Graphics enhanced version of this site

CFR publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Adaptive Workspace Biasing for Sampling Based Planners
  M. Zucker, J. Kuffner, and J. Bagnell
  Proc. IEEE Int'l Conf. on Robotics and Automation, May, 2008. [Abstract]
  Download: pdf [976 KB] copyrighted

• On preparatory object rotation to adjust handle orientation for grasping
  L.Y. Chang and N. Pollard
  tech. report CMU-RI-TR-08-10, Robotics Institute, Carnegie Mellon University, April, 2008. [Abstract]
  Download: pdf [394 KB] copyrighted

• Imitation Learning for Locomotion and Manipulation
  N. Ratliff, J. Bagnell, and S. Srinivasa
  tech. report CMU-RI-TR-07-45, Robotics Institute, Carnegie Mellon University, December, 2007. [Abstract]
  Download: pdf [2236 KB] copyrighted

• A Dynamic Single Actuator Vertical Climbing Robot
  A. Degani, A. Shapiro, H. Choset, and M. Mason
  Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, November, 2007, pp. 2901-2906. [Abstract]
  Download: pdf [420 KB] copyrighted

• Control Strategies and Design Guidelines for Planar Latch-Less Metamorphic Robots Based on Analysis of Dynamics
  A. Deshpande, S. Srinivasa, and P. Pillai
  IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2007. [Abstract]
  Download: pdf [611 KB] copyrighted

• Declarative Programming for Modular Robots
  M. Ashley-Rollman, M. DeRosa, S. Srinivasa, P. Pillai, S.C. Goldstein, and J. Campbell
  IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Self-Reconfigurable Robots & Systems and Applications, IEEE, November, 2007. [Abstract]
  Download: pdf [872 KB] copyrighted

• Imitation Learning for Locomotion and Manipulation
  N. Ratliff, J. Bagnell, and S. Srinivasa
  IEEE-RAS International Conference on Humanoid Robots, November, 2007. [Abstract]

• Feature Selection for Grasp Recognition from Optical Markers
  L.Y. Chang, N. Pollard, T. Mitchell, and E.P. Xing
  Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS 2007), October, 2007, pp. 2944 - -2950. [Abstract]
  Download: pdf [709 KB] copyrighted

• GPU-accelerated Real-Time 3D Tracking for Humanoid Locomotion and Stair Climbing
  P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 463-469. [Abstract]
  Download: pdf [1413 KB] copyrighted

• Navigation Among Movable Obstacles
  M. Stilman
  doctoral dissertation, tech. report CMU-RI-TR-07-37, Robotics Institute, Carnegie Mellon University, October, 2007. [Abstract]
  Download: pdf [10532 KB] copyrighted

• Planning for Robust Execution of Humanoid Motions using Future Perceptive Capability
  P. Michel, C. Scheurer, J. Kuffner, N. Vahrenkamp, and R. Dillmann
  Proceedings of the IEEE/RSJ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 3223-3228. [Abstract]
  Download: pdf [2042 KB] copyrighted

• Recognizing knee pathologies by classifying instantaneous screws of the six degrees-of-freedom knee motion
  A. Wolf and A. Degani
  Medical and Biological Engineering and Computing, Vol. 45, No. 5, May, 2007, pp. 475-482. [Abstract]

• Multipartite RRTs for Rapid Replanning in Dynamic Environments
  M. Zucker, J. Kuffner, and M. Branicky
  Proc. IEEE Int. Conf. Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [455 KB] copyrighted

• Planar batting under shape, pose, and impact uncertainty
  J. Fu, S. Srinivasa, N. Pollard, and B. Nabbe
  IEEE International Conference on Robotics and Automation (ICRA), April, 2007. [Abstract]
  Download: pdf [571 KB] copyrighted

• (Online) Subgradient Methods for Structured Prediction
  N. Ratliff, J. Bagnell, and M. Zinkevich
  Eleventh International Conference on Artificial Intelligence and Statistics (AIStats), March, 2007. [Abstract]
  Download: pdf [375 KB] copyrighted

