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Mailing Address:
2017-11-10T14:57:00+00:00

Matthew T. Mason

Professor
Email: mm3x@andrew.cmu.edu
Office: NSH A521
Phone: (412) 956-5162
Personal Homepage

I work in robotics. The primary venue for my work is the Manipulation Lab (MLab).

Simple Hands

My primary focus is simple hands. I think simple hands are better than complex anthropomorphic hands, both for research purposes and for most applications. The main reason is that the dexterity of a hand is mostly about the brain, not the hand. Our approach mixes a strong dose of machine learning into the traditional brew of AI, control and mechanical design. If you’re curious, there are publications here. Probably the first one to read is the 2012 IJRR paper Autonomous Manipulation with a General-Purpose Simple Hand. Also see related papers from ICRA 2013 and RSS 2011, both of which won best student paper awards. The project began with NSF funding and is continuing with funds from NSF and the Army Research Office.

Extrinsic Dexterity

In robotic manipulation lingo, “dexterity” often refers to moving an object in the hand, like when you drop a coin from a fingertip grasp to your palm. However, most research on dexterity assumes a complex anthropomorphic hand. Under the standard assumption, a simple hand cannot shift grasps. But those assumptions are too restrictive. We have demonstrated the mechanical feasibility of dexterous manipulation using a simple hand. Our research is focused on going beyond mechanical feasibility, so that an autonomous robot could employ extrinsic dexterity by planning and controlling the simple hand for a given object and task. The first paper to read is the 2014 ICRA paper (Chavan Dafle et al.), perhaps followed by the Zhou et al. paper which won Best Conference Paper at ICRA 2016, or the upcoming WAFR 2016 paper by Hou et al.

Manufacturing Automation

Industrial automation is the ultimate proving ground for robotic manipulation research. This project, sponsored by Foxconn, is focused on automatic assembly of smart phones. The challenges are formidable, since smart phones use very small parts, some floppy and some sticky, and there is unavoidable clutter. We have a forthcoming paper surveying threaded fastening automation, and a recent paper on machine learning applied to classify stages of screw insertion (ISER 2016).

Publications

Displaying 126 Publications
A Probabilistic Planning Framework for Planar Grasping Under Uncertainty
Jiaji Zhou, Robert Paolini, Aaron M. Johnson, J. Andrew (Drew) Bagnell and Matthew T. Mason

Conference Paper, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), September, 2017
A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation
Jiaji Zhou, J. Andrew (Drew) Bagnell and Matthew T. Mason

Conference Paper, Robotics: Science and Systems, July, 2017
Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces
Yifan Hou, Zhenzhong Jia, Aaron M. Johnson and Matthew T. Mason

Conference Paper, THE 12 TH INTERNATIONAL WORKSHOP ON THE ALGORITHMIC FOUNDATIONS OF ROBOTICS, December, 2016
Data-driven Classification of Screwdriving Operations
Reuben Aronson, Ankit Bhatia, Zhenzhong Jia, Mathieu Guillame-Bert, David Bourne, Artur W. Dubrawski and Matthew T. Mason

Conference Paper, International Symposium on Experimental Robotics, October, 2016
Data-Driven Statistical Modeling of a Cube Regrasp
Robert Paolini and Matthew T. Mason

Conference Paper, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2016
A Convex Polynomial Force-Motion Model for Planar Sliding: Identification and Application
Jiaji Zhou, Robert Paolini, J. Andrew (Drew) Bagnell and Matthew T. Mason

Conference Paper, International Conference on Robotics and Automation (ICRA) 2016, May, 2016
A Novel Nonlinear Compliant Link on Simple Grippers
Zhiwei Zhang, Alberto Rodriguez and Matthew T. Mason

Conference Paper, Carnegie Mellon University, 2015 IEEE/RSJ Conference on Intelligent Robots and Systems (IROS 2015), September, 2015
Extrinsic Dexterity: In-Hand Manipulation with External Forces
Nikhil Chavan-Dafle, Alberto Rodriguez, Robert Paolini, Bowei Tang, Siddhartha Srinivasa, Michael Erdmann, Matthew T. Mason, Ivan Lundberg, Harald Staab and Thomas Fuhlbrigge

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), May, 2014
A Data-Driven Statistical Framework for Post-Grasp Manipulation
Robert Paolini, Alberto Rodriguez, Siddhartha Srinivasa and Matthew T. Mason

