controls and Virtual-Reality-Based Dynamics Simulation, Journal of Intelligent and Robotic Systems, 52: 79-99.

Y. Liu, J.J. Zhu, R.L. Williams II, and J. Wu, 2008, Omni-Directional Mobile Robot Controller Based on Trajectory Linearization, Journal of Robotics and Autonomous Systems, 56: 461-479.

J.N. Howell, R.R. Conatser Jr., R.L. Williams II, J.M. Burns, and D.C. Eland, 2008, The Virtual Haptic Back: A Simulation for Training in Palpatory Diagnosis, BMC Medical Education, April: 8-14.

J.N. Howell, R.R. Conatser Jr., R.L. Williams II, D.C. Eland, and J.M. Burns, 2008, Palpatory Diagnosis Training on the Virtual Haptic Back: Performance Improvement and User Evaluations, The Journal of the American Osteopathic Association, 108(1): 29-36.

P. Bosscher, R.L. Williams II, L.S. Bryson, and D. Castro-Lacouture, 2007, Cable-Suspended Robotic Contour Crafting System, Journal of Automation in Construction, 17: 45-55.

R.L. Williams II, W. Ji, J.N. Howell, and R.R. Conatser Jr., 2007, Device for Measurement of Human Tissue Properties In Vivo, ASME Journal of Medical Devices, 1(3): 197-205.

R.L. Williams II, X. He, T. Franklin, and S. Wang, 2007, Haptics-Augmented Engineering Mechanics Educational Tools, World Transactions on Engineering and Technology Education, 6(1): 27-30.

J. Wu, R.L. Williams II, and J.Y. Lew, 2006, Velocity and Acceleration Cones for Kinematic and Dynamic Constraints on Omni-Directional Mobile Robots, ASME Transactions on Dynamic Systems, Measurement, and Control, 128(4): 788-799.

A. Trevisani, P. Gallina, and R.L. Williams II, 2006, Cable-Direct-Driven Robot (CDDR) with Passive SCARA Support: Theory and Simulation, Journal of Intelligent and Robotic Systems, 46: 73-94.

R.L. Williams II, 2005, Novel Cable-Suspended RoboCrane Support, Industrial Robot: An International Journal, 32(4): 326-333.

K.L. Holland, R.L. Williams II, R.R. Conatser Jr., J.N. Howell, and D.L. Cade, 2004, Implementation and Evaluation of a Virtual Haptic Back, Virtual Reality Society Journal, 7: 94-102.

R.L. Williams II, M. Srivastava, R.R. Conatser, Jr., and J.N. Howell, 2004, Implementation and Evaluation of a Haptic Playback System, Haptics-e Journal, IEEE Robotics & Automation Society, 3(3): 1-6.

R.L. Williams II, J.S. Albus, and R.V. Bostelman, 2004, Self-Contained Automated Construction Deposition System, Automation in Construction, 13: 393-407.

R.L. Williams II, J.S. Albus, and R.V. Bostelman, 2004, 3D Cable-Based Cartesian Metrology System, Journal of Robotic Systems, 21(5): 237-257.

R.L. Williams II and P. Gallina, 2003, Translational Planar Cable-Direct-Driven Robots, Journal of Intelligent and Robotic Systems, 37: 69-96.

R.L. Williams II, M.-Y. Chen, and J.M. Seaton, 2003, Haptics-Augmented Simple Machines Educational Tutorials, Journal of Science Education and Technology, 12(1): 16-27.

R.L. Williams II, P. Gallina, and J. Vadia, 2003, Planar Translational Cable-Direct-Driven Robots, Journal of Robotic Systems, 20(3): 107-120.

R.L. Williams II and P. Gallina, 2002, Planar Cable-Direct-Driven Robots: Design for Wrench Exertion, Journal of Intelligent and Robotic Systems, 35: 203-219.

B.R. Hopkins and R.L. Williams II, 2002, Kinematics, Design, and Control of the 6-PSU Platform, Industrial Robot: An International Journal, 29(5): 443-451.

R.L. Williams II, B.E. Carter, P. Gallina, and G. Rosati, 2002, Dynamic Model with Slip for Wheeled Omni-Directional Robots, IEEE Transactions on Robotics and Automation, 18(3): 285-293.

R.L. Williams II, M.-Y. Chen, and J.M. Seaton, 2001, Haptics-Augmented High School Physics Tutorials, International Journal of Virtual Reality, 5(1).

R.L. Williams II and D.B. Poling, 2001, Spherically-Actuated Platform Manipulator, Journal of Robotic Systems, Vol. 18, No. 3, pp. 147-157.

J.J. Hall and R.L. Williams II, 2000, Inertial Measurement Unit Calibration Platform, Journal of Robotic Systems, Vol. 17, No. 11, pp. 623-632.

J.J. Ottersbach and R.L. Williams II, 2000, Prototype Trailer-Loading Robot, Industrial Robot: An International Journal, Vol. 27, No. 4, pp. 288-298.

R.L. Williams II, J.M. Henry, and D.W. Repperger, 2000, Evaluation of Rate-Based Force-Reflecting Teleoperation in Free Motion and Contact, Presence: Teleoperators and Virtual Environments, Vol. 9, No. 1, pp. 25-36.

R.L. Williams II, J.M. Henry, M.A. Murphy, and D.W. Repperger, 1999, Naturally-Transitioning Rate-to-Force Control in Free and Constrained Motion, ASME Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, Vol. 121, No. 3, pp. 425-432.

R.L. Williams II, 1999, Singularities of a Manipulator with Offset Wrist, Journal of Mechanical Design, Transactions of the ASME, Vol. 121, No. 2, pp. 315-319.

R.L. Williams II, 1999, Inverse Kinematics and Singularities of Manipulators with Offset Wrist, IASTED International Journal of Robotics and Automation, Vol. 14, No. 1, pp. 1-8.

D. Tong, R.L. Williams II, and S.K. Agrawal, 1998, Optimal Shape Control of Composite Thin Plates with Piezoelectric Actuators, Journal of Intelligent Material Systems and Structures, Vol. 9, June, pp. 458-467.

H. Pasic, R.L. Williams II and C. Hui, 1999, A Numerical Algorithm for Solving Manipulator Forward Dynamics, Mechanism and Machine Theory, Vol. 34, pp. 843-855.

R.L. Williams II, 1998, Cable-Suspended Haptic Interface, International Journal of Virtual Reality, Vol. 3, No. 3, pp. 13-21.

R.L. Williams II and E.R. Hexter IV, 1998, Maximizing Kinematic Motion for a 3-DOF Variable Geometry Truss Module, Journal of Mechanical Design, Transactions of the ASME, Vol. 120, No. 2, pp. 333-336.

R.L. Williams II, 1997, Control of Kinesthetic Haptic Interfaces in VR Applications, International Journal of Virtual Reality, Vol. 3, No. 1, pp. 18-26.

R.L. Williams II and R.J. Kuriger, 1997, Kinematics, Statics, and Dexterity of Planar Active Structure Modules, Automation in Construction, Vol. 7, pp. 77-89.

R.L. Williams II and C.F. Reinholtz, 1987, Mechanism Link Rotatability and Limit Position Analysis Using Polynomial Discriminants, Journal of Mechanisms, Transmissions, and Automation in Design, Transactions of the ASME, Vol. 109, No. 2, pp. 178-182.

R.L. Williams II and C.F. Reinholtz, 1986, Proof of Grashof's Law Using Polynomial Discriminants, Journal of Mechanisms, Transmissions, and Automation in Design, Transactions of the ASME, Vol. 108, No. 4, pp. 562-564.