• Boosting Structured Prediction for Imitation Learning
  N. Ratliff, D. Bradley, J. Bagnell, and J. Chestnutt
  Advances in Neural Information Processing Systems 19, MIT Press, Cambridge, MA, 2007. [Abstract]
  Download: pdf [847 KB] copyrighted

• Constrained Least-Squares Optimization for Robust Estimation of Center of Rotation
  L.Y. Chang and N. Pollard
  Journal of Biomechanics, Vol. 40, No. 6, 2007, pp. 1392 - 1400. [Abstract]
  Download: pdf [336 KB] copyrighted

• Robust estimation of dominant axis of rotation
  L.Y. Chang and N. Pollard
  Journal of Biomechanics, Vol. 40, No. 12, 2007, pp. 2707 - 2715. [Abstract]
  Download: pdf [674 KB] copyrighted

• Planning and Executing Navigation Among Movable Obstacles
  M. Stilman, K. Nishiwaki, S. Kagami, and J. Kuffner
  IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS 06), October, 2006, pp. 820 - 826. [Abstract]
  Download: pdf [1924 KB] copyrighted

• Physics-Based Motion Retiming
  J. McCann, N. Pollard, and S. Srinivasa
  Eurographics/ ACM SIGGRAPH Symposium on Computer Animation, September, 2006. [Abstract]
  Download: pdf [4883 KB] copyrighted

• Meet point planning for multirobot coordination
  S. Srinivasa and D. Ferguson
  IEEE International Symposium on Robotics and Automation, IEEE, August, 2006. [Abstract]
  Download: pdf [251 KB] copyrighted

• Planning Among Movable Obstacles with Artificial Constraints
  M. Stilman and J. Kuffner
  Workshop on the Algorithmic Foundations of Robotics, July, 2006. [Abstract]
  Download: pdf [2011 KB] copyrighted

• An Integrated Approach to Inverse Kinematics and Path Planning for Redundant Manipulators
  D. Bertram, J. Kuffner, R. Dillmann, and T. Asfour
  Proceedings of the IEEE International Conference on Robotics and Automation, IEEE, May, 2006, pp. 1874-1879. [Abstract]
  Download: pdf [477 KB] copyrighted

• An Intelligent Joystick for Biped Control
  J. Chestnutt, P. Michel, K. Nishiwaki, J. Kuffner, and S. Kagami
  Proceedings of the IEEE International Conference on Robotics and Automation, May, 2006, pp. 860 - 865. [Abstract]
  Download: pdf [1503 KB] copyrighted

• Online Environment Reconstruction for Biped Navigation
  P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'06), May, 2006, pp. 3089 - 3094. [Abstract]
  Download: pdf [1986 KB] copyrighted

• On the Importance of Asymmetries in Grasp Quality Metrics for Tendon Driven Hands
  J. Fu and N. Pollard
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2006. [Abstract]
  Download: pdf [312 KB] copyrighted

• Physics-Based Motion Retiming
  J. McCann, N. Pollard, and S. Srinivasa
  ACM SIGGRAPH / Eurographics Symposium on Computer Animation, 2006. [Abstract]
  Download: pdf [4883 KB] copyrighted

• Precomputed Search Trees: Planning for Interactive Goal-Driven Animation
  M. Lau and J. Kuffner
  ACM SIGGRAPH / Eurographics Symposium on Computer Animation, 2006. [Abstract]
  Download: pdf [2054 KB] copyrighted

• Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments
  M. Stilman and J. Kuffner
  International Journal of Humanoid Robotics, Vol. 2, No. 4, December, 2005, pp. 479-504. [Abstract]
  Download: pdf [3265 KB] copyrighted

• Vision-Guided Humanoid Footstep Planning for Dynamic Environments
  P. Michel, J. Chestnutt, J. Kuffner, and T. Kanade
  Proceedings of the IEEE-RAS Conference on Humanoid Robots (Humanoids'05), December, 2005, pp. 13 - 18. [Abstract]
  Download: pdf [1799 KB] copyrighted

• Augmented Reality for Robot Development and Experimentation
  M. Stilman, P. Michel, J. Chestnutt, K. Nishiwaki, S. Kagami, and J. Kuffner
  tech. report CMU-RI-TR-05-55, Robotics Institute, Carnegie Mellon University, November, 2005. [Abstract]
  Download: pdf [7275 KB] copyrighted

