Home/Nancy Pollard

Nancy Pollard

Associate Professor
Email: npollard@andrew.cmu.edu
Office: EDSH 227
Phone: (412) 268-1479
Personal Homepage

I am interested in understanding physical interaction with the environment — how do we select and apply exactly the right forces to maneuver bulky and heavy objects, scramble over large rocks using both hands and feet, or use hand held tools?

In robotics, a better understanding of these interaction forces can help us create more dexterous robots that are able to operate in an environment such as the home. In particular, we would like to create natural grasping and manipulation behavior using measured human examples as a resource. In initial experiments we have demonstrated a humanoid robot tumbling a variety of large, heavy objects using a strategy derived directly from a human example. Some of the questions that remain to be answered are “what does it really mean for a robot to perform a task in the same way as a person?”, and “how can we convert a collection of measured human examples into a robust control policy for a robot?”

In computer graphics, an understanding of interaction forces can help us to create more natural looking motion when a character climbs, performs athletic maneuvers, or manipulates objects. We have developed fast techniques for computing optimal, physically plausible motion. We are also exploring the importance of physical correctness in graphics applications. How physically incorrect can motion be before people start to notice? In other words, how much can we cheat?

One of my particular areas of interest in both robotics and graphics is the hand. Modeling convincing hand motion is very difficult; in fact the hand itself has almost as many degrees of freedom, or directions of motion as is typically used to model the entire rest of the body! However, observed motion of the hand often appears to be much less complex. By studying examples of human hand motion and studying human hand anatomy, we hope to characterize hand behavior in a way that can be exploited for easier control of animated hands and effective control of robot hands.

Publications

Displaying 69 Publications
The Manifold Particle Filter for State Estimation on High-dimensional Implicit Manifolds
Michael C. Koval, Matthew Klingensmith, Siddhartha S. Srinivasa, Nancy Pollard and Michael Kaess

Conference Paper, IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2017
Configuration Lattices for Planar Contact Manipulation Under Uncertainty
Michael Koval, David Hsu, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Workshop on the Algorithmic Foundations of Robotics, December, 2016
Robust Trajectory Selection for Rearrangement Planning as a Multi-Armed Bandit Problem
Michael Koval, Jennifer King, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2015
Pre- and post-contact policy decomposition for planar contact manipulation under uncertainty
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, August, 2015
Pose estimation for planar contact manipulation with manifold particle filters
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 34, No. 7, pp. 922-945, June, 2015
Pre- and Post-Contact Policy Decomposition for Planar Contact Manipulation Under Uncertainty
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, Robotics: Science and Systems Conference, July, 2014
Human-Inspired Force Compliant Grasping Primitives
Moslem Kazemi, Jean-Sebastien Valois, J. Andrew (Drew) Bagnell and Nancy Pollard

Journal Article, Carnegie Mellon University, Autonomous Robots, March, 2014
Manifold Representations for State Estimation in Contact Manipulation
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, International Symposium on Robotics Research, December, 2013
Pose Estimation for Contact Manipulation with Manifold Particle Filters
Michael Koval, Mehmet Dogar, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2013
Pregrasp Manipulation as Trajectory Optimization
Jennifer King, Matthew Klingensmith, Christopher Dellin, Mehmet Dogar, Prasanna Velagapudi, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, Robotics: Science and Systems 2013, June, 2013
Closed-loop Servoing using Real-time Markerless Arm Tracking
Matthew Klingensmith, Thomas Galluzzo, Christopher Dellin, Moslem Kazemi, J. Andrew (Drew) Bagnell and Nancy Pollard

Conference Paper, Carnegie Mellon University, International Conference on Robotics And Automation (Humanoids Workshop), May, 2013
Efficient Touch Based Localization through Submodularity
Shervin Javdani, Matthew Klingensmith, J. Andrew (Drew) Bagnell, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), May, 2013
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
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
An Integrated System for Autonomous Robotics Manipulation
J. Andrew (Drew) Bagnell, Felipe Cavalcanti, Lei Cui, Thomas Galluzzo, Martial Hebert, Moslem Kazemi, Matthew Klingensmith, Jacqueline Libby, Tommy Liu, Nancy Pollard, Mikhail Pivtoraiko, Jean-Sebastien Valois and Ranqi Zhu

