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Center for the Foundations of Robotics (CFR)
Head: Howie Choset
CFR
The Robotics Institute
Carnegie Mellon University
5000 Forbes Avenue
Pittsburgh PA 15213-3890
Publications
Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.
 
  • Legible Robot Pointing

    Rachel Holladay, Anca Dragan, and Siddhartha Srinivasa
    Robotics: International Symposium on Robot and Human Interactive Communication (Ro-Man), July, 2014.
    Details | pdf (2MB) | Copyrighted

  • An Analysis of Deceptive Robot Motion

    Anca Dragan, Rachel Holladay, and Siddhartha Srinivasa
    Robotics: Science and Systems, July, 2014.
    Details | pdf (10MB) | Copyrighted

  • Generating Legible Motion

    Anca Dragan and Siddhartha Srinivasa
    Robotics: Science and Systems, June, 2013.
    Details | pdf (3MB) | Copyrighted

  • Pose Estimation for Contact Manipulation with Manifold Particle Filters

    Michael Koval, Mehmet Dogar, Nancy Pollard, and Siddhartha Srinivasa
    tech. report CMU-RI-TR-13-11, Robotics Institute, Carnegie Mellon University, May, 2013
    Details | pdf (2MB) | Copyrighted

  • Physics-Based Manipulation in Human Environments

    Mehmet Dogar and Siddhartha Srinivasa
    Journal of the Robotics Society of Japan, Vol. 31, No. 4, May, 2013, pp. 353-357.
    Details

  • Object Search by Manipulation

    Mehmet Dogar, Michael Koval, Abhijeet Tallavajhula, and Siddhartha Srinivasa
    IEEE International Conference on Robotics and Automation, May, 2013.
    Details | pdf (770KB) | Copyrighted

  • Exploiting Domain Knowledge for Object Discovery

    Alvaro Collet Romea, Bo Xiong, Corina Gurau, Martial Hebert, and Siddhartha Srinivasa
    IEEE International Conference on Robotics and Automation (ICRA), May, 2013.
    Details | pdf (3MB) | Copyrighted

  • Efficient Touch Based Localization through Submodularity

    Shervin Javdani, Matthew Klingensmith, J. Andrew (Drew) Bagnell, Nancy Pollard, and Siddhartha Srinivasa
    IEEE International Conference on Robotics and Automation (ICRA), May, 2013.
    Details | pdf (3MB) | Copyrighted

  • Effector Form Design for 1DOF Planar Actuation

    Alberto Rodriguez and Matthew T. Mason
    IEEE International Conference on Robotics and Automation (ICRA 2013), May, 2013.
    Details | pdf (4MB) | Copyrighted

  • CHOMP: Covariant Hamiltonian Optimization for Motion Planning

    Matthew Zucker, Nathan Ratliff, Anca Dragan, Mihail Pivtoraiko, Matthew Klingensmith, Christopher Dellin, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
    International Journal of Robotics Research, , May, 2013,
    Details | pdf (7MB) | Copyrighted

  • A Simple and Compliant Force Sensing Palm for the MLab Simple Hand

    Garth Zeglin, Alberto Rodriguez, and Matthew T. Mason
    IEEE International Conference on Robotics and Automation (ICRA 2013), May, 2013.
    Details | pdf (789KB) | Copyrighted

  • A Policy Blending Formalism for Shared Control

    Anca Dragan and Siddhartha Srinivasa
    International Journal of Robotics Research, , May, 2013,
    Details | pdf (2MB) | Copyrighted

  • Legibility and Predictability of Robot Motion

    Anca Dragan, Kenton Lee, and Siddhartha Srinivasa
    Human-Robot Interaction, March, 2013.
    Details | pdf (3MB) | Copyrighted

  • Effects of Robot Capability on User Acceptance

    Elizabeth Cha, Anca Dragan, and Siddhartha Srinivasa
    Human-Robot Interaction 2013, Late Breaking Report Proceedings, March, 2013.
    Details | pdf (251KB) | Copyrighted

  • Teleoperation with Intelligent and Customizable Interfaces

    Anca Dragan, Kenton Lee, and Siddhartha Srinivasa
    Journal of Human-Robot Interaction, Special Issue on "Technical and Social Advances in HRI: An Invitational Issue of JHRI", Vol. 1, No. 3, January, 2013,
    Details | pdf (8MB) | Copyrighted

  • Manifold Representations for State Estimation in Contact Manipulation

    Michael Koval, Nancy Pollard, and Siddhartha Srinivasa
    International Symposium on Robotics Research, December, 2013.
    Details | pdf (1MB) | Copyrighted

  • Pose Estimation for Contact Manipulation with Manifold Particle Filters

    Michael Koval, Mehmet Dogar, Nancy Pollard, and Siddhartha Srinivasa
    IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2013.
    Details | pdf (763KB) | Copyrighted

  • Object Search by Manipulation

    Mehmet Dogar, Michael Koval, Abhijeet Tallavajhula, and Siddhartha Srinivasa
    Autonomous Robots, , October, 2013,
    Details | pdf (7MB) | Copyrighted

  • Towards Seamless Human-Robot Handovers

    Kyle Strabala, Min Kyung Lee, Anca Dragan, Jodi Forlizzi, Siddhartha Srinivasa, Maya Cakmak, and Vincenzo Micelli
    Journal of Human-Robot Interaction, , 2013
    Details | pdf (4MB) | Copyrighted

  • Online Customization of Teleoperation Interfaces

    Anca Dragan and Siddhartha Srinivasa
    21st IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man), September, 2012.
    Details | pdf (2MB) | Copyrighted

  • Learning the Communication of Intent Prior to Physical Collaboration

    Kyle Strabala, Min Kyung Lee, Anca Dragan, Jodi Forlizzi, and Siddhartha Srinivasa
    21st IEEE International Symposium on Robot and Human Interactive Communication, September, 2012.
    Details | pdf (2MB) | Copyrighted

