Graphics enhanced version of this site

Kevin Lynch
Visiting Professor

No longer a member of RI.

Jump to: Labs & Groups | Projects | Publications

• Manipulation Lab - The Manipulation Laboratory at Carnegie Mellon University investigates fundamental modes of manipulation under uncertainty.

• Dynamic Manipulation - By not grasping, a simple robot with few degrees-of-freedom can control an object with more degrees-of-freedom by exploiting dynamic effects, such as centrifugal and Coriolis forces.
• Factory Automation

• 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

• Dynamic Nonprehensile Manipulation: Controllability, Planning and Experiments
  K. Lynch and M. Mason
  International Journal of Robotics Research, Vol. 18, No. 1, January, 1999, pp. 64-92. [Abstract]

• 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

• 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

• Stable Pushing: Mechanics, Controllability, and Planning
  K. Lynch and M. Mason
  International Journal of Robotics Research, Vol. 15, No. 6, December, 1996, pp. 533--556.
  Download: pdf [0 KB], ps.gz [797 KB] copyrighted

• Dynamic Underactuated Nonprehensile Manipulation
  K. Lynch and M. Mason
  IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, November, 1996, pp. 889--896. [Abstract]
  Download: pdf [273 KB], ps.gz [453 KB] copyrighted

• Nonprehensile Robotic Manipulation: Controlability and Planning
  K. Lynch
  doctoral dissertation, tech. report CMU-RI-TR-96-05, Robotics Institute, Carnegie Mellon University, March, 1996. [Abstract]
  Download: pdf [1996 KB], ps.gz [2033 KB] copyrighted

• From Robotic Juggling to Robotic Parts Feeding
  S. Akella, W. Huang, K. Lynch, and M. Mason
  In the Ninth Yale Workshop on Adaptive and Learning Systems, 1996. [Abstract]

• 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