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2955-2962, October, 2012
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
Robust Object Grasping using Force Compliant Motion Primitives
Moslem Kazemi, Jean-Sebastien Valois, J. Andrew (Drew) Bagnell and Nancy Pollard

Conference Paper, Carnegie Mellon University, Robotics: Science and Systems, July, 2012
Physically-based Grasp Quality Evaluation under Uncertainty
Junggon Kim, Kunihiro Iwamoto, James Kuffner, Yasuhiro Ota and Nancy Pollard

Conference Paper, Carnegie Mellon University, International Conference on Robotics and Automation, St. Paul, Minnesota, May, 2012
Soft Stacking
James McCann and Nancy Pollard

Conference Paper, Carnegie Mellon University, Computer Graphics Forum (Eurographics), Cagliari, Italy, May, 2012
Robust Object Grasping using Force Compliant Motion Primitives
Moslem Kazemi, Jean-Sebastien Valois, J. Andrew (Drew) Bagnell and Nancy Pollard

Tech. Report, CMU-RI-TR-12-04, Robotics Institute, Carnegie Mellon University, January, 2012
Fast Simulation of Skeleton-Driven Deformable Body Characters
Junggon Kim and Nancy Pollard

Journal Article, Carnegie Mellon University, ACM Transactions on Graphics, 30(5), October 2011., October, 2011
Direct Control of Simulated Non-human Characters
Junggon Kim and Nancy Pollard

Journal Article, Carnegie Mellon University, IEEE Computer Graphics and Applications, 31(4), 56-65, July/August 2011, July, 2011
Measuring Contact Points from Displacements with a Compliant, Articulated Robot Hand
Gurdayal Koonjul, Garth Zeglin and Nancy Pollard

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, Shanghai, China, May, 2011
Mid-level Smoke Control for 2D Animation
Alfred Barnat, Zeyang Li, James McCann and Nancy Pollard

Conference Paper, Carnegie Mellon University, Proceedings of Graphics Interface, Newfoundland, Canada, May, 2011
Posture optimization for pre-grasp interaction planning
Lillian Y. Chang and Nancy Pollard

Conference Paper, Carnegie Mellon University, International Conference on Robotics and Automation, Workshop on Manipulation Under Uncertainty, Shanghai, China, May, 2011
Representation of Pre-Grasp Strategies for Object Manipulation
Daniel Kappler, Lillian Y. Chang, Markus Przybylski, Nancy Pollard, Tamim Asfour and Rudiger Dillmann

Conference Paper, Carnegie Mellon University, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010), December, 2010
BoLeRO: A Principled Technique for Including Bone Length Constraints in Motion Capture Occlusion Filling
Junlei Li, James McCann, Nancy Pollard and Christos Faloutsos

Conference Paper, Carnegie Mellon University, ACM SIGGRAPH / Eurographics Symposium on Computer Animation, Madrid, Spain, September, 2010
Planning pre-grasp manipulation for transport tasks
Lillian Y. Chang, Siddhartha Srinivasa and Nancy Pollard

Conference Paper, Carnegie Mellon University, "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)", May, 2010
Selection criteria for preparatory object rotation in manual lifting actions
Lillian Y. Chang, Roberta L. Klatzky and Nancy Pollard

Journal Article, Carnegie Mellon University, Journal of Motor Behavior, Vol. 42, No. 1, January, 2010
Local Layering
James McCann and Nancy Pollard

Conference Paper, Carnegie Mellon University, ACM Transactions on Graphics 28(3), SIGGRAPH 2009 Proceedings, August, 2009
DynaMMo: Mining and Summarization of Coevolving Sequences with Missing Values