  • Efficient Touch Based Localization through Submodularity

    Shervin Javdani, Matthew Klingensmith, J. Andrew (Drew) Bagnell, Nancy Pollard, and Siddhartha Srinivasa
    tech. report CMU-RI-TR-12-25, Robotics Institute, Carnegie Mellon University, August, 2012
    Details | pdf (3MB) | Copyrighted

  • Physics-Based Grasp Planning Through Clutter

    Mehmet Dogar, Kaijen Hsiao, Matei Ciocarlie, and Siddhartha Srinivasa
    Robotics: Science and Systems VIII, July, 2012.
    Details | pdf (8MB) | Copyrighted

  • 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.
    Details | pdf (7MB) | Copyrighted

  • Formalizing Assistive Teleoperation

    Anca Dragan and Siddhartha Srinivasa
    Robotics: Science and Systems, July, 2012.
    Details | pdf (3MB) | Copyrighted

  • From Caging to Grasping

    Alberto Rodriguez, Matthew T. Mason, and Steve Ferry
    The International Journal of Robotics Research (IJRR), Vol. 31, No. 7, June, 2012, pp. 886-900.
    Details | pdf (5MB) | Copyrighted

  • A Planning Framework for Non-Prehensile Manipulation under Clutter and Uncertainty

    Mehmet Dogar and Siddhartha Srinivasa
    Autonomous Robots, Vol. 33, No. 3, June, 2012, pp. 217-236.
    Details | pdf (6MB) | Copyrighted

  • A Data-Driven Statistical Framework for Post-Grasp Manipulation

    Robert Paolini, Alberto Rodriguez, Siddhartha Srinivasa, and Matthew T. Mason
    International Symposium on Experimental Robotics (ISER 2012), June, 2012.
    Details | pdf (4MB) | 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.
    Details | pdf (673KB) | Copyrighted

  • Autonomous Manipulation with a General-Purpose Simple Hand

    Matthew T. Mason, Alberto Rodriguez, Siddhartha Srinivasa, and Andres S. Vazquez
    The International Journal of Robotics Research (IJRR), Vol. 31, No. 5, April, 2012, pp. 688-703.
    Details | pdf (6MB) | Copyrighted

  • Assistive Teleoperation for Manipulation Tasks

    Anca Dragan and Siddhartha Srinivasa
    ACM/IEEE International Conference on Human-Robot Interaction (Late-Breaking Report), March, 2012.
    Details | pdf (774KB) | Copyrighted

  • Toward a deeper understanding of motion alternatives via an equivalence relation on local paths

    Ross Alan Knepper, Siddhartha Srinivasa, and Matthew T. Mason
    International Journal of Robotics Research, Vol. 31, No. 2, February, 2012, pp. 168-187.
    Details | pdf (4MB) | Copyrighted

  • Grasp Invariance

    Alberto Rodriguez and Matthew T. Mason
    The International Journal of Robotics Research (IJRR), Vol. 31, No. 2, February, 2012, pp. 237-249.
    Details | pdf (7MB) | Copyrighted

  • Assistive Teleoperation: A New Domain for Interactive Learning

    Anca Dragan and Siddhartha Srinivasa
    AAAI Fall Symposium on Robots Learning Interactively from Human Teachers, November, 2012.
    Details | pdf (3MB) | Copyrighted

  • Path-Connectivity of the Free Space

    Alberto Rodriguez and Matthew T. Mason
    IEEE Transactions on Robotics (TRO), Vol. 28, No. 5, October, 2012, pp. 1177-1180.
    Details | pdf (1MB) | Copyrighted

  • A Generic Robot Database and its Application in Fault Analysis and Performance Evaluation

    Tim D. Niemueller, Gerhard Lakemeyer, and Siddhartha Srinivasa
    IEEE International Conference on Intelligent Robots and Systems , October, 2012.
    Details | pdf (414KB) | Copyrighted

  • Human Preferences for Robot-Human Hand-over Configurations

    Maya Cakmak, Siddhartha Srinivasa, Min Kyung Lee, Jodi Forlizzi, and Sara Kiesler
    IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2011.
    Details | pdf (2MB) | Copyrighted

  • Abort and Retry in Grasping

    Alberto Rodriguez, Matthew T. Mason, Siddhartha Srinivasa, Matthew Bernstein, and Alex Zirbel
    IEEE International Conference on Intelligent Robots and Systems (IROS 2011), September, 2011.
    Details | pdf (2MB) | Copyrighted

  • A Framework for Push-grasping in Clutter

    Mehmet Dogar and Siddhartha Srinivasa
    Robotics: Science and Systems VII, July, 2011.
    Details | pdf (2MB) | Copyrighted

  • Perception and Control Challenges for Effective Human-Robot Handoffs

    Vincenzo Micelli, Kyle Strabala, and Siddhartha Srinivasa
    RSS 2011 RGB-D Workshop, June, 2011.
    Details | pdf (3MB) | Copyrighted

  • From Caging to Grasping

    Alberto Rodriguez, Matthew T. Mason, and Steve Ferry
    Robotics: Science and Systems (RSS 2011), June, 2011.
    Details | pdf (3MB) | Copyrighted

  • Manipulation Planning with Goal Sets Using Constrained Trajectory Optimization

    Anca Dragan, Nathan Ratliff, and Siddhartha Srinivasa
    2011 IEEE International Conference on Robotics and Automation, May, 2011.
    Details | pdf (2MB) | Copyrighted

  • Constrained Manipulation Planning

    Dmitry Berenson
    doctoral dissertation, tech. report CMU-RI-TR-11-08, Robotics Institute, Carnegie Mellon University, May, 2011
    Details | pdf (16MB) | 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.
    Details | pdf (2MB) | Copyrighted

  • Learning to Provide Better Examples for Our Robots

    Anca Dragan and Siddhartha Srinivasa
    Proceedings of the Human-Robot Interaction Pioneers Workshop, March, 2011
    Details | pdf (696KB) | 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.
    Details | pdf (5MB) | Copyrighted

