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Publications, Matthew Mason

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

• 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

• 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

• 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

• 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

• 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]

• Rapid Prototyping of Small Robots
  G. Reshko, M. Mason, and I. Nourbakhsh
  tech. report CMU-RI-TR-02-11, Robotics Institute, Carnegie Mellon University, March, 2002. [Abstract]
  Download: pdf [454 KB] copyrighted

• Mechanics of Robotic Manipulation
  M. Mason
  MIT Press, Cambridge, MA, August, 2001, p. 253. [Abstract]

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

• Orienting Toleranced Polygonal Parts
  S. Akella and M. Mason
  International Journal of Robotics Research, Vol. 19, No. 12, December, 2000, pp. 1147-1170. [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

• Mechanics, planning, and control for tapping
  W. Huang and M. Mason
  International Journal of Robotics Research, Vol. 19, No. 10, October, 2000, pp. 883-894. [Abstract]

• 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

• Geometric construction of time optimal trajectories for differential drive robots
  D. Balkcom and M. Mason
  Proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR '00), 2000.
  Download: pdf [356 KB], ps.gz [1401 KB] copyrighted

• Progress in Nonprehensile Manipulation
  M. Mason
  International Journal of Robotics Research, Vol. 18, No. 11, November, 1999, pp. 1129-1141. [Abstract]

• 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

• 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]

• 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

• Using Partial Sensor Information to Orient Parts
  S. Akella and M. Mason
  International Journal of Robotics Research, Vol. 18, No. 10, 1999, pp. 963-997. [Abstract]

• Experiments in Impulsive Manipulation
  W. Huang and M. Mason
  IEEE International Conference on Robotics and Automation (ICRA '98), Vol. 2, May, 1998, pp. 1077 - 1082. [Abstract]
  Download: pdf [66 KB], ps.gz [59 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

• Posing polygonal objects in the plane by pushing
  S. Akella and M. Mason
  International Journal of Robotics Research, Vol. 17, No. 1, January, 1998, pp. 70-88. [Abstract]

• 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

• Robotics: The Algorithmic Perspective
  M. Mason
  AK Peters, 1998.

• 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

• 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

• 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

• Limiting Cases of Impulsive Manipulation
  W. Huang and M. Mason
  tech. report CMU-RI-TR-96-24, Robotics Institute, Carnegie Mellon University, September, 1996. [Abstract]
  Download: pdf [225 KB], ps.gz [162 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

• Controllability of Pushing
  K. Lynch and M. Mason
  IEEE International Conference on Robotics and Automation, Vol. 1, May, 1995, pp. 112--119. [Abstract]
  Download: pdf [221 KB], ps.gz [174 KB] copyrighted

• Parts Orienting by Push-Aligning
  S. Akella and M. Mason
  1995 IEEE International Conference on Robotics and Automation, Vol. 1, May, 1995, pp. 414--420. [Abstract]
  Download: pdf [138 KB], ps.gz [51 KB] copyrighted

• Pulling by Pushing, Slip with Infinite Friction, and Perfectly Rough Surfaces
  K. Lynch and M. Mason
  International Journal of Robotics Research, MIT Press Journals, Cambridge, MA, Vol. 14, No. 2, April, 1995, pp. 174-183. [Abstract]

• 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

• Stable Pushing: Mechanics, Controllability, and Planning
  K. Lynch and M. Mason
  Algorithmic Foundations of Robotics, A. K. Peters, Boston, MA, 1995, pp. 239--262.

• Mechanical Parts Orienting: The Case of a Polyhedron on a Table
  M. Erdmann, M. Mason, and G. Vanecek
  Algorithmica, Vol. 10, No. 2/3/4, August, 1993. [Abstract]

• Dynamic Manipulation
  M. Mason and K. Lynch
  IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, July, 1993, pp. 152-159. [Abstract]
  Download: pdf [842 KB] copyrighted

• Two-dimensional rigid-body collisions with friction: authors' closure
  Y. Wang and M. Mason
  Trans ASME; J Applied Mechanics, Vol. 60, June, 1993, pp. 566.

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

• Kicking the Sensing Habit
  M. Mason
  AI Magazine, Vol. 14, No. 1, 1993, pp. 58--59.

• Throwing a Club: Early Results
  M. Mason and K. Lynch
  International Symposium on Robotics Research, MIT Press, Cambridge, Mass, 1993.

• Two Dimensional Rigid Body Collisions with Friction
  Y. Wang and M. Mason
  Trans ASME; J Applied Mechanics, Vol. 59, No. 3, September, 1992, pp. 635--642.

• Posing Polygonal Objects in the Plane by Pushing
  S. Akella and M. Mason
  IEEE International Conference on Robotics and Automation, Vol. 3, May, 1992, pp. 2255--2262. [Abstract]
  Download: pdf [149 KB], ps.gz [61 KB] copyrighted

• Planar Sliding with Dry Friction: a Review
  M. Erdmann and M. Mason
  The Robotics Review 2, Oussama Khatib and John J. Craig and Tomas Lozano-Perez, ed., MIT Press, Cambridge, MA, 1992, pp. 47--50.

• Two Graphical Methods for Planar Contact Problems
  M. Mason
  IEEE/RSJ International Conference on Intelligent Robots and Systems, Intelligence for Mechanical Systems, Vol. 2, November, 1991, pp. 443--448. [Abstract]
  Download: pdf [299 KB] copyrighted

• Generating Stochastic Plans for a Programmable Parts Feeder
  K.Y. Goldberg, M. Mason, and M. Erdmann
  IEEE International Conference on Robotics and Automation, Sacramento, CA, Vol. 1, April, 1991, pp. 352 - 359. [Abstract]
  Download: pdf [549 KB] copyrighted

• Learning Reliable Manipulation Strategies Without Initial Physical Models
  A.D. Christiansen, M. Mason, and T. Mitchell
  Robotics and Autonomous Systems, Vol. 8, 1991, pp. 7-18.

