- HERB 2.0: Lessons Learned from Developing a Mobile Manipulator for the Home
Siddhartha Srinivasa, Dmitry Berenson, Maya Cakmak, Alvaro Collet Romea, Mehmet Dogar, Anca Dragan, Ross Alan Knepper, Tim D. Niemueller, Kyle Strabala, J Michael Vandeweghe, and Julius Ziegler
Proceedings of the IEEE, Vol. 100, No. 8, July, 2012, pp. 1-19.
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pdf (7MB) | Copyrighted
- Constellation - An Algorithm for Finding Robot Configurations that Satisfy Multiple Constraints
Peter Kaiser, Dmitry Berenson, Nikolaus Vahrenkamp, Tamim Asfour, Rudiger Dillmann, and Siddhartha Srinivasa
IEEE International Conference on Robotics and Automation (ICRA '12), May, 2012.
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pdf (673KB) | Copyrighted
- Task Space Regions: A Framework for Pose-Constrained Manipulation Planning
Dmitry Berenson, Siddhartha Srinivasa, and James Kuffner
International Journal of Robotics Research (IJRR), Vol. 30, No. 12, October, 2011, pp. 1435 - 1460.
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pdf (5MB) | Copyrighted
- Addressing Cost-Space Chasms in Manipulation Planning
Dmitry Berenson, Thierry Simeon, and Siddhartha Srinivasa
IEEE International Conference on Robotics and Automation (ICRA '11), May, 2011.
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pdf (2MB) | Copyrighted
- Constrained Manipulation Planning
Dmitry Berenson
doctoral dissertation, tech. report CMU-RI-TR-11-08, Robotics Institute, Carnegie Mellon University, May, 2011
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pdf (16MB) | Copyrighted
- People Helping Robots Helping People: Crowdsourcing for Grasping Novel Objects
Alexander Sorokin, Dmitry Berenson, Siddhartha Srinivasa, and Martial Hebert
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '10), October, 2010.
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pdf (666KB) | Copyrighted
- Probabilistically Complete Planning with End-Effector Pose Constraints
Dmitry Berenson and Siddhartha Srinivasa
IEEE International Conference on Robotics and Automation (ICRA '10), May, 2010.
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pdf (876KB) | Copyrighted
- HERB: a home exploring robotic butler
Siddhartha Srinivasa, David Ferguson, Casey Helfrich, Dmitry Berenson, Alvaro Collet Romea, Rosen Diankov, Garratt Gallagher, Geoffrey Hollinger, James Kuffner, and J Michael Vandeweghe
Autonomous Robots, Vol. 28, No. 1, January, 2010, pp. 5-20.
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pdf (1MB) | Copyrighted
- Pose-Constrained Whole-Body Planning using Task Space Region Chains
Dmitry Berenson, Joel Chestnutt, Siddhartha Srinivasa, James Kuffner, and Satoshi Kagami
IEEE-RAS International Conference on Humanoid Robots (Humanoids09), December, 2009.
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pdf (2MB) | Copyrighted
- Addressing Pose Uncertainty in Manipulation Planning Using Task Space Regions
Dmitry Berenson, Siddhartha Srinivasa, and James Kuffner
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09), October, 2009.
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pdf (2MB) | Copyrighted
- Humanoid Motion Planning for Dual-Arm Manipulation and Re-Grasping Tasks
Nikolaus Vahrenkamp, Dmitry Berenson, Tamim Asfour, James Kuffner, and Rudiger Dillmann
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09), October, 2009.
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pdf (812KB) | Copyrighted
- Manipulation Planning on Constraint Manifolds
Dmitry Berenson, Siddhartha Srinivasa, David Ferguson, and James Kuffner
IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009.
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pdf (2MB) | Copyrighted
- Manipulation Planning with Workspace Goal Regions
Dmitry Berenson, Siddhartha Srinivasa, David Ferguson, Alvaro Collet Romea, and James Kuffner
IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009.
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pdf (1MB) | Copyrighted
- Object Recognition and Full Pose Registration from a Single Image for Robotic Manipulation
Alvaro Collet Romea, Dmitry Berenson, Siddhartha Srinivasa, and David Ferguson
IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009.
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pdf (1MB) | Copyrighted
- Grasp Synthesis in Cluttered Environments for Dexterous Hands
Dmitry Berenson and Siddhartha Srinivasa
IEEE-RAS International Conference on Humanoid Robots (Humanoids08), December, 2008.
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pdf (3MB) | Copyrighted
- The Robotic Busboy: Steps Towards Developing a Mobile Robotic Home Assistant
Siddhartha Srinivasa, David Ferguson, J Michael Vandeweghe, Rosen Diankov, Dmitry Berenson, Casey Helfrich, and K=Hauke Strasdat
International Conference on Intelligent Autonomous Systems, July, 2008.
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pdf (5MB) | Copyrighted
- Grasp Synthesis in Cluttered Environments for Dexterous Hands
Dmitry Berenson and Siddhartha Srinivasa
Robotics Science and Systems (RSS) Workshop on Robot Manipulation: Intelligence in Human Environments, June, 2008.
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pdf (2MB) | Copyrighted
- An Optimization Approach to Planning for Mobile Manipulation
Dmitry Berenson, Howie Choset, and James Kuffner
IEEE International Conference on Robotics and Automation (ICRA) 2008, May, 2008, pp. 1187-1192.
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pdf (737KB) | Copyrighted
- Grasp Planning in Complex Scenes
Dmitry Berenson, Rosen Diankov, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
IEEE-RAS International Conference on Humanoid Robots (Humanoids07), December, 2007.
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pdf (4MB) | Copyrighted
- Hardware Evolution of Analog Circuits for In-situ Robotic Fault-Recovery
Dmitry Berenson, Nicholas Esteves, and Hod Lipson
Proceedings of the 2005 NASA/DoD Conference on Evolvable Hardware, June, 2005.
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