  • Failure Detection in Assembly: Force Signature Analysis

    Alberto Rodriguez, David Bourne, Matthew T. Mason, Gregory F. Rossano, and JianJun Wang
    IEEE Conference on Automation Science and Engineering (CASE 2010), August, 2010.
    Details | pdf (1MB) | 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.
    Details | pdf (876KB) | Copyrighted

  • Planning pre-grasp manipulation for transport tasks

    Lillian Y. Chang, Siddhartha Srinivasa, and Nancy Pollard
    "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)", May, 2010.
    Details | pdf (1MB) | Copyrighted

  • Minimalistic, Dynamic, Tube Climbing Robot - Video Submission

    Amir Degani, Siyuan Feng, Howie Choset, and Matthew T. Mason
    IEEE International Conference on Robotics and Automation, May, 2010.
    Details | pdf (973KB) | Copyrighted

  • MOPED: A Scalable and Low Latency Object Recognition and Pose Estimation System

    Manuel Martinez Torres, Alvaro Collet Romea, and Siddhartha Srinivasa
    Proceedings of ICRA 2010, May, 2010.
    Details | pdf (1MB) | Copyrighted

  • Hierarchical Planning Architectures for Mobile Manipulation Tasks in Indoor Environments

    Ross Alan Knepper, Siddhartha Srinivasa, and Matthew T. Mason
    Proceedings of ICRA 2010, May, 2010.
    Details | pdf (2MB) | Copyrighted

  • Efficient Multi-View Object Recognition and Full Pose Estimation

    Alvaro Collet Romea and Siddhartha Srinivasa
    2010 IEEE International Conference on Robotics and Automation (ICRA 2010), May, 2010.
    Details | pdf (1MB) | Copyrighted

  • DSAC – Dynamic, Single Actuated Climber. Local Stability and Bifurcations

    Amir Degani, Howie Choset, and Matthew T. Mason
    Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA), May, 2010.
    Details | pdf (1MB) | Copyrighted

  • An Optimization Approach to Rough Terrain Locomotion

    Matthew Zucker, J. Andrew (Drew) Bagnell, Chris Atkeson, and James Kuffner
    IEEE Conference on Robotics and Automation, May, 2010.
    Details | pdf (2MB) | Copyrighted

  • Reinforcement Planning: RL for Optimal Planners

    Matthew Zucker and J. Andrew (Drew) Bagnell
    tech. report CMU-RI-TR-10-14, Robotics Institute, Carnegie Mellon University, April, 2010
    Details | pdf (3MB) | Copyrighted

  • Proprioceptive Localization for Mobile Manipulators

    Mehmet Dogar, Vishal Hemrajani, Daniel Leeds, Breelyn Kane, and Siddhartha Srinivasa
    tech. report CMU-RI-TR-10-05, Robotics Institute, Carnegie Mellon University, February, 2010
    Details | pdf (3MB) | Copyrighted

  • Gracefully Mitigating Breakdowns in Robotic Services

    Min Kyung Lee, Sara Kiesler, Jodi Forlizzi, Siddhartha Srinivasa, and Paul Rybski
    Proceedings of HRI 2010, February, 2010.
    Details | pdf (3MB) | Copyrighted

  • Exploiting Passthrough Information for Multi-view Object Reconstruction with Sparse and Noisy Laser Data

    Martin Herrmann and Siddhartha Srinivasa
    tech. report CMU-RI-TR-10-07, Robotics Institute, Carnegie Mellon University, February, 2010
    Details | pdf (2MB) | Copyrighted

  • Selection criteria for preparatory object rotation in manual lifting actions

    Lillian Y. Chang, Roberta L. Klatzky, and Nancy Pollard
    Journal of Motor Behavior, Vol. 42, No. 1, January, 2010, pp. 11 - 27.
    Details | pdf (255KB) | 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.
    Details | pdf (1MB) | Copyrighted

  • Representation of Pre-Grasp Strategies for Object Manipulation

    Daniel Kappler, Lillian Y. Chang, Markus Przybylski, Nancy Pollard, Tamim Asfour, and Rudiger Dillmann
    IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010), December, 2010.
    Details | pdf (1MB) | Copyrighted

  • Manipulation Capabilities with Simple Hands

    Alberto Rodriguez, Matthew T. Mason, and Siddhartha Srinivasa
    International Symposium on Experimental Robotics (ISER 2010), December, 2010.
    Details | pdf (4MB) | Copyrighted

  • Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems

    Umashankar Nagarajan, George A. Kantor, and Ralph Hollis
    IEEE Conference on Decision and Control (CDC), December, 2010, pp. 3566-3571.
    Details | pdf (364KB) | Copyrighted

  • Grasp Invariance

    Alberto Rodriguez and Matthew T. Mason
    International Workshop on the Algorithmic Foundations of Robotics (WAFR 2010), December, 2010.
    Details | pdf (4MB) | Copyrighted

  • An Equivalence Relation for Local Path Sets

    Ross Alan Knepper, Siddhartha Srinivasa, and Matthew T. Mason
    The Ninth International Workshop on the Algorithmic Foundations of Robotics, December, 2010.
    Details | pdf (905KB) | Copyrighted

  • Minimalistic Dynamic Climbing

    Amir Degani
    doctoral dissertation, tech. report CMU-RI-TR-10-38, Robotics Institute, Carnegie Mellon University, November, 2010
    Details | pdf (21MB) | Copyrighted

  • Generality and Simple Hands

    Matthew T. Mason, Siddhartha Srinivasa, Andres S. Vazquez, and Alberto Rodriguez
    tech. report CMU-RI-TR-10-40, Robotics Institute, Carnegie Mellon University, November, 2010
    Details | pdf (5MB) | Copyrighted

  • Push-Grasping with Dexterous Hands: Mechanics and a Method

    Mehmet Dogar and Siddhartha Srinivasa
    Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October, 2010.
    Details | pdf (2MB) | Copyrighted

  • Incorporating a User Model to Improve Detection of Unhelpful Robot Answers

    Maxim Makatchev and Reid Simmons
    International Symposium on Robot and Human Interactive Communication, RO-MAN'2009, September, 2009, pp. 973-978.
    Details | pdf (223KB) | Copyrighted

  • Learning to search: Functional gradient techniques for imitation learning

    Nathan Ratliff, David Silver, and J. Andrew (Drew) Bagnell
    Autonomous Robots, Vol. 27, No. 1, July, 2009, pp. 25-53.
    Details | pdf (6MB) | Copyrighted

  • Generality and Simple Hands

    Matthew T. Mason, Siddhartha Srinivasa, and Andres S. Vazquez
    International Symposium of Robotics Research, July, 2009.
    Details | pdf (5MB) | Copyrighted

  • A Minimalist Dynamic Climbing Robot: Modeling, Analysis and Experiments. Thesis Proposal.