Journal Article, Carnegie Mellon University, International Journal of Robotics Research (IJRR), Vol. 33, No. 4, pp. 600-615, April, 2014
A Simple and Compliant Force Sensing Palm for the MLab Simple Hand
Garth Zeglin, Alberto Rodriguez and Matthew T. Mason

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA 2013), May, 2013
Effector Form Design for 1DOF Planar Actuation
Alberto Rodriguez and Matthew T. Mason

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA 2013), May, 2013
Harnessing Human Manipulation
Matthew T. Mason, Nancy Pollard, Alberto Rodriguez and Ryan Kerwin

Conference Paper, Carnegie Mellon University, NSF/ARL Workshop on Cloud Robotics : Challenges and Opportunities, February, 2013
Multiple Impacts: A State Transition Diagram Approach
Yan-Bin Jia, Matthew T. Mason and Michael Erdmann

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 32, No. 1, pp. 84-114, January, 2013
Path-Connectivity of the Free Space
Alberto Rodriguez and Matthew T. Mason

Journal Article, Carnegie Mellon University, IEEE Transactions on Robotics (TRO), Vol. 28, No. 5, pp. 1177-1180, October, 2012
A Data-Driven Statistical Framework for Post-Grasp Manipulation
Robert Paolini, Alberto Rodriguez, Siddhartha Srinivasa and Matthew T. Mason

Conference Paper, Carnegie Mellon University, International Symposium on Experimental Robotics (ISER 2012), June, 2012
From Caging to Grasping
Alberto Rodriguez, Matthew T. Mason and Steve Ferry

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research (IJRR), Vol. 31, No. 7, pp. 886-900, June, 2012
Autonomous Manipulation with a General-Purpose Simple Hand
Matthew T. Mason, Alberto Rodriguez, Siddhartha Srinivasa and Andres S. Vazquez

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research (IJRR), Vol. 31, No. 5, pp. 688-703, April, 2012
Grasp Invariance
Alberto Rodriguez and Matthew T. Mason

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research (IJRR), Vol. 31, No. 2, pp. 237-249, February, 2012
Toward a deeper understanding of motion alternatives via an equivalence relation on local paths
Ross Alan Knepper, Siddhartha Srinivasa and Matthew T. Mason

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 31, No. 2, pp. 168-187, February, 2012
Abort and Retry in Grasping
Alberto Rodriguez, Matthew T. Mason, Siddhartha Srinivasa, Matthew Bernstein and Alex Zirbel

Conference Paper, Carnegie Mellon University, IEEE International Conference on Intelligent Robots and Systems (IROS 2011), September, 2011
Improved Hierarchical Planner Performance Using Local Path Equivalence
Ross Alan Knepper and Matthew T. Mason

Conference Paper, Carnegie Mellon University, International Conference on Intelligent Robots and Systems (IROS '11), September, 2011
Realtime Informed Path Sampling for Motion Planning Search
Ross Alan Knepper and Matthew T. Mason

Conference Paper, Carnegie Mellon University, 15th International Symposium on Robotics Research (ISRR), August, 2011
From Caging to Grasping
Alberto Rodriguez, Matthew T. Mason and Steve Ferry

Conference Paper, Carnegie Mellon University, Robotics: Science and Systems (RSS 2011), June, 2011
An Equivalence Relation for Local Path Sets
Ross Alan Knepper, Siddhartha Srinivasa and Matthew T. Mason

Conference Paper, Carnegie Mellon University, The Ninth International Workshop on the Algorithmic Foundations of Robotics, December, 2010
Grasp Invariance
Alberto Rodriguez and Matthew T. Mason

Conference Paper, Carnegie Mellon University, International Workshop on the Algorithmic Foundations of Robotics (WAFR 2010), December, 2010
Manipulation Capabilities with Simple Hands
Alberto Rodriguez, Matthew T. Mason and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, International Symposium on Experimental Robotics (ISER 2010), December, 2010
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
Failure Detection in Assembly: Force Signature Analysis
Alberto Rodriguez, David Bourne, Matthew T. Mason, Gregory F. Rossano and JianJun Wang

Conference Paper, Carnegie Mellon University, IEEE Conference on Automation Science and Engineering (CASE 2010), August, 2010
DSAC – Dynamic, Single Actuated Climber. Local Stability and Bifurcations
Amir Degani, Howie Choset and Matthew T. Mason