• Bayesian Grasping
  K.Y. Goldberg and M. Mason
  IEEE International Conference on Robotics and Automation, Vol. 2, May, 1990, pp. 1264 - 1269. [Abstract]
  Download: pdf [494 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

• A Programmable Parts Feeder
  K.Y. Goldberg and M. Mason
  Annual Research Review, The Robotics Institute, Carnegie Mellon University, 1990.

• Progress in Robotic Manipulation
  M. Mason, R.C. Brost, and K.Y. Goldberg
  Proceedings of NSF Design and Manufacturing Systems Conference, 1990.

• Graphical analysis of planar rigid-body dynamics with multiple frictional contacts
  R.C. Brost and M. Mason
  International Symposium on Robotics Research, Cambridge, MA: MIT Press, August, 1989, pp. 293--300.

• Compliant Sliding of a Block Along a Wall
  M. Mason
  International Symposium on Experimental Robotics, Springer-Verlag, June, 1989, pp. 568-578.

• Experiments in robot learning
  M. Mason, A.D. Christiansen, and T. Mitchell
  Proceedings of the Sixth International Workshop on Machine Learning, Morgan Kaufmann, 1989.

• How to Push a Block Along a Wall
  M. Mason
  NASA Conference on Space Telerobotics, 1989.

• Numerical Simulation of Time-Dependent Contact and Friction Problems in Rigid Body Mechanics: A Review
  M. Mason
  The Robotics Review 1, Oussama Khatib and John J. Craig and Tomas Lozano-Perez, ed., MIT Press, Cambridge, MA, 1989, pp. 311--313.

• Robotic Manipulation: Mechanics and Planning
  M. Mason
  Robotics Science, J. Michael Brady, ed., MIT Press, Cambridge, MA, 1989, pp. 262--288.

• Toward a Learning Robot
  T. Mitchell, M. Mason, and A.D. Christiansen
  Proceedings of the Workshop on Representation and Learning in an Autonomous Agent, November, 1988.

• An Exploration of Sensorless Manipulation
  M. Erdmann and M. Mason
  IEEE Journal of Robotics and Automation, Vol. 4, No. 4, August, 1988, pp. 369 - 379. [Abstract]
  Download: pdf [1084 KB] copyrighted

• On the Inconsistency of Rigid-Body Frictional Planar Mechanics
  M. Mason and Y. Wang
  IEEE International Conference on Robotics and Automation, Vol. 1, April, 1988, pp. 524--528. [Abstract]
  Download: pdf [314 KB] copyrighted

• Planning Sequences of Squeeze-Grasps to Orient and Grasp Polygonal Objects
  M. Mason, K.Y. Goldberg, and R.H. Taylor
  Seventh CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, 1988.

• Sensor-based manipulation planning as a game with nature
  R.H. Taylor, M. Mason, and K.Y. Goldberg
  International Symposium on Robotics Research, MIT Press, Cambridge MA, 1988.

• Modeling Impact Dynamics for Robotic Operations
  Y. Wang and M. Mason
  IEEE International Conference on Robotics and Automation, 1987.

• Automatic Grasp Planning: An Operation Space Approach
  M. Mason and R.C. Brost
  Sixth CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators, Alma-Press, Cracow, Poland, September, 1986, pp. 321--328.

• On the Scope of Quasi-Static Pushing
  M. Mason
  International Symposium on Robotics Research, MIT Press, Cambridge, Mass, 1986, pp. 229-233.

• Mechanics of Pushing
  M. Mason
  International Symposium on Robotics Research, 1985.

• Robot Hands and the Mechanics of Manipulation
  M. Mason and J.K. Salisbury
  MIT Press, Cambridge, MA, 1985.

• The Mechanics of Manipulation
  M. Mason
  IEEE International Conference on Robotics and Automation, 1985, pp. 544--548.

• Automatic Planning of Fine Motions: Correctness and Completeness
  M. Mason
  Proceedings of the IEEE International Conference on Robotics and Automation, 1984, March, 1984, pp. 492-503. [Abstract]

• Automatic Synthesis of Fine-Motion Strategies for Robots
  T. Lozano-Perez, M. Mason, and R.H. Taylor
  International Journal of Robotics Research, Vol. 3, No. 1, 1984.

• Automatic Planning of Fine Motions: Correctness and Completeness
  M. Mason
  tech. report CMU-RI-TR-83-18, Robotics Institute, Carnegie Mellon University, December, 1983.
  Download: pdf [1306 KB] copyrighted

• Adaptable Manipulation without Sensors
  M. Mason
  Robotics Research and Advanced Applications, 1982.

• Manipulator Grasping and Pushing Operations
  M. Mason
  doctoral dissertation, Electrical Engineering and Computer Science, MIT, 1982.

• Robot Motion: Planning and Control
  M. Brady, J.M. Hollerbach, T. Johnson, T. Lozano-Perez, and M. Mason
  MIT Press, Cambridge, MA, 1982.

• Compliance and Force Control for Computer-Controlled Manipulators
  M. Mason
  IEEE Trans on Systems, Man, and Cybernetics, Vol. 11, No. 6, 1981, pp. 418--432.