    Amir Degani
    tech. report CMU-RI-TR-09-28, Robotics Institute, Carnegie Mellon University, June, 2009
    Details | pdf (3MB) | Copyrighted

  • Path Diversity Is Only Part of the Problem

    Ross Alan Knepper and Matthew T. Mason
    International Conference on Robotics and Automation, May, 2009, May, 2009.
    Details | pdf (420KB) | 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.
    Details | pdf (1MB) | 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.
    Details | pdf (1MB) | 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.
    Details | pdf (2MB) | Copyrighted

  • GATMO: a Generalized Approach to Tracking Movable Objects

    Garratt Gallagher, Siddhartha Srinivasa, J. Andrew (Drew) Bagnell, and David Ferguson
    IEEE International Conference on Robotics and Automation, May, 2009.
    Details | pdf (2MB) | Copyrighted

  • Combining Search and Action for Mobile Robots

    Geoffrey Hollinger, David Ferguson , Siddhartha Srinivasa, and Sanjiv Singh
    IEEE International Conference on Robotics and Automation, May, 2009.
    Details | pdf (271KB) | Copyrighted

  • CHOMP: Gradient Optimization Techniques for Efficient Motion Planning

    Nathan Ratliff, Matthew Zucker, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
    IEEE International Conference on Robotics and Automation (ICRA), May, 2009.
    Details | pdf (2MB) | Copyrighted

  • Minimum Wheel-Rotation Paths for Differential-Drive Robots

    Hamidreza Chitsaz, Steven M. LaValle, Devin J. Balkcom, and Matthew T. Mason
    The International Journal of Robotics Research, Vol. 28, No. 1, January, 2009, pp. 66-80.
    Details

  • A Data-Driven Approach to High Level Planning

    Matthew Zucker
    tech. report CMU-RI-TR-09-42, Robotics Institute, Carnegie Mellon University, January, 2009
    Details | pdf (5MB) | 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.
    Details | 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.
    Details | pdf (812KB) | 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.
    Details | pdf (2MB) | 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.
    Details | pdf (5MB) | Copyrighted

  • OpenRAVE: A Planning Architecture for Autonomous Robotics

    Rosen Diankov and James Kuffner
    tech. report CMU-RI-TR-08-34, Robotics Institute, Carnegie Mellon University, July, 2008
    Details | pdf (3MB) | Copyrighted

  • Method for determining kinematic parameters of the in vivo thumb carpometacarpal joint

    Lillian Y. Chang and Nancy Pollard
    IEEE Transactions on Biomedical Engineering, Vol. 55, No. 7, July, 2008, pp. 1897-1906.
    Details | pdf (469KB) | Copyrighted

  • Integrating Perception and Planning for Humanoid Autonomy

    Philipp Michel
    doctoral dissertation, tech. report CMU-RI-TR-08-35, Robotics Institute, Carnegie Mellon University, July, 2008
    Details | pdf (28MB) | Copyrighted

  • Improved Motion Planning Speed and Safety using Regions of Inevitable Collision

    Nicholas Chan, James Kuffner, and Matthew Zucker
    17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy'08), July, 2008.
    Details | pdf (574KB) | Copyrighted

  • Empirical Sampling of Path Sets for Local Area Motion Planning

    Ross Alan Knepper and Matthew T. Mason
    International Symposium on Experimental Robotics, July, 2008.
    Details | pdf (3MB) | 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.
    Details | pdf (2MB) | Copyrighted

  • GPU-accelerated Real-Time 3D Tracking for Humanoid Autonomy

    Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, and Takeo Kanade
    Proceedings of the JSME Robotics and Mechatronics Conference (ROBOMEC'08), June, 2008.
    Details | pdf (1MB) | Copyrighted

  • Decentralized Estimation and Control of Graph Connectivity in Mobile Sensor Networks

    Peng Yang, Randy A. Freeman, Geoffrey Gordon, Kevin Lynch, Siddhartha Srinivasa, and Rahul Sukthankar
    American Control Conference, June, 2008.
    Details | pdf (177KB) | Copyrighted

  • BiSpace Planning: Concurrent Multi-Space Exploration

    Rosen Diankov, Nathan Ratliff, David Ferguson , Siddhartha Srinivasa, and James Kuffner
    Robotics: Science and Systems, June, 2008.
    Details | pdf (2MB) | Copyrighted

  • Path and Trajectory Diversity: Theory and Algorithms

    Michael S. Branicky, Ross Alan Knepper, and James Kuffner
    International Conference on Robotics and Automation, May, 2008.
    Details | pdf (628KB) | Copyrighted

  • Finding and Transferring Policies Using Stored Behaviors

    Martin Stolle
    doctoral dissertation, tech. report CMU-RI-TR-08-27, Robotics Institute, Carnegie Mellon University, May, 2008
    Details | pdf (10MB) | 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.
    Details | pdf (737KB) | Copyrighted

  • Adaptive Workspace Biasing for Sampling Based Planners

    Matthew Zucker, James Kuffner, and J. Andrew (Drew) Bagnell
    Proc. IEEE Int'l Conf. on Robotics and Automation, May, 2008.
    Details | pdf (977KB) | Copyrighted