Conference Paper, Carnegie Mellon University, Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA), May, 2010
Hierarchical Planning Architectures for Mobile Manipulation Tasks in Indoor Environments
Ross Alan Knepper, Siddhartha Srinivasa and Matthew T. Mason

Conference Paper, Carnegie Mellon University, Proceedings of ICRA 2010, May, 2010
Minimalistic, Dynamic, Tube Climbing Robot – Video Submission
Amir Degani, Siyuan Feng, Howie Choset and Matthew T. Mason

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, May, 2010
Generality and Simple Hands
Matthew T. Mason, Siddhartha Srinivasa and Andres S. Vazquez

Conference Paper, Carnegie Mellon University, International Symposium of Robotics Research, July, 2009
Path Diversity Is Only Part of the Problem
Ross Alan Knepper and Matthew T. Mason

Conference Paper, Carnegie Mellon University, International Conference on Robotics and Automation, May, 2009, May, 2009
Minimum Wheel-Rotation Paths for Differential-Drive Robots
Hamidreza Chitsaz, Steven M. LaValle, Devin J. Balkcom and Matthew T. Mason

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 28, No. 1, pp. 66-80, January, 2009
A State Transition Diagram for Simultaneous Collisions with Application in Billiard Shooting
Yan-Bin Jia, Matthew T. Mason and Michael Erdmann

Conference Paper, Carnegie Mellon University, Eighth International Workshop on the Algorithmic Foundations of Robotics, December, 2008
Two finger caging: squeezing and stretching
Alberto Rodriguez and Matthew T. Mason

Conference Paper, Carnegie Mellon University, International Workshop on the Algorithmic Foundations of Robotics (WAFR 2008), December, 2008
Empirical Sampling of Path Sets for Local Area Motion Planning
Ross Alan Knepper and Matthew T. Mason

Conference Paper, Carnegie Mellon University, International Symposium on Experimental Robotics, July, 2008
Legless Locomotion: A Novel Locomotion Technique for Legged Robots
Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 27, No. 5, pp. 575 - 594, May, 2008
Robotic Origami Folding
Devin Balkcom and Matthew T. Mason

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 27, No. 5, pp. 613 - 627, May, 2008
A Dynamic Single Actuator Vertical Climbing Robot
Amir Degani, Amir Shapiro, Howie Choset and Matthew T. Mason

Conference Paper, Carnegie Mellon University, Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, pp. 2901-2906, November, 2007
Time-optimal Trajectories for an Omni-directional Vehicle
Devin Balkcom, Paritosh A. Kavathekar and Matthew T. Mason

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 25, No. 10, pp. 985 - 999, October, 2006
Toward Legless Locomotion Control
Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason

Conference Paper, Carnegie Mellon University, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5594 - 5599, October, 2006
Using projected dynamics to plan dynamic contact manipulation
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3618 - 3623, August, 2005
Control synthesis for dynamic contact manipulation
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, pp. 2523 - 2528, April, 2005
Legless Locomotion: Models and Experimental Demonstration
Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1803 - 1808, April, 2004
Introducing robotic origami folding
Devin J. Balkcom and Matthew T. Mason

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 3245-3250, January, 2004
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
Legless Locomotion for Legged Robots
Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason

Conference Paper, Carnegie Mellon University, Proceedings of the International Conference on Robotics and Intelligent Systems, Vol. 1, pp. 880 - 885, October, 2003
Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

Conference Paper, Carnegie Mellon University, Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), Vol. 3, pp. 3391 - 3396, May, 2003
Experiments with nonholonomic manipulation
Siddhartha Srinivasa, Christopher R. Baker, Elisha Sacks, Grigoriy Reshko, Matthew T. Mason and Michael Erdmann

Conference Paper, Carnegie Mellon University, Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), Vol. 2, pp. 2042 - 2047, May, 2002
Extremal Trajectories for Bounded Velocity Mobile Robots
Devin Balkcom and Matthew T. Mason

Conference Paper, Carnegie Mellon University, ICRA, May, 2002
Rapid Prototyping of Small Robots
Greg Reshko, Matthew T. Mason and Illah Nourbakhsh

Tech. Report, CMU-RI-TR-02-11, Robotics Institute, Carnegie Mellon University, March, 2002
Extremal trajectories for bounded velocity mobile robots
Devin J. Balkcom and Matthew T. Mason

Conference Paper, IEEE International Conference on Robotics and Automation, January, 2002
Mechanics of Robotic Manipulation
Matthew T. Mason

