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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.
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pdf (5MB) | 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.
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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.
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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.
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Grasp Invariance
Alberto Rodriguez and Matthew T. Mason
The International Journal of Robotics Research (IJRR), Vol. 31, No. 2, February, 2012, pp. 237-249.
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pdf (7MB) | 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.
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pdf (1MB) | 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.
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pdf (2MB) | Copyrighted
From Caging to Grasping
Alberto Rodriguez, Matthew T. Mason, and Steve Ferry
Robotics: Science and Systems (RSS 2011), June, 2011.
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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.
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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.
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pdf (973KB) | 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.
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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.
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pdf (4MB) | Copyrighted
Grasp Invariance
Alberto Rodriguez and Matthew T. Mason
International Workshop on the Algorithmic Foundations of Robotics (WAFR 2010), December, 2010.
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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.
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pdf (905KB) | Copyrighted
Minimalistic Dynamic Climbing
Amir Degani
doctoral dissertation, tech. report CMU-RI-TR-10-38, Robotics Institute, Carnegie Mellon University, November, 2010
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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
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pdf (5MB) | Copyrighted
Generality and Simple Hands
Matthew T. Mason, Siddhartha Srinivasa, and Andres S. Vazquez
International Symposium of Robotics Research, July, 2009.
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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
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pdf (3MB) | 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.
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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
Empirical Sampling of Path Sets for Local
Area Motion Planning
Ross Alan Knepper and Matthew T. Mason
International Symposium on Experimental Robotics, July, 2008.
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pdf (3MB) | 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.
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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.
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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.
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pdf (628KB) | 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.
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pdf (2MB) | 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.
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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.
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pdf (421KB) | Copyrighted
Physics-Based Motion Retiming
James McCann, Nancy Pollard, and Siddhartha Srinivasa
Eurographics/ ACM SIGGRAPH Symposium on Computer Animation, September, 2006.
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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
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pdf (11MB) | Copyrighted
Meet point planning for multirobot coordination
Siddhartha Srinivasa and David Ferguson
IEEE International Symposium on Robotics and Automation, August, 2006.
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pdf (252KB) | 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
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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.
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pdf (934KB) | 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.
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pdf (1MB) | 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.
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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
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pdf (973KB) | 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.
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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.
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pdf (1MB) | 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.
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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
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pdf (129KB) | Copyrighted
Extremal Trajectories for Bounded Velocity Mobile Robots
Devin Balkcom and Matthew T. Mason
ICRA, May, 2002.
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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.
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pdf (1MB) | Copyrighted
Computing Wrench Cones for Planar Contact Tasks
Devin Balkcom, Jeffrey C. Trinkle, and Eric J. Gottlieb
ICRA, May, 2002.
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A Sensorless Insertion Strategy for Rigid Planar Parts
Devin Balkcom, Jeffrey C. Trinkle, and Eric J. Gottlieb
ICRA, May, 2002.
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Extremal trajectories for bounded velocity mobile robots
Devin J. Balkcom and Matthew T. Mason
IEEE International Conference on Robotics and Automation, 2002.
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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.
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pdf (324KB) | Copyrighted
Progress in Desktop Robotics
Devin Balkcom and Matthew T. Mason
The Eleventh Yale Workshop on Adaptive and Learning Systems, 2001.
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Uncertainty Reduction Using Dynamics
Mark Moll and Michael Erdmann
Proceeding of the 2000 Conference on Robotics and Automation, April, 2000.
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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.
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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.
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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
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pdf (703KB) | Copyrighted
Manipulation of Pose Distribitions
Mark Moll and Michael Erdmann
Workshop on the Algorithmic Foundations of Robotics, March, 2000.
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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.
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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.
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pdf (235KB) | Copyrighted
Parts Orienting with Shape Uncertainty
Srinivas Akella and Matthew T. Mason
1998 IEEE International Conference on
Robotics and Automation, May, 1998.
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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.
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pdf (119KB) | Copyrighted
Mechanics, Planning, and Control for Tapping
Wesley Huang and Matthew T. Mason
Workshop on the Algorithmic
Foundations of Robotics, 1998.
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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.
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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
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pdf (5MB) | Copyrighted
Locally controllable polygons by stable pushing
Kevin Lynch
IEEE International Conference on Robotics
and Automation (ICRA '97), 1997.
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pdf (123KB) | Copyrighted
Impulsive Manipulation
Wesley Huang, Eric Krotkov, and Matthew T. Mason
IEEE International Conference
on Robotics and Automation (ICRA '95), 1995.
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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.
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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.
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Balancing of a Planar Bouncing Object
Nina Zumel
tech. report CMU-RI-TR-93-26, Robotics Institute, Carnegie Mellon University, November, 1993
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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.
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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.
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pdf (644KB) | Copyrighted
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