  • On preparatory object rotation to adjust handle orientation for grasping

    Lillian Y. Chang and Nancy Pollard
    tech. report CMU-RI-TR-08-10, Robotics Institute, Carnegie Mellon University, April, 2008
    Details | pdf (394KB) | Copyrighted

  • Two finger caging: squeezing and stretching

    Alberto Rodriguez and Matthew T. Mason
    International Workshop on the Algorithmic Foundations of Robotics (WAFR 2008), December, 2008.
    Details | pdf (2MB) | Copyrighted

  • Preparatory object rotation as a human-inspired grasping strategy

    Lillian Y. Chang, Garth Zeglin, and Nancy Pollard
    IEEE-RAS International Conference on Humanoid Robots (Humanoids 2008), December, 2008, pp. 527-534.
    Details | pdf (589KB) | Copyrighted

  • Manipulation Planning with Caging Grasps

    Rosen Diankov, Siddhartha Srinivasa, David Ferguson , and James Kuffner
    2008 IEEE International Conference on Humanoid Robots, December, 2008.
    Details | pdf (4MB) | Copyrighted

  • Grasp Synthesis in Cluttered Environments for Dexterous Hands

    Dmitry Berenson and Siddhartha Srinivasa
    IEEE-RAS International Conference on Humanoid Robots (Humanoids08), December, 2008.
    Details | pdf (3MB) | Copyrighted

  • Recognizing knee pathologies by classifying instantaneous screws of the six degrees-of-freedom knee motion

    Alon Wolf and Amir Degani
    Medical and Biological Engineering and Computing, Vol. 45, No. 5, May, 2007, pp. 475-482.
    Details

  • Planar batting under shape, pose, and impact uncertainty

    Jiaxin Fu, Siddhartha Srinivasa, Nancy Pollard, and Bart Nabbe
    IEEE International Conference on Robotics and Automation (ICRA), April, 2007.
    Details | pdf (572KB) | Copyrighted

  • Multipartite RRTs for Rapid Replanning in Dynamic Environments

    Matthew Zucker, James Kuffner, and Michael Branicky
    Proc. IEEE Int. Conf. Robotics and Automation, April, 2007.
    Details | pdf (456KB) | Copyrighted

  • Identifying Trajectory Classes in Dynamic Tasks

    Stuart Anderson and Siddhartha Srinivasa
    International Symposium on Approximate Dynamic Programming and Reinforcement Learning, April, 2007.
    Details

  • (Online) Subgradient Methods for Structured Prediction

    Nathan Ratliff, J. Andrew (Drew) Bagnell, and Martin Zinkevich
    Eleventh International Conference on Artificial Intelligence and Statistics (AIStats), March, 2007.
    Details | pdf (375KB) | Copyrighted

  • Kernel Conjugate Gradient for Fast Kernel Machines

    Nathan Ratliff and J. Andrew (Drew) Bagnell
    International Joint Conference on Artificial Intelligence, January, 2007.
    Details | pdf (7MB) | Copyrighted

  • Imitation Learning for Locomotion and Manipulation

    Nathan Ratliff, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
    tech. report CMU-RI-TR-07-45, Robotics Institute, Carnegie Mellon University, December, 2007
    Details | pdf (2MB) | 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.
    Details | pdf (4MB) | Copyrighted

  • Randomized Path Planning for Redundant Manipulators without Inverse Kinematics

    J Michael Vandeweghe, David Ferguson , and Siddhartha Srinivasa
    IEEE-RAS International Conference on Humanoid Robots, November, 2007.
    Details | pdf (7MB) | Copyrighted

  • Imitation Learning for Locomotion and Manipulation

    Nathan Ratliff, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
    IEEE-RAS International Conference on Humanoid Robots, November, 2007.
    Details | pdf (2MB) | Copyrighted

  • Declarative Programming for Modular Robots

    Michael Ashley-Rollman, Michael DeRosa, Siddhartha Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, and Jason Campbell
    IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Self-Reconfigurable Robots & Systems and Applications, November, 2007
    Details | pdf (873KB) | Copyrighted

  • Control Strategies and Design Guidelines for Planar Latch-Less Metamorphic Robots Based on Analysis of Dynamics

    Ashish Deshpande, Siddhartha Srinivasa, and Padmanabhan Pillai
    IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2007.
    Details | pdf (611KB) | Copyrighted

  • A Dynamic Single Actuator Vertical Climbing Robot

    Amir Degani, Amir Shapiro, Howie Choset, and Matthew T. Mason
    Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, November, 2007, pp. 2901-2906.
    Details | pdf (421KB) | Copyrighted

  • Planning for Robust Execution of Humanoid Motions using Future Perceptive Capability

    Philipp Michel, Christian Scheurer, James Kuffner, Nikolaus Vahrenkamp, and R?iger Dillmann
    Proceedings of the IEEE/RSJ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 3223-3228.
    Details | pdf (2MB) | Copyrighted

  • Navigation Among Movable Obstacles

    Michael Stilman
    doctoral dissertation, tech. report CMU-RI-TR-07-37, Robotics Institute, Carnegie Mellon University, October, 2007
    Details | pdf (11MB) | Copyrighted

  • GPU-accelerated Real-Time 3D Tracking for Humanoid Locomotion and Stair Climbing

    Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, and Takeo Kanade
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 463-469.
    Details | pdf (1MB) | Copyrighted

  • Feature Selection for Grasp Recognition from Optical Markers

    Lillian Y. Chang, Nancy Pollard, Tom Mitchell, and Eric P. Xing
    Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS 2007), October, 2007, pp. 2944 - 2950.
    Details | pdf (710KB) | Copyrighted

  • Transfer of policies based on trajectory libraries

    Martin Stolle, Hanns Tappeiner, Joel Chestnutt, and Chris Atkeson
    Proceedings of the International Conference on Intelligent Robots and Systems, 2007.
    Details | pdf (2MB) | Copyrighted

