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Journal Publications

S. Carver, N. J. Cowan, and J. Guckenheimer. Lateral Stability of the Spring-Mass Hopper Suggests a Two Step Control Strategy for Running. Chaos. Accepted.
V. Kallem, D. E. Chang, and N. J. Cowan. Task-Induced Symmetry and Reduction with Application to Needle Steering. IEEE Transactions on Automatic Control. Submitted.
V. Kallem and N. J. Cowan. Image Guidance of Flexible Bevel-Tip Needles. IEEE Transactions on Robotics. Accepted.
R. J. Webster III, J. M. Romano, and N. J. Cowan. Mechanics of Precurved-Tube Continuum Robots. IEEE Transactions on Robotics. In Press.
S. Carver, E. Roth, N. J. Cowan, and E. S. Fortune. Synaptic Plasticity Can Produce and Enhance Direction Selectivity. Public Library of Science Computational Biology, 4(2), 2008. Cover Article for February 2008 issue.

URL: PLoS Computational Biology
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Download Cover Illustration: jpg

J. Lee, S. N. Sponberg, O. Y. Loh, A. G. Lamperski, R. J. Full, and N. J. Cowan. Templates and Anchors for Antenna-Based Wall Following in Cockroaches and Robots. IEEE Transactions on Robotics (Special Issue on Bio-Robotics), 24(1), 130-143, 2008.

URL: IEEE Xplore
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Image:cowancritical2007.jpg N. J. Cowan and E. S. Fortune. The Critical Role of Locomotion Mechanics in Decoding Sensory Systems. Journal of Neuroscience, 27(5), 1123-1128, 2007.

URL: http://dx.doi.org/10.1523/JNEUROSCI.4198-06.2007
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Image:cowancomposing2006.jpg N. J. Cowan. Navigation Functions on Cross Product Spaces. IEEE Transactions on Automatic Control, 52(7):1297–1302, 2007.

URL: IEEE Xplore
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Image:JEB209-9COVER_tiny.jpg N. J. Cowan, J. Lee, and R. J. Full. Task-Level Control of Wall Following in the American Cockroach. Journal of Experimental Biology, 209(9), 1617-1629, 2006.

URL: http://jeb.biologists.org/cgi/content/abstract/209/9/1617
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Image:flouro.jpg R. J. Webster III, J. S. Kim, N. J. Cowan, G. S. Chirikjian and A. M. Okamura. Nonholonomic Modeling of Needle Steering. International Journal of Robotics Research, 25(5/6), 509-526, 2006.

URL: http://ijr.sagepub.com/cgi/content/abstract/25/5-6/509
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Image:cowanChangTRO_cd.jpg N. J. Cowan and D. E. Chang. Geometric Visual Servoing. IEEE Transactions on Robotics, 21(6), 1128-1138, 2005.

URL: IEEE Xplore
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Image:cowanTRAvsnf.jpg N. J. Cowan, J. Weingarten, and D. E. Koditschek. Visual Servoing via Navigation Functions. IEEE Transactions on Robotics and Automation, 18(4), 521-533, 2002.

URL: IEEE Xplore
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Refereed Conference Publications & Book Chapters

