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Publications, Manipulation Lab

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

• 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

• Toward Legless Locomotion Control
  R. Balasubramanian, A. Rizzi, and M. Mason
  2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2006, pp. 5594 - 5599. [Abstract]
  Download: pdf [968 KB] copyrighted

• Modeling and Control Techniques for a Class of Mobile Robot Error Recovery Problems
  R. Balasubramanian
  doctoral dissertation, tech. report CMU-RI-TR-06-39, Robotics Institute, Carnegie Mellon University, September, 2006. [Abstract]
  Download: pdf [10971 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

• Control Synthesis for Dynamic Contact Manipulation
  S. Srinivasa
  doctoral dissertation, tech. report CMU-RI-TR-05-33, Robotics Institute, Carnegie Mellon University, September, 2005. [Abstract]
  Download: pdf [9794 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

• Control synthesis for dynamic contact manipulation
  S. Srinivasa, M. Erdmann, and M. Mason
  IEEE International Conference on Robotics and Automation, IEEE, April, 2005, pp. 2523 - 2528. [Abstract]
  Download: pdf [1159 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

• Legless Locomotion: Models and Experimental Demonstration
  R. Balasubramanian, A. Rizzi, and M. Mason
  Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 2, April, 2004, pp. 1803 - 1808. [Abstract]
  Download: pdf [653 KB] copyrighted

• Legless Locomotion for Legged Robots
  R. Balasubramanian, A. Rizzi, and M. Mason
  tech. report CMU-RI-TR-04-05, Robotics Institute, Carnegie Mellon University, January, 2004. [Abstract]
  Download: pdf [973 KB] copyrighted

• Introducing robotic origami folding
  D.J. Balkcom and M.T. Mason
  IEEE International Conference on Robotics and Automation, 2004, pp. 3245-3250. [Abstract]
  Download: pdf [217 KB] copyrighted

• Legless Locomotion for Legged Robots
  R. Balasubramanian, A. Rizzi, and M. Mason
  Proceedings of the International Conference on Robotics and Intelligent Systems, Vol. 1, October, 2003, pp. 880 - 885. [Abstract]
  Download: pdf [473 KB] copyrighted

• Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system
  S. Srinivasa, M. Erdmann, and M. Mason
  Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), IEEE, Vol. 3, May, 2003, pp. 3391 - 3396. [Abstract]
  Download: pdf [1050 KB] copyrighted

• Energy-Optimal Trajectories for Overactuated Robots
  R. Balasubramanian and T. Balch
  tech. report CMU-RI-TR-02-17, Robotics Institute, Carnegie Mellon University, July, 2002. [Abstract]
  Download: pdf [129 KB], ps.gz [330 KB] copyrighted

• A Sensorless Insertion Strategy for Rigid Planar Parts
  D. Balkcom, J.C. Trinkle, and E.J. Gottlieb
  ICRA, May, 2002. [Abstract]

• Computing Wrench Cones for Planar Contact Tasks
  D. Balkcom, J.C. Trinkle, and E.J. Gottlieb
  ICRA, May, 2002. [Abstract]

• Experiments with nonholonomic manipulation
  S. Srinivasa, C. Baker, E. Sacks, G. Reshko, M. Mason, and M. Erdmann
  Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), IEEE, Vol. 2, May, 2002, pp. 2042 - 2047. [Abstract]
  Download: pdf [1264 KB] copyrighted

• Extremal Trajectories for Bounded Velocity Mobile Robots
  D. Balkcom and M. Mason
  ICRA, May, 2002. [Abstract]

• Extremal trajectories for bounded velocity mobile robots
  D.J. Balkcom and M.T. Mason
  IEEE International Conference on Robotics and Automation, 2002. [Abstract]

• Reconstructing Shape from Motion Using Tactile Sensors
  M. Moll and M. Erdmann
  Proc. 2001 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, November, 2001. [Abstract]
  Download: pdf [323 KB] copyrighted

• Progress in Desktop Robotics
  D. Balkcom and M. Mason
  The Eleventh Yale Workshop on Adaptive and Learning Systems, 2001. [Abstract]

• Parts Feeding on a Conveyor with a One Joint Robot
  S. Akella, W. Huang, K. Lynch, and M. Mason
  Algorithmica (Special issue on Robotics), November, 2000. [Abstract]
  Download: pdf [219 KB], ps.gz [548 KB] copyrighted

• Extremal Trajectories for Bounded Velocity Differential Drive Robots
  D. Balkcom and M. Mason
  IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 3, April, 2000, pp. 2479 - 2484. [Abstract]
  Download: pdf [95 KB], ps.gz [555 KB] copyrighted

• Time Optimal Trajectories for Bounded Velocity Differential Drive Robots
  D. Balkcom and M. Mason
  IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 3, April, 2000, pp. 2499 - 2504. [Abstract]
  Download: pdf [639 KB], ps.gz [885 KB] copyrighted

• Uncertainty Reduction Using Dynamics
  M. Moll and M. Erdmann
  Proceeding of the 2000 Conference on Robotics and Automation, April, 2000. [Abstract]
  Download: pdf [224 KB] copyrighted