  • Robust estimation of dominant axis of rotation

    Lillian Y. Chang and Nancy Pollard
    Journal of Biomechanics, Vol. 40, No. 12, 2007, pp. 2707 - 2715.
    Details | pdf (674KB) | Copyrighted

  • Knowledge transfer using local features

    Martin Stolle and Chris Atkeson
    Proceedings of the IEEE Symposium on Approximate Dynamic Programming and Reinforcement Learning, 2007.
    Details | pdf (1MB) | Copyrighted

  • Constrained Least-Squares Optimization for Robust Estimation of Center of Rotation

    Lillian Y. Chang and Nancy Pollard
    Journal of Biomechanics, Vol. 40, No. 6, 2007, pp. 1392 - 1400.
    Details | pdf (336KB) | Copyrighted

  • Boosting Structured Prediction for Imitation Learning

    Nathan Ratliff, David Bradley, J. Andrew (Drew) Bagnell, and Joel Chestnutt
    Advances in Neural Information Processing Systems 19, 2007.
    Details | pdf (847KB) | Copyrighted

  • Physics-Based Motion Retiming

    James McCann, Nancy Pollard, and Siddhartha Srinivasa
    Eurographics/ ACM SIGGRAPH Symposium on Computer Animation, September, 2006.
    Details | pdf (5MB) | Copyrighted

  • Modeling and Control Techniques for a Class of Mobile Robot Error Recovery Problems

    Ravi Balasubramanian
    doctoral dissertation, tech. report CMU-RI-TR-06-39, Robotics Institute, Carnegie Mellon University, September, 2006
    Details | pdf (11MB) | Copyrighted

  • Meet point planning for multirobot coordination

    Siddhartha Srinivasa and David Ferguson
    IEEE International Symposium on Robotics and Automation, August, 2006.
    Details | pdf (252KB) | Copyrighted

  • Planning Among Movable Obstacles with Artificial Constraints

    Michael Stilman and James Kuffner
    Workshop on the Algorithmic Foundations of Robotics, July, 2006.
    Details | pdf (2MB) | Copyrighted

  • Maximum Margin Planning

    Nathan Ratliff, J. Andrew (Drew) Bagnell, and Martin Zinkevich
    International Conference on Machine Learning, July, 2006.
    Details | pdf (2MB) | Copyrighted

  • Online Environment Reconstruction for Biped Navigation

    Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, and Takeo Kanade
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'06), May, 2006, pp. 3089 - 3094.
    Details | pdf (2MB) | Copyrighted

  • An Intelligent Joystick for Biped Control

    Joel Chestnutt, Philipp Michel, Koichi Nishiwaki, James Kuffner, and Satoshi Kagami
    Proceedings of the IEEE International Conference on Robotics and Automation, May, 2006, pp. 860 - 865.
    Details | pdf (2MB) | Copyrighted

  • An Integrated Approach to Inverse Kinematics and Path Planning for Redundant Manipulators

    Dominik Bertram, James Kuffner, Ruediger Dillmann, and Tamim Asfour
    Proceedings of the IEEE International Conference on Robotics and Automation, May, 2006, pp. 1874-1879.
    Details | pdf (478KB) | Copyrighted

  • Time-optimal Trajectories for an Omni-directional Vehicle

    Devin Balkcom, Paritosh A. Kavathekar, and Matthew T. Mason
    The International Journal of Robotics Research, Vol. 25, No. 10, October, 2006, pp. 985 - 999.
    Details | pdf (585KB) | Copyrighted

  • Planning and Executing Navigation Among Movable Obstacles

    Michael Stilman, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
    IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS 06), October, 2006, pp. 820 - 826.
    Details | pdf (2MB) | Copyrighted

  • Precomputed Search Trees: Planning for Interactive Goal-Driven Animation

    Manfred Lau and James Kuffner
    ACM SIGGRAPH / Eurographics Symposium on Computer Animation, 2006.
    Details | pdf (2MB) | Copyrighted

  • Physics-Based Motion Retiming

    James McCann, Nancy Pollard, and Siddhartha Srinivasa
    ACM SIGGRAPH / Eurographics Symposium on Computer Animation, 2006.
    Details | pdf (5MB) | Copyrighted

  • On the Importance of Asymmetries in Grasp Quality Metrics for Tendon Driven Hands

    Jiaxin Fu and Nancy Pollard
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2006.
    Details | pdf (312KB) | Copyrighted

  • Control Synthesis for Dynamic Contact Manipulation

    Siddhartha Srinivasa
    doctoral dissertation, tech. report CMU-RI-TR-05-33, Robotics Institute, Carnegie Mellon University, September, 2005
    Details | pdf (10MB) | Copyrighted

  • Using projected dynamics to plan dynamic contact manipulation

    Siddhartha Srinivasa, Michael Erdmann, and Matthew T. Mason
    IEEE/RSJ International Conference on Intelligent Robots and Systems, August, 2005, pp. 3618 - 3623.
    Details | pdf (934KB) | Copyrighted

  • Behavior Planning for Character Animation

    Manfred Lau and James Kuffner
    In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation, August, 2005.
    Details | pdf (4MB) | Copyrighted

  • Kernel Conjugate Gradient

    Nathan Ratliff and J. Andrew (Drew) Bagnell
    tech. report CMU-RI-TR-05-30, Robotics Institute, Carnegie Mellon University, June, 2005
    Details | pdf (103KB) | Copyrighted

  • Footstep Planning for the Honda ASIMO Humanoid

    Joel Chestnutt, Manfred Lau, Kong Man Cheung, James Kuffner, Jessica K Hodgins, and Takeo Kanade
    Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005.
    Details | pdf (270KB) | Copyrighted

  • Control synthesis for dynamic contact manipulation

    Siddhartha Srinivasa, Michael Erdmann, and Matthew T. Mason
    IEEE International Conference on Robotics and Automation, April, 2005, pp. 2523 - 2528.
    Details | pdf (1MB) | Copyrighted