Book, Carnegie Mellon University, August, 2001
Progress in Desktop Robotics
Devin Balkcom and Matthew T. Mason

Conference Paper, The Eleventh Yale Workshop on Adaptive and Learning Systems, January, 2001
Orienting Toleranced Polygonal Parts
Srinivas Akella and Matthew T. Mason

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 19, No. 12, pp. 1147-1170, December, 2000
Parts Feeding on a Conveyor with a One Joint Robot
Srinivas Akella, Wesley Huang, Kevin Lynch and Matthew T. Mason

Journal Article, Carnegie Mellon University, Algorithmica (Special issue on Robotics), November, 2000
Mechanics, planning, and control for tapping
Wesley Huang and Matthew T. Mason

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 19, No. 10, pp. 883-894, October, 2000
Extremal Trajectories for Bounded Velocity Differential Drive Robots
Devin Balkcom and Matthew T. Mason

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 3, pp. 2479 - 2484, April, 2000
Time Optimal Trajectories for Bounded Velocity Differential Drive Robots
Devin Balkcom and Matthew T. Mason

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 3, pp. 2499 - 2504, April, 2000
Geometric construction of time optimal trajectories for differential drive robots
Devin Balkcom and Matthew T. Mason

Conference Paper, Proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR '00), January, 2000
Progress in Nonprehensile Manipulation
Matthew T. Mason

Journal Article, International Journal of Robotics Research, Vol. 18, No. 11, pp. 1129-1141, November, 1999
Using Partial Sensor Information to Orient Parts
Srinivas Akella and Matthew T. Mason

Journal Article, International Journal of Robotics Research, Vol. 18, No. 10, pp. 963-997, October, 1999
A Mobile Manipulator
Matthew T. Mason, Dinesh Pai, Daniela Rus, L. R. Taylor and Michael Erdmann

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '99), Vol. 3, pp. 2322 - 2327, May, 1999
Dynamic Nonprehensile Manipulation: Controllability, Planning and Experiments
Kevin Lynch and Matthew T. Mason

Journal Article, International Journal of Robotics Research, Vol. 18, No. 1, pp. 64-92, January, 1999
Experiments with Desktop Mobile Manipulators
Matthew T. Mason, Dinesh Pai, Daniela Rus, J. Howell, L. R. Taylor and Michael Erdmann

Conference Paper, Internatiional Symposium on Experimental Robotics, January, 1999
Experiments in Impulsive Manipulation
Wesley Huang and Matthew T. Mason

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '98), Vol. 2, pp. 1077 - 1082, May, 1998
Parts Orienting with Partial Sensor Information
Srinivas Akella and Matthew T. Mason

Conference Paper, 1998 IEEE International Conference on Robotics and Automation, May, 1998
Parts Orienting with Shape Uncertainty
Srinivas Akella and Matthew T. Mason

Conference Paper, 1998 IEEE International Conference on Robotics and Automation, May, 1998
Mechanics, Planning, and Control for Tapping
Wesley Huang and Matthew T. Mason

Conference Paper, Workshop on the Algorithmic Foundations of Robotics, January, 1998
Posing polygonal objects in the plane by pushing
Srinivas Akella and Matthew T. Mason

Journal Article, International Journal of Robotics Research, Vol. 17, No. 1, pp. 70-88, January, 1998
Robotics: The Algorithmic Perspective
Matthew T. Mason

Book, January, 1998
Mechanics for Vibratory Manipulation
Wesley Huang and Matthew T. Mason

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 3, pp. 2391 - 2396, April, 1997
Sensorless Parts Orienting with a One Joint Manipulator
Srinivas Akella, Wesley Huang, Kevin Lynch and Matthew T. Mason

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 3, pp. 2383 - 2390, April, 1997
Dynamic manipulation with a one joint robot
Kevin Lynch and Matthew T. Mason

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '97), January, 1997
Stable Pushing: Mechanics, Controllability, and Planning
Kevin Lynch and Matthew T. Mason

Journal Article, International Journal of Robotics Research, Vol. 15, No. 6, pp. 533-556, December, 1996
Dynamic Underactuated Nonprehensile Manipulation
Kevin Lynch and Matthew T. Mason

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 889-896, November, 1996
Limiting Cases of Impulsive Manipulation
Wesley Huang and Matthew T. Mason