• Behavior Planning for Character Animation
  M. Lau and J. Kuffner
  In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation, August, 2005. [Abstract]
  Download: pdf [3700 KB] copyrighted

• Using projected dynamics to plan dynamic contact manipulation
  S. Srinivasa, M. Erdmann, and M. Mason
  IEEE/RSJ International Conference on Intelligent Robots and Systems, August, 2005, pp. 3618 - 3623. [Abstract]
  Download: pdf [933 KB] copyrighted

• Footstep Planning for the Honda ASIMO Humanoid
  J. Chestnutt, M. Lau, K.M. Cheung, J. Kuffner, J.K. Hodgins, and T. Kanade
  Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005. [Abstract]
  Download: pdf [269 KB] copyrighted

• Navigation Among Movable Obstacles: Real-time Reasoning in Complex Environments
  M. Stilman and J. Kuffner
  Proceedings of the 2004 IEEE International Conference on Humanoid Robotics (Humanoids'04), Vol. 1, December, 2004, pp. 322 - 341. [Abstract]
  Download: pdf [1883 KB] copyrighted

• A Tiered Planning Strategy for Biped Navigation
  J. Chestnutt and J. Kuffner
  Proceedings of the IEEE - RAS / RSJ Conference on Humanoid Robots, November, 2004. [Abstract]
  Download: pdf [1880 KB] copyrighted

• Kinematic reduction and planning using symmetry for a variable inertia mechanical system
  R. Balasubramanian and A. Rizzi
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 4, October, 2004, pp. 3829 - 3834. [Abstract]
  Download: pdf [337 KB] copyrighted

• Efficient Optimal Search of Euclidean-Cost Grids and Lattices
  J. Kuffner
  Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'04), IEEE, September, 2004. [Abstract]
  Download: pdf [353 KB] copyrighted

• Robotic Origami Folding
  D. Balkcom
  doctoral dissertation, tech. report CMU-RI-TR-04-43, Robotics Institute, Carnegie Mellon University, August, 2004. [Abstract]
  Download: pdf [4104 KB] copyrighted

• Effective Sampling and Distance Metrics for 3D Rigid Body Path Planning
  J. Kuffner
  Proc. 2004 IEEE Int’l Conf. on Robotics and Automation (ICRA 2004), IEEE, May, 2004. [Abstract]
  Download: pdf [939 KB] copyrighted

• Motion Planning for Humanoid Robots
  J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue
  Proc. 11th Int’l Symp. of Robotics Research (ISRR 2003), November, 2003. [Abstract]
  Download: pdf [1666 KB] copyrighted

• Planning Biped Navigation Strategies in Complex Environments
  J. Chestnutt, J. Kuffner, K. Nishiwaki, and S. Kagami
  Proceedings of the 2003 International Conference on Humanoid Robots, October, 2003. [Abstract]
  Download: pdf [1872 KB] copyrighted

• Online Footstep Planning for Humanoid Robots
  J. Kuffner, K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue
  IEEE Int'l Conf. on Robotics and Automation (ICRA'2003), IEEE, September, 2003. [Abstract]
  Download: pdf [2597 KB] copyrighted

• Optimizing Human Motion for the Control of a Humanoid Robot
  A. Safonova, N. Pollard, and J.K. Hodgins
  2nd International Symposium on Adaptive Motion of Animals and Machines (AMAM2003), March, 2003. [Abstract]
  Download: pdf [515 KB] copyrighted

• Generalizing Demonstrated Manipulation Tasks
  N. Pollard and J.K. Hodgins
  Workshop on the Algorithmic Foundations of Robotics (WAFR '02), December, 2002. [Abstract]
  Download: pdf [549 KB] copyrighted

• Adapting Human Motion for the Control of a Humanoid Robot
  N. Pollard, J.K. Hodgins, M.J. Riley, and C. Atkeson
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002. [Abstract]
  Download: pdf [1472 KB] copyrighted

• Tendon Arrangement and Muscle Force Requirements for Humanlike Force Capabilities in a Robotic Finger
  N. Pollard and R.C. Gilbert
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002. [Abstract]
  Download: pdf [329 KB] copyrighted