  • Vision-Guided Humanoid Footstep Planning for Dynamic Environments

    Philipp Michel, Joel Chestnutt, James Kuffner, and Takeo Kanade
    Proceedings of the IEEE-RAS Conference on Humanoid Robots (Humanoids'05), December, 2005, pp. 13 - 18.
    Details | pdf (2MB) | Copyrighted

  • Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments

    Michael Stilman and James Kuffner
    International Journal of Humanoid Robotics, Vol. 2, No. 4, December, 2005, pp. 479-504.
    Details | pdf (3MB) | Copyrighted

  • Augmented Reality for Robot Development and Experimentation

    Michael Stilman, Philipp Michel, Joel Chestnutt, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
    tech. report CMU-RI-TR-05-55, Robotics Institute, Carnegie Mellon University, November, 2005
    Details | pdf (7MB) | Copyrighted

  • Efficient Optimal Search of Euclidean-Cost Grids and Lattices

    James Kuffner
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'04), September, 2004.
    Details | pdf (353KB) | Copyrighted

  • Robotic Origami Folding

    Devin Balkcom
    doctoral dissertation, tech. report CMU-RI-TR-04-43, Robotics Institute, Carnegie Mellon University, August, 2004
    Details | pdf (4MB) | Copyrighted

  • Effective Sampling and Distance Metrics for 3D Rigid Body Path Planning

    James Kuffner
    Proc. 2004 IEEE Int? Conf. on Robotics and Automation (ICRA 2004), May, 2004.
    Details | pdf (939KB) | Copyrighted

  • Legless Locomotion: Models and Experimental Demonstration

    Ravi Balasubramanian, Alfred Rizzi, and Matthew T. Mason
    Proceedings of the IEEE International Conference on Robotics and Automation, April, 2004, pp. 1803 - 1808.
    Details | pdf (653KB) | Copyrighted

  • Legless Locomotion for Legged Robots

    Ravi Balasubramanian, Alfred Rizzi, and Matthew T. Mason
    tech. report CMU-RI-TR-04-05, Robotics Institute, Carnegie Mellon University, January, 2004
    Details | pdf (973KB) | Copyrighted

  • Navigation Among Movable Obstacles: Real-time Reasoning in Complex Environments

    Michael Stilman and James Kuffner
    Proceedings of the 2004 IEEE International Conference on Humanoid Robotics (Humanoids'04), December, 2004, pp. 322 - 341.
    Details | pdf (2MB) | Copyrighted

  • A Tiered Planning Strategy for Biped Navigation

    Joel Chestnutt and James Kuffner
    Proceedings of the IEEE - RAS / RSJ Conference on Humanoid Robots, November, 2004.
    Details | pdf (2MB) | Copyrighted

  • Kinematic reduction and planning using symmetry for a variable inertia mechanical system

    Ravi Balasubramanian and Alfred Rizzi
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2004, pp. 3829 - 3834.
    Details | pdf (338KB) | Copyrighted

  • Online Footstep Planning for Humanoid Robots

    James Kuffner, K. Nishiwaki, Satoshi Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue
    IEEE Int'l Conf. on Robotics and Automation (ICRA'2003), September, 2003.
    Details | pdf (3MB) | Copyrighted

  • Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system

    Siddhartha Srinivasa, Michael Erdmann, and Matthew T. Mason
    Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), May, 2003, pp. 3391 - 3396.
    Details | pdf (1MB) | Copyrighted

  • Optimizing Human Motion for the Control of a Humanoid Robot

    , Nancy Pollard, and Jessica K Hodgins
    2nd International Symposium on Adaptive Motion of Animals and Machines (AMAM2003), March, 2003.
    Details | pdf (516KB) | Copyrighted

  • Motion Planning for Humanoid Robots

    James Kuffner, Koichi Nishiwaki, Satoshi Kagami, Masayuki Inaba, and Hirochika Inoue
    Proc. 11th Int? Symp. of Robotics Research (ISRR 2003), November, 2003.
    Details | pdf (2MB) | Copyrighted

  • Planning Biped Navigation Strategies in Complex Environments

    Joel Chestnutt, James Kuffner, Koichi Nishiwaki, and Satoshi Kagami
    Proceedings of the 2003 International Conference on Humanoid Robots, October, 2003.
    Details | pdf (2MB) | Copyrighted

  • Legless Locomotion for Legged Robots

    Ravi Balasubramanian, Alfred Rizzi, and Matthew T. Mason
    Proceedings of the International Conference on Robotics and Intelligent Systems, October, 2003, pp. 880 - 885.
    Details | pdf (473KB) | Copyrighted

  • Energy-Optimal Trajectories for Overactuated Robots

    Ravi Balasubramanian and Tucker Balch
    tech. report CMU-RI-TR-02-17, Robotics Institute, Carnegie Mellon University, July, 2002
    Details | pdf (129KB) | Copyrighted

  • Tendon Arrangement and Muscle Force Requirements for Humanlike Force Capabilities in a Robotic Finger

    Nancy Pollard and R.C. Gilbert
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002.
    Details | pdf (329KB) | Copyrighted

  • Extremal Trajectories for Bounded Velocity Mobile Robots

    Devin Balkcom and Matthew T. Mason
    ICRA, May, 2002.
    Details

  • Experiments with nonholonomic manipulation

    Siddhartha Srinivasa, Christopher R. Baker, Elisha Sacks, Grigoriy Reshko, Matthew T. Mason, and Michael Erdmann
    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002, pp. 2042 - 2047.
    Details | pdf (1MB) | Copyrighted

  • Computing Wrench Cones for Planar Contact Tasks

    Devin Balkcom, Jeffrey C. Trinkle, and Eric J. Gottlieb
    ICRA, May, 2002.
    Details

  • Adapting Human Motion for the Control of a Humanoid Robot

    Nancy Pollard, Jessica K Hodgins, M.J. Riley, and Chris Atkeson
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002.
    Details | pdf (1MB) | Copyrighted