Tech. Report, CMU-RI-TR-96-24, Robotics Institute, Carnegie Mellon University, September, 1996
From Robotic Juggling to Robotic Parts Feeding
Srinivas Akella, Wesley Huang, Kevin Lynch and Matthew T. Mason

Conference Paper, In the Ninth Yale Workshop on Adaptive and Learning Systems, January, 1996
Sensorless Parts Feeding with a One Joint Robot
Srinivas Akella, Wesley Huang, Kevin Lynch and Matthew T. Mason

Conference Paper, Workshop on the Algorithmic Fundamentals of Robotics, January, 1996
Controllability of Pushing
Kevin Lynch and Matthew T. Mason

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 1, pp. 112-119, May, 1995
Parts Orienting by Push-Aligning
Srinivas Akella and Matthew T. Mason

Conference Paper, 1995 IEEE International Conference on Robotics and Automation, Vol. 1, pp. 414-420, May, 1995
Pulling by Pushing, Slip with Infinite Friction, and Perfectly Rough Surfaces
Kevin Lynch and Matthew T. Mason

Conference Paper, International Journal of Robotics Research, Vol. 14, No. 2, pp. 174-183, April, 1995
Impulsive Manipulation
Wesley Huang, Eric Krotkov and Matthew T. Mason

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '95), January, 1995
Planar Manipulation on a Conveyor with a One Joint Robot
Srinivas Akella, Wesley Huang, Kevin Lynch and Matthew T. Mason

Conference Paper, International Symposium on Robotics Research, pp. 265-276, January, 1995
Stable Pushing: Mechanics, Controllability, and Planning
Kevin Lynch and Matthew T. Mason

Conference Paper, Algorithmic Foundations of Robotics, pp. 239-262, January, 1995
Mechanical Parts Orienting: The Case of a Polyhedron on a Table
Michael Erdmann, Matthew T. Mason and George Vanecek

Journal Article, Algorithmica, Vol. 10, No. 2/3/2004, August, 1993
Dynamic Manipulation
Matthew T. Mason and Kevin Lynch

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 152-159, July, 1993
Two-dimensional rigid-body collisions with friction: authors’ closure
Yu Wang and Matthew T. Mason

Journal Article, Trans ASME; J Applied Mechanics, Vol. 60, June, 1993
Kicking the Sensing Habit
Matthew T. Mason

Journal Article, AI Magazine, Vol. 14, No. 1, pp. 58-59, January, 1993
Recent Results in Pushing
Matthew T. Mason, Srinivas Akella and Kevin Lynch

Conference Paper, Proceedings of the NSF Design and Manufacturing Systems Grantees Conference, January, 1993
Throwing a Club: Early Results
Matthew T. Mason and Kevin Lynch

Conference Paper, International Symposium on Robotics Research, January, 1993
Two Dimensional Rigid Body Collisions with Friction
Yu Wang and Matthew T. Mason

Journal Article, Trans ASME; J Applied Mechanics, Vol. 59, No. 3, pp. 635-642, September, 1992
Posing Polygonal Objects in the Plane by Pushing
Srinivas Akella and Matthew T. Mason

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2255-2262, May, 1992
Planar Sliding with Dry Friction: a Review
Michael Erdmann and Matthew T. Mason

Book Section/Chapter, The Robotics Review 2, pp. 47-50, January, 1992
Two Graphical Methods for Planar Contact Problems
Matthew T. Mason

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, Intelligence for Mechanical Systems, Vol. 2, pp. 443-448, November, 1991
Generating Stochastic Plans for a Programmable Parts Feeder
Kenneth Y. Goldberg, Matthew T. Mason and Michael Erdmann

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 1, pp. 352 - 359, April, 1991
Learning Reliable Manipulation Strategies Without Initial Physical Models
Alan D. Christiansen, Matthew T. Mason and Tom Mitchell

Journal Article, Robotics and Autonomous Systems, Vol. 8, January, 1991
Bayesian Grasping
Kenneth Y. Goldberg and Matthew T. Mason

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1264 - 1269, May, 1990
Learning reliable manipulation strategies without initial physical models
A.D. Christiansen, Matthew T. Mason and Tom Mitchell

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1224 - 1230, May, 1990
A Programmable Parts Feeder
Kenneth Y. Goldberg and Matthew T. Mason

Book Section/Chapter, Annual Research Review, January, 1990
Progress in Robotic Manipulation
Matthew T. Mason, Randy C. Brost and Kenneth Y. Goldberg