• Manipulation of Pose Distribitions
  M. Moll and M. Erdmann
  Workshop on the Algorithmic Foundations of Robotics, A. K. Peters, March, 2000. [Abstract]
  Download: pdf [716 KB], ps.gz [916 KB] copyrighted

• Manipulation of Pose Distributions
  M. Moll and M. Erdmann
  tech. report CMU-CS-00-111, Computer Science Department, Carnegie Mellon University, March, 2000. [Abstract]
  Download: pdf [702 KB], ps.gz [847 KB] copyrighted

• A Mobile Manipulator
  M. Mason, D. Pai, D. Rus, L.R. Taylor, and M. Erdmann
  IEEE International Conference on Robotics and Automation (ICRA '99), Vol. 3, May, 1999, pp. 2322 - 2327. [Abstract]
  Download: pdf [76 KB], ps.gz [602 KB] copyrighted

• Experiments with Desktop Mobile Manipulators
  M. Mason, D. Pai, D. Rus, J. Howell, L.R. Taylor, and M. Erdmann
  Internatiional Symposium on Experimental Robotics, 1999. [Abstract]
  Download: pdf [234 KB], ps.gz [1182 KB] copyrighted

• Parts Orienting with Partial Sensor Information
  S. Akella and M. Mason
  1998 IEEE International Conference on Robotics and Automation, May, 1998. [Abstract]
  Download: pdf [118 KB], ps.gz [85 KB] copyrighted

• Parts Orienting with Shape Uncertainty
  S. Akella and M. Mason
  1998 IEEE International Conference on Robotics and Automation, May, 1998. [Abstract]
  Download: pdf [102 KB], ps.gz [60 KB] copyrighted

• Mechanics, Planning, and Control for Tapping
  W. Huang and M. Mason
  Workshop on the Algorithmic Foundations of Robotics, 1998.
  Download: pdf [197 KB], ps.gz [88 KB] copyrighted

• Mechanics for Vibratory Manipulation
  W. Huang and M. Mason
  IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 3, April, 1997, pp. 2391 - 2396. [Abstract]
  Download: pdf [93 KB], ps.gz [71 KB] copyrighted

• Sensorless Parts Orienting with a One Joint Manipulator
  S. Akella, W. Huang, K. Lynch, and M. Mason
  IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 3, April, 1997, pp. 2383 - 2390. [Abstract]
  Download: pdf [118 KB], ps.gz [862 KB] copyrighted

• A Nonprehensile Method for Reliable Parts Orienting
  N. Zumel
  doctoral dissertation, tech. report CMU-RI-TR-97-13, Robotics Institute, Carnegie Mellon University, January, 1997. [Abstract]
  Download: pdf [4747 KB] copyrighted

• Dynamic manipulation with a one joint robot
  K. Lynch and M. Mason
  IEEE International Conference on Robotics and Automation (ICRA '97), 1997. [Abstract]
  Download: pdf [196 KB], ps.gz [246 KB] copyrighted

• Locally controllable polygons by stable pushing
  K. Lynch
  IEEE International Conference on Robotics and Automation (ICRA '97), 1997. [Abstract]
  Download: pdf [122 KB], ps.gz [189 KB] copyrighted

• Sensorless Parts Feeding with a One Joint Robot
  S. Akella, W. Huang, K. Lynch, and M. Mason
  Workshop on the Algorithmic Fundamentals of Robotics, 1996.
  Download: pdf [146 KB], ps.gz [667 KB] copyrighted

• Impulsive Manipulation
  W. Huang, E. Krotkov, and M. Mason
  IEEE International Conference on Robotics and Automation (ICRA '95), 1995. [Abstract]
  Download: pdf [103 KB], ps.gz [78 KB] copyrighted

• Planar Manipulation on a Conveyor with a One Joint Robot
  S. Akella, W. Huang, K. Lynch, and M. Mason
  International Symposium on Robotics Research, 1995, pp. 265--276.
  Download: pdf [148 KB], ps.gz [272 KB] copyrighted

• Balancing of a Planar Bouncing Object
  N. Zumel and M. Erdmann
  IEEE International Conference on Robotics and Automation (ICRA '94), Vol. 4, 1994, pp. 2949 - 2954. [Abstract]
  Download: pdf [198 KB], ps.gz [58 KB] copyrighted

• Balancing of a Planar Object
  N. Zumel
  tech. report CMU-RI-TR-93-26, Robotics Institute, Carnegie Mellon University, November, 1993. [Abstract]
  Download: pdf [566 KB] copyrighted

• Recent Results in Pushing
  M. Mason, S. Akella, and K. Lynch
  Proceedings of the NSF Design and Manufacturing Systems Grantees Conference, SME, January, 1993.

• Manipulation and active sensing by pushing using tactile feedback
  K. Lynch, H. Maekawa, and K. Tanie
  IEEE/RSJ International Conference on Intelligent Robots and Systems, 1992, pp. 416 - 421. [Abstract]
  Download: pdf [113 KB], ps.gz [78 KB] copyrighted

• Learning reliable manipulation strategies without initial physical models
  A.D. Christiansen, M. Mason, and T. Mitchell
  IEEE International Conference on Robotics and Automation, Vol. 2, May, 1990, pp. 1224 - 1230. [Abstract]
  Download: pdf [644 KB] copyrighted