Book Chapters

C. Klein and A. Maciejewski, ``Simulators, graphic,'' in The Encyclopedia of Robotics , R. Dorf, Ed., John Wiley and Sons, 1988.

R. Mittra and C. Klein, ``Stability and convergence of moment methods solutions,'' in Numerical and Asymptotic Techniques in Electromagnetics , pp. 129-163, Springer-Verlag, 1975.

Articles in Refereed Journals

C. Klein, S. Ahmed, "Repeatable pseudoinverse control for planar kinematically redundant manipulators," IEEE Trans. Systems, Man, and Cyber., Vol SMC-12, No. 12, Dec 1995.

C. Klein, C. Chu-Jenq, S. Ahmed, "A new formulation of the the extended jacobian method and its use in mapping algorithmic singularities for kinematically redundant manipulators", IEEE Trans. Robotics and Automation , Vol RA-11, No. 1, Feb 1995.

C. Klein, ``The Lie Bracket condition as a test of stable, drift-free pseudoinverse trajectories,'' IEEE Trans. Robotics and Automation , vol RA-9, No. 3, p 334. June 1993.

C.L. Shih and C. Klein,``An adaptive gait for legged waling machines over rough terrain,'' IEEE Trans. System, Man, and Cybernetics , vol SMC-23, No. 4, pp 1150-1155, July/August 1993.

C. Klein, C. Chu-Jenq, and S. Kittivatcharapong, ``Testing Iterative Robotic Algorithms by the Rate of Convergence,'' IEEE Journal of Robotics and Automation , vol RA-7, No. 5, Nov 1991, pp 686-687.

C. Klein and T. Miklos, ``Spatial Robotic Isotropy,'' International Journal of Robotics Research , vol 10, No. 4, Aug 1991, pp 426-437.

C. Klein and S. Kittivatcharapong, `` Optimal Force Distribution for the Legs of a Walking Machine with Friction Cone Constraints,'' IEEE Journal of Robotics and Automation , vol RA-6, Feb 1990, pp 73-85.

A. Maciejewski and C. Klein, ``The Singular Value Decomposition: its Computation and Applications to Robotics,'' International Journal of Robotics Research , vol 8, Dec 1989, pp 63-79.

C. Klein and B. Kee, ``The Nature of Drift in Pseudoinverse Control of Kinematically redundant Manipulators,'' IEEE Journal of Robotics and Automation , vol. RA-5, April 1989, pp 231-234.

C. Kau, K. Olson, E. Ribble and C. Klein, ``Design and Implementation of a Vision Processing System for a Walking Machine,'' IEEE Transactions on Industrial Electronics , vol. IE-36, Feb. 1989, pp 25-33.

A. Maciejewski and C. Klein, ``Numerical Filtering for the Operation of Robotic Manipulators Through Kinematically Singular Configurations,'' Journal of Robotic Systems , vol. 5.6, Dec. 1988, pp 527-552.

C. Klein and T. S. Chung, ``Force interaction and allocation for the legs of a walking vehicle,'' IEEE Trans Robotics and Automation , vol. 3, no. 6, pp. 546-555, Dec. 1987.

C. Klein and B. Blaho, ``Dexterity measures for the design and control of kinematically redundant manipulators,'' IEEE Journal of Robotics and Automation , vol. 6, no. 2, pp. 72-83, Summer 1987.

C. Klein and A. Chirco, ``Dynamic simulation of a kinematically redundant manipulator system,'' Journal of Robotic Systems , vol. 4, no. 1, pp. 5-23, February 1987.

A. Maciejewski and C. Klein , ``Obstacle avoidance for kinematically redundant manipulators in dynamically varying environment,'' International Journal of Robotics Research , vol. 4, no. 3, pp. 109-117, Fall 1985.

A. Maciejewski and C. Klein, ``{SAM}--animation software for simulating articulated motion,'' Computers and Graphics: An International Journal , vol. 9, no. 4, pp. 383-391, 1985.