Conference Paper, Proceedings of NSF Design and Manufacturing Systems Conference, January, 1990
Graphical analysis of planar rigid-body dynamics with multiple frictional contacts
Randy C. Brost and Matthew T. Mason

Conference Paper, International Symposium on Robotics Research, pp. 293-300, August, 1989
Compliant Sliding of a Block Along a Wall
Matthew T. Mason

Conference Paper, International Symposium on Experimental Robotics, pp. 568-578, June, 1989
Experiments in robot learning
Matthew T. Mason, Alan D. Christiansen and Tom Mitchell

Conference Paper, Proceedings of the Sixth International Workshop on Machine Learning, January, 1989
How to Push a Block Along a Wall
Matthew T. Mason

Conference Paper, NASA Conference on Space Telerobotics, January, 1989
Numerical Simulation of Time-Dependent Contact and Friction Problems in Rigid Body Mechanics: A Review
Matthew T. Mason

Book Section/Chapter, The Robotics Review 1, pp. 311-313, January, 1989
Robotic Manipulation: Mechanics and Planning
Matthew T. Mason

Book Section/Chapter, Robotics Science, pp. 262-288, January, 1989
Toward a Learning Robot
Tom Mitchell, Matthew T. Mason and Alan D. Christiansen

Conference Paper, Proceedings of the Workshop on Representation and Learning in an Autonomous Agent, November, 1988
An Exploration of Sensorless Manipulation
Michael Erdmann and Matthew T. Mason

Journal Article, IEEE Journal of Robotics and Automation, Vol. 4, No. 4, pp. 369 - 379, August, 1988
On the Inconsistency of Rigid-Body Frictional Planar Mechanics
Matthew T. Mason and Yu Wang

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 1, pp. 524-528, April, 1988
Planning Sequences of Squeeze-Grasps to Orient and Grasp Polygonal Objects
Matthew T. Mason, Kenneth Y. Goldberg and Russell H. Taylor

Conference Paper, Seventh CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, January, 1988
Sensor-based manipulation planning as a game with nature
Russell H. Taylor, Matthew T. Mason and Kenneth Y. Goldberg

Conference Paper, International Symposium on Robotics Research, January, 1988
Modeling Impact Dynamics for Robotic Operations
Yu Wang and Matthew T. Mason

Conference Paper, IEEE International Conference on Robotics and Automation, January, 1987
Automatic Grasp Planning: An Operation Space Approach
Matthew T. Mason and Randy C. Brost

Conference Paper, Sixth CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 321-328, September, 1986
On the Scope of Quasi-Static Pushing
Matthew T. Mason

Conference Paper, International Symposium on Robotics Research, pp. 229-233, January, 1986
Mechanics of Pushing
Matthew T. Mason

Conference Paper, International Symposium on Robotics Research, January, 1985
Robot Hands and the Mechanics of Manipulation
Matthew T. Mason and J. Kenneth Salisbury

Book, January, 1985
The Mechanics of Manipulation
Matthew T. Mason

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 544-548, January, 1985
Automatic Planning of Fine Motions: Correctness and Completeness
Matthew T. Mason

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, 1984, pp. 492-503, March, 1984
Automatic Synthesis of Fine-Motion Strategies for Robots
Tomas Lozano-Perez, Matthew T. Mason and Russell H. Taylor

Journal Article, International Journal of Robotics Research, Vol. 3, No. 1, January, 1984
Automatic Planning of Fine Motions: Correctness and Completeness
Matthew T. Mason

Tech. Report, CMU-RI-TR-83-18, Robotics Institute, Carnegie Mellon University, December, 1983
Adaptable Manipulation without Sensors
Matthew T. Mason

Conference Paper, Robotics Research and Advanced Applications, January, 1982
Manipulator Grasping and Pushing Operations
Matthew T. Mason

Miscellaneous, doctoral dissertation, Electrical Engineering and Computer Science, MIT, January, 1982
Robot Motion: Planning and Control
M. Brady, J. M. Hollerbach, T. Johnson, T. Lozano-Perez and Matthew T. Mason

Book, January, 1982
Compliance and Force Control for Computer-Controlled Manipulators
Matthew T. Mason

Journal Article, IEEE Trans on Systems, Man, and Cybernetics, Vol. 11, No. 6, pp. 418-432, January, 1981
Mailing Address:

Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

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