  1. K. B. Reed, V. Kallem, R. Alterovitz, K. Goldberg, A. M. Okamura, and N. J. Cowan. Integrated Planning and Image-Guided Control for Planar Needle Steering. In Proceedings of IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Scottsdale, USA 2008.
    Download: preprint
  2. K. B. Reed. Compensating for Torsion Windup in Steerable Needles. In Proceedings of IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Scottsdale, USA 2008.
    Download: preprint
  3. R. J. Webster III, J. M. Romano, and N. J. Cowan. Kinematics and Calibration of Active Cannulas. In Proceedings of the IEEE International Conference Robotics and Automation (ICRA), Pasadena, CA, USA, May 19-23, 2008.
    Download: pdf
  4. J. Lee, O. Y. Loh, and N. J. Cowan. A Hierarchy of Neuromechanical and Robotic Models of Antenna-Based Wall Following in Cockroaches. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, USA, Oct 29 - Nov 2, 2007.
    Download: pdf
  5. V. Kallem, D. E. Chang, and N. J. Cowan. Task-Induced Symmetry and Reduction in Kinematic Systems with Application to Needle Steering. In Proceedings of the IEEE/RSJ Intelligent Robots and Systems (IROS), San Diego, CA, USA, Oct 29 - Nov 2, 2007.
    Download: pdf
  6. V. Kallem, M. Dewan, J. P. Swensen, G. D. Hager, and N. J. Cowan. Kernel-Based Visual Servoing . In Proceedings of the IEEE/RSJ Intelligent Robots and Systems (IROS), San Diego, CA, USA, Oct 29 - Nov 2, 2007.
    Download: pdf
  7. V. Kallem, and N. J. Cowan. Image-Guided Control of Flexible Bevel-Tip Needles. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, 2007.
    URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4209548
    Download: pdf
  8. R. J. Webster, A. M. Okamura, and N. J. Cowan. Toward Active Cannulas: Miniature Snake-Like Surgical Robots. In Proceedings of the IEEE/RSJ Intelligent Robots and Systems (IROS), Beijing, China, 2006.
    URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4058827
    Download: pdf
  9. J. Lee, A. Lamperski, J. Schmitt, and N. J. Cowan, Task-Level Control of the Lateral Leg Spring Model of Cockroach Locomotion. In Fast Motions in Biomechanics and Robotics: Optimization and Feedback Control, ser. Lecture Notes in Control and Information Sciences, M. Diehl and K. Mombaur, Eds. Heidelberg: Springer-Verlag, vol. 340, pp. 167–188, 2006.
    Download (draft preprint): pdf
  10. A. Lamperski, O. Loh, B. Kutscher and N. J. Cowan. Dynamical Wall-Following for a Wheeled Robot using a Passive Tactile Sensor. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, 2005.
    URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1570706
    Download: pdf
  11. W. Park, J. S. Kim, Y. Zhou, N. J. Cowan, A. M. Okamura and G. S. Chirikjian. Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model. IEEE Proceedings of the International Conference on Robotics and Automation (ICRA), Barcelona, Spain, 2005.
    Download: pdf
  12. J. Piazzi, D. Prattichizzo and N. J. Cowan. Auto-Epipolar Visual Servoing. In Proceedings of the IEEE/RSJ Intelligent Robots and Systems (IROS), Sendai, Japan, 2004.
    URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1389379
    Download: pdf
  13. J. Piazzi and N. J. Cowan. Multi-View Visual Servoing using Epipoles. In Proceedings of the IEEE/RSJ Intelligent Robots and Systems (IROS), Sendai, Japan, 2004.
    URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1389430
    Download: pdf
  14. R. J. Webster, N. J. Cowan, Greg Chirikjian and A. M. Okamura. Nonholonomic Modeling of Needle Steering. In Proceedings of the 9th International Symposium on Experimental Robotics (ISER), Singapore, 2004.
    Download: pdf
  15. N. J. Cowan. Composing Navigation Functions on Cartesian Products of Manifolds with Boundary. In Proceedings of the Workshop on Algorithmic Foundations of Robotics (WAFR) VI, Utrecht/Zeist, The Netherlands 2004.
    Download: pdf
  16. N. J. Cowan, O. Shakernia, R. Vidal, S. Sastry. Vision-based Follow-the-Leader. In Proceedings of the IEEE/RSJ Intelligent Robots and Systems (IROS), Las Vegas, NV, October 2003.
    URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1248904
    Download: pdf
  17. G. Lawrence, N. J. Cowan and S. Russel. Efficient Gradient Estimation for Motor Control Learning. In Proceedings of the Conference on Uncertainty in Artificial Intelligence (UAI), Acapulco, Mexico, 2003.
    Download: pdf
  18. N. J. Cowan, E. J. Ma, M. Cutkosky and R. J. Full. A biologically inspired passive antenna for steering control of a running robot. In Proceedings of the International Symposium on Robotics Research (ISRR), Siena, Italy, 2003.
    Download: pdf
  19. N. J. Cowan. Binocular visual servoing with a limited field-of-view. In Proceedings of the International Symposium on Mathematical Theory of Networks and Systems (MTNS), University of Notre Dame, 2002.
    Download: pdf
  20. N. J. Cowan and D. E. Chang. Toward Geometric Visual Servoing. In Proceedings of the Second Workshop on Control Problems in Robotics and Automation (CPRA), 2002.
    Download: pdf
    Expanded technical report version: UCB/CSD 02-1200.
  21. N. J. Cowan, J. D. Weingarten and D. E. Koditschek. Empircal Validation of a New Visual Servoing Strategy. In Proceedings of the Conference on Control Applications (CCA), Mexico City, Mexico, 2001. IEEE.
    URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=974021
    Download: pdf
  22. N. J. Cowan, G. Lopes and D. E. Koditschek. Rigid body Visual Servoing Using Navigation Functions. In Proceedings of the Conference on Decisions and Controls (CDC), Sydney, Australia, 2000. IEEE. Finalist, Best Student Paper.
    URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=912326
    Download: pdf
  23. N. J. Cowan and D. E. Koditschek. Planar Image Based Visual Servoing as a Navigation Problem. In Proceedings of the International Conference on Robotics and Automation (ICRA), volume 1, pages 611-617, Detroit, MI USA, 1999. IEEE.
    Expanded Technical Report (University of Michigan CGR-99-01) ps, ps.gz.
    URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=770043
    Download: pdf
  24. N. J. Cowan and D. E. Koditschek. Toward Global Visual Servos and Estimators for Rigid Bodies. In Proceedings of the International Conference on Robotics and Automation (ICRA), Leuven, Belgium, 1998. IEEE.

Abstracts

  1. J. Lee, J. T. Choi, S. Carver, A. J. Bastian, and N. J. Cowan. Toward a Neuromechanical Model for Adaptation and Control of Human Running. Fourth International Symposium on Adaptive Motion of Animals and Machines, Cleveland, OH, June 1-6, 2008. (Presentation)
  2. E. Roth, S. Carver, E. S. Fortune, and N. J. Cowan. Mechanisms for Encoding Velocity in the Electrosensory Systems of Weakly Electric Fish. Fourth International Symposium on Adaptive Motion of Animals and Machines, Cleveland, OH, June 1-6, 2008. (Poster)
  3. J. Lee, A. Lamperski, R. J. Full, and N. J. Cowan. Exteroceptive Control of Passively Stable Dynamic Running: Antenna-Based Wall Following in Cockroaches. Dynamic Walking Workshop, Ann Arbor, MI, May 6-8, 2006. (Poster)
  4. N. J. Cowan, J. Lee, and R. J. Full. Dynamical Control of Antennal Wall Following in the American Cockroach. Society for Integrative and Comparative Biology, San Diego, CA, January 4-8, 2005.
  5. N. J. Cowan, J. Lee, and R. J. Full. Task Level Control of a Self-Stabilizing Dynamic System: Antennal Wall Following in Insects and Robots. Progress in Motor Control V, 2005.

Other

  1. N. J. Cowan. Book Review: Mechanics and control of robots, by K. C. Gupta. Automatica, June, 2001.
    Download: pdf
  2. N. J. Cowan. Vision-based Control via Navigation Functions. Doctoral thesis, University of Michigan. 2001.
  3. N. J. Cowan. Control of the Period and Duty Cycle of the Morris-Lecar burst signal generator model. Undergraduate thesis, Ohio State University, 1995.
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This page was last modified 20:07, 1 October 2008.