  • A Sensorless Insertion Strategy for Rigid Planar Parts

    Devin Balkcom, Jeffrey C. Trinkle, and Eric J. Gottlieb
    ICRA, May, 2002.
    Details

  • Generalizing Demonstrated Manipulation Tasks

    Nancy Pollard and Jessica K Hodgins
    Workshop on the Algorithmic Foundations of Robotics (WAFR '02), December, 2002.
    Details | pdf (550KB) | Copyrighted

  • Computing Wrench Cones for Planar Rigid Body Contact Tasks

    Devin Balkcom and J.C. Trinkle
    International Journal of Robotics Research, Vol. 21, No. 12, December, 2002, pp. 1053 - 1066.
    Details | pdf (313KB) | Copyrighted

  • Extremal trajectories for bounded velocity mobile robots

    Devin J. Balkcom and Matthew T. Mason
    IEEE International Conference on Robotics and Automation, 2002.
    Details

  • Reconstructing Shape from Motion Using Tactile Sensors

    Mark Moll and Michael Erdmann
    Proc. 2001 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, November, 2001.
    Details | pdf (324KB) | Copyrighted

  • Progress in Desktop Robotics

    Devin Balkcom and Matthew T. Mason
    The Eleventh Yale Workshop on Adaptive and Learning Systems, 2001.
    Details

  • Uncertainty Reduction Using Dynamics

    Mark Moll and Michael Erdmann
    Proceeding of the 2000 Conference on Robotics and Automation, April, 2000.
    Details | pdf (224KB) | Copyrighted

  • Time Optimal Trajectories for Bounded Velocity Differential Drive Robots

    Devin Balkcom and Matthew T. Mason
    IEEE International Conference on Robotics and Automation (ICRA '00), April, 2000, pp. 2499 - 2504.
    Details | pdf (639KB) | Copyrighted

  • Extremal Trajectories for Bounded Velocity Differential Drive Robots

    Devin Balkcom and Matthew T. Mason
    IEEE International Conference on Robotics and Automation (ICRA '00), April, 2000, pp. 2479 - 2484.
    Details | pdf (96KB) | Copyrighted

  • Manipulation of Pose Distributions

    Mark Moll and Michael Erdmann
    tech. report CMU-CS-00-111, Computer Science Department, Carnegie Mellon University, March, 2000
    Details | pdf (703KB) | Copyrighted

  • Manipulation of Pose Distribitions

    Mark Moll and Michael Erdmann
    Workshop on the Algorithmic Foundations of Robotics, March, 2000.
    Details | pdf (717KB) | Copyrighted

  • A Mobile Manipulator

    Matthew T. Mason, Dinesh Pai, Daniela Rus, L. R. Taylor, and Michael Erdmann
    IEEE International Conference on Robotics and Automation (ICRA '99), May, 1999, pp. 2322 - 2327.
    Details | pdf (77KB) | Copyrighted

  • Experiments with Desktop Mobile Manipulators

    Matthew T. Mason, Dinesh Pai, Daniela Rus, J. Howell, L. R. Taylor, and Michael Erdmann
    Internatiional Symposium on Experimental Robotics, 1999.
    Details | pdf (235KB) | Copyrighted

  • Parts Orienting with Shape Uncertainty

    Srinivas Akella and Matthew T. Mason
    1998 IEEE International Conference on Robotics and Automation, May, 1998.
    Details | pdf (102KB) | Copyrighted

  • Parts Orienting with Partial Sensor Information

    Srinivas Akella and Matthew T. Mason
    1998 IEEE International Conference on Robotics and Automation, May, 1998.
    Details | pdf (119KB) | Copyrighted

  • Mechanics, Planning, and Control for Tapping

    Wesley Huang and Matthew T. Mason
    Workshop on the Algorithmic Foundations of Robotics, 1998.
    Details | pdf (198KB) | Copyrighted

  • Mechanics for Vibratory Manipulation

    Wesley Huang and Matthew T. Mason
    IEEE International Conference on Robotics and Automation (ICRA '97), April, 1997, pp. 2391 - 2396.
    Details | pdf (93KB) | Copyrighted

  • A Nonprehensile Method for Reliable Parts Orienting

    Nina Zumel
    doctoral dissertation, tech. report CMU-RI-TR-97-13, Robotics Institute, Carnegie Mellon University, January, 1997
    Details | pdf (5MB) | Copyrighted

  • Locally controllable polygons by stable pushing

    Kevin Lynch
    IEEE International Conference on Robotics and Automation (ICRA '97), 1997.
    Details | pdf (123KB) | Copyrighted

  • Impulsive Manipulation

    Wesley Huang, Eric Krotkov, and Matthew T. Mason
    IEEE International Conference on Robotics and Automation (ICRA '95), 1995.
    Details | pdf (103KB) | Copyrighted

  • Balancing of a Planar Bouncing Object

    Nina Zumel and Michael Erdmann
    IEEE International Conference on Robotics and Automation (ICRA '94), 1994, pp. 2949 - 2954.
    Details | pdf (198KB) | Copyrighted

  • Recent Results in Pushing

    Matthew T. Mason, Srinivas Akella, and Kevin Lynch
    Proceedings of the NSF Design and Manufacturing Systems Grantees Conference, January, 1993.
    Details

  • Balancing of a Planar Bouncing Object

    Nina Zumel
    tech. report CMU-RI-TR-93-26, Robotics Institute, Carnegie Mellon University, November, 1993
    Details | pdf (566KB) | Copyrighted

  • Manipulation and active sensing by pushing using tactile feedback

    Kevin Lynch, H. Maekawa, and K. Tanie
    IEEE/RSJ International Conference on Intelligent Robots and Systems, 1992, pp. 416 - 421.
    Details | pdf (113KB) | Copyrighted

  • Learning reliable manipulation strategies without initial physical models

    A.D. Christiansen, Matthew T. Mason, and Tom Mitchell
    IEEE International Conference on Robotics and Automation, May, 1990, pp. 1224 - 1230.
    Details | pdf (644KB) | Copyrighted