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Matthew T. Mason
Professor, RI/CS
Office: NSH A521
Phone: (412) 268-8804
Fax: 412-268-6436
  Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

For appointments, please contact:
Jean Harpley, (412) 268 3802, NSH 4303 (

Administrative Assistant: Jean Harpley
Affiliated Center(s):
 Center for the Foundations of Robotics (CFR)
Personal Homepage

Current Projects [Past Projects]
Desktop Robotics
Is it possible to build robots which take the desktop as their task domain?
Dynamic Climbing
The goal of this project is to show how robots can gain access to difficult-to-reach places by taking full advantage of their dynamics and the potential reaction forces afforded by the environment. We build robots that use dynamic motions to climb vertically using frictional contact forces.
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.
Extrinsic Dexterity
"Extrinsic Dexterity" is a way to get dexterous manipulation with a very simple hand, by coordinating finger motion with arm motion. The more common approach is to depend entirely on the fingers of the hand, which requires at least three fingers and at least nine motors. We have demonstrated Extrinsic Dexterity using the single motor of the MLab Hand, coordinated with the motions of the arm.
Fine Motion Planning for Assembly
Harnessing Human Manipulation
Legless Locomotion
A novel locomotion technique for legged robots when their legs don't touch the ground!
Robotic Origami Folding
Origami, the human art of paper sculpture, is a fresh challenge for the field of robotic manipulation, and provides a concrete example for many difficult and general manipulation problems.
Simple Hands
Designing simple grippers for autonomous general purpose manipulation.
Time-optimal Vehicle Trajectories
What's the fastest way to drive a mobile robot?