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Lillian Y. Chang
PhD Student

Email address: lillianc+www(at)ri.cmu.edu

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

For more information, see my personal homepage.

Jump to: Research interests | Keywords | Labs & groups | Publications

I want to use robotics to model and analyze human biomechanics. Engineering tools can help us better understand human motion and interaction with the environment. For example, robotics technology can provide ways to quantitatively describe normal versus impaired movement. In turn, knowledge of human biomechanics can inspire new approaches for physical rehabilitation, robotic dexterous manipulation, and computer animation. I am currently researching motion capture methods for hands.

control, human motion simulation, humanoid robotics, and manipulation

• Computer Graphics Lab - Modeling, animation, and rendering of 3-D scenes

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

• 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

• 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

• 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

• A Kinematic Thumb Model for the ACT Hand
  L.Y. Chang and Y. Matsuoka
  Proceedings of the IEEE Intl. Conference on Robotics and Automation (ICRA '06), May, 2006, pp. 1000 - 1005. [Abstract]
  Download: pdf [379 KB] copyrighted