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Manipulation Lab
Head: Matthew T. Mason
Contact: Matthew T. Mason
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Location:
NSH A519
Associated center(s) / consortia:
 Center for the Foundations of Robotics (CFR)
This page last updated - March 2009.
Publications
  • 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

  • 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

  • From Caging to Grasping

    Alberto Rodriguez, Matthew T. Mason, and Steve Ferry
    The International Journal of Robotics Research (IJRR), Vol. 31, No. 7, July, 2012, pp. 886-900.
    Details | 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), July, 2012.
    Details | pdf (4MB) | 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, May, 2012, pp. 688-703.
    Details | pdf (6MB) | 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, March, 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, March, 2012, pp. 237-249.
    Details | 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.
    Details | 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), October, 2011.
    Details | pdf (2MB) | Copyrighted

  • From Caging to Grasping

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

  • 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

  • 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

  • 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

  • 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, December, 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, December, 2010
    Details | pdf (5MB) | 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, July, 2009
    Details | 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.
    Details

  • 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

  • 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

  • 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, July, 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, July, 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

  • 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

  • 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, December, 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, December, 2007, pp. 2901-2906.
    Details | pdf (421KB) | Copyrighted

  • Physics-Based Motion Retiming

    James McCann, Nancy Pollard, and Siddhartha Srinivasa
    Eurographics/ ACM SIGGRAPH Symposium on Computer Animation, October, 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, October, 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

  • Control Synthesis for Dynamic Contact Manipulation

    Siddhartha Srinivasa
    doctoral dissertation, tech. report CMU-RI-TR-05-33, Robotics Institute, Carnegie Mellon University, October, 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

  • Control synthesis for dynamic contact manipulation

    Siddhartha Srinivasa, Michael Erdmann, and Matthew T. Mason
    IEEE International Conference on Robotics and Automation, May, 2005, pp. 2523 - 2528.
    Details | 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, May, 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

  • 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

  • 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

  • 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

  • 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

  • A Sensorless Insertion Strategy for Rigid Planar Parts

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

  • 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, December, 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, May, 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), May, 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), May, 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), May, 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, December, 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