D. Messuri and C. Klein, ``Automatic body regulation for maintaining stability of a legged vehicle during rough-terrain locomotion,'' IEEE Journal of Robotics and Automation , vol. RA-1, no. 3, pp. 132-141, September 1985.

C. Barrientos and C. Klein, ``Design of a multimicroprocessor based controller using a structured design approach,'' IEEE Trans on Industrial Electronics , vol. IE-31, no. 4, pp. 292-298, November 1984.

C. Klein, ``Design of shaped beam antennas through minimax optimization,'' IEEE Trans Ant and Prop , vol. AP-32, no. 9, pp. 963-968, September 1984.

C. Klein and C. H. Huang, ``Review of pseudoinverse control for use with of kinematically redundant manipulators,'' IEEE Trans on Systems and Man and Cybernetics , vol. 13, no. 2, pp. 245-250, March 1983.

C. Klein, K. Olson, and D. Pugh, ``Use of force and attitude sensors for locomotion of a legged vehicle over irregular terrain,'' International Journal of Robotics Research , vol. 2, no. 2, pp. 3-17, Summer 1983.

C. Klein and W. Wahawisan, ``Use of a multiprocessor for control of a robotic system,'' The International Journal of Robotics Research , vol. 1, no. 2, pp. 45-59, Summer 1982.

C. Klein and M. Patterson, ``Computer coordination of limb motion for locomotion of a multiple armed robot for space assembly,'' IEEE Trans on Systems and Man and Cybernetics , vol. 12, no. 6, pp. 913-919, November 1981.

C. Klein and R. Briggs, ``Use of active compliance in the control of legged vehicles,'' IEEE Trans on Systems and Man and Cybernetics , vol. 10, no. 7, pp. 393-400, July 1980.

C. Klein and J. Maney, ``Real-time control of a multiple-element mechanical linkage with a microcomputer,'' IEEE Trans Ind Electronics and Control Instrumentation , vol. 26, no. 4, pp. 227-234, November 1979.

C. Klein, ``A graphical aid for extracting circular-polarized components from spinning-linear patterns,'' IEEE Trans. Antennas and Propagation , vol. AP-25, no. 3, pp. 451-452, May 1977.

W. V. T. Rusch, J. Appel-Hansen, C. Klein, and R. Mittra, ``Forward scattering from square cylinders in the resonance region with application to aperture blockage,'' IEEE Trans. Antennas and Propagation , vol. AP-24, no. 2, pp. 182-189, March 1976.

C. Klein and R. Mittra, ``The effect of different testing functions in the moment method solution of thin-wire antenna problems,'' IEEE Trans. Antennas and Propagation , vol. AP-23, no. 2, pp. 258-261, March 1975.

R. Mittra and C. Klein, ``The use of pivot ratios as a guide to stability of matrix equations arising in the method of moments,'' IEEE Trans. Antennas and Propagation , vol. AP-23, no. 3, pp. 448-451, May 1975.

C. Klein and R. Mittra, ``An application of the `condition number' concept to the solution of scattering problems in the presence of the interior resonant frequencies,'' IEEE Trans. Antennas and Propagation , vol. AP-23, no. 3, pp. 431-435, May 1975.

C. Klein and R. Mittra, ``Stability of matrix equations arising in electromagnetics,'' IEEE Trans. Antennas and Propagation , vol. AP-21, no. 6, pp. 902-905, Nov 1973.

Conference Papers

`` Use of an extended jacobian method to map algorithmic singularities,'' C. A. Klein, C. Chu-Jeng, S. Ahmed, Proceedings 1993 IEEE Int. Conf. on Robotics and Automation, May 2-6, 1993, Atlanta, GE, vol 3, pp 632-637.

R. Dixon, C. Klein,``On the Detection of Unknown Signals,'' invited paper at USA-USSR Joint Conf. Aug 8, 1991, in Santa Cruz, CA.

C. Klein, N. Berme, S. Koozekanani, ``Motion coordination for mobile robots in unstructured environments'' in Advances in Manufacturing Systems, 15th Conference on Production , Berkeley, CA, Jan 13, 1989, pp 157-170.

C. Klein, C. C. Kau, E. A. Ribble, and M. R. Patterson, ``Vision processing and foothold selection for the {ASV} walking machine,'' in Proceedings of SPIE Conference--Advances in Intelligent Robotics Systems , Cambridge, MA, Nov 1987.

K. J. Waldron, C. Klein, D. Pugh, V. J. Vohnout, E. Ribble, M. Patterson, and R. B. McGhee, ``Operational experience with the adaptive suspension vehicle,'' in 7th World congress theory of machines and mechanisms , Seville, Spain, Sept 1987.

K. Waldron and C. Klein, ``Multi-limbed locomotion systems for space construction and maintenance,'' in JPL Workshop on Intelligent Systems , Pasadena, CA, Jan 1987.

C. Klein, ``Use of redundancy in the design of robotic systems,'' in Robotics Research: The Second International Symposium , H. Hanafusa and H. Inoue, Eds., pp. 207-214, MIT Press, August 1984.

C. Klein, ``Motion planning for kinematically redundant robots,'' November 1981, 10th International Machine Intelligence Workshop.

R. McGhee, C. Klein, and C. Chao, ``Interactive computer control of an adaptive walking machine,'' in Proceedings of MIDCON Conference , Chicago, IL, November 1979.

C. Klein and K. Breeding, ``Automatic optical identification of faults in bubble memory overlay patterns,'' in Proceedings of IEEE Computer Society Conference on Pattern Recognition and Image Processing , pp. 87-92, August 1979.

K. Graff, R. Kouyoumjian, and C. Klein, ``A new theory for calculating the plane wave reflection and transmission by fluid immersed elastic plate,'' in Acoustical Soc of Am Symposium , June 1979.

R. McGhee, C. Klein, and R. Briggs, ``On the role of regulated compliance in manipulation and locomotion tasks involving closed kinematic chains,'' in Proceeding of First Yugoslav Symposium on Industrial Robots and Artificial Intelligence , September 1979.

C. Klein and R. Briggs, ``Minicomputer and microcomputer control of mechanical linkage systems,'' Proceedings of National Electronics Conference , vol. 32, pp. 186-190, October 1978.

R. Kouyoumjian and C. Klein, ``On the effect of mass loading stiffening rib,'' 1977, Technical report OSU Research Foundation Project 4409 A1 for Department of Navy, Navy Undersea Center.

Chuang, Smoll, Han, and C. Klein, ``A general beam shaping technique multiple feed offset reflector antenna system,'' in AIAA/CASI 6th Communication Satellite Systems Conference , April 1976.

C. Klein and H. Bilenko, ``Design of shaped beam satellite antennas through minimax pattern optimization,'' in URSI-IEEE GAP Symposium , October 1976.

C. Klein and R. Mittra, ``Application of stability parameters in thin-wire antenna modeling,'' in URSI-IEEE Symposium , p. 95, June 1975.

C. Klein and R. Mittra, ``An application of the condition number concept to the solution of scattering problems in the neighborhood of internal resonances,'' in IEEE GAP Symposium , June 1974.

C. Klein and R. Mittra, ``The choice of expansion and testing functions and how they can affect the results in the moment method of solution,'' in URSI-IEEE GAP Symposium , October 1974.

C. Klein and R. Mittra, ``The numerical solution of scattering problems in the vicinity of the interior resonant frequency,'' in URSI-IEEE GAP Symposium , 1973.

C. Klein and R. Mittra, ``On the stability of numerical solutions of matrix equations,'' in URSI-IEEE GAP Symposium , p. 89, December 1972.

Patents

W. Scott, E. Mathews, H. Luh, and C. Klein, ``Null control of multiple beam antenna,'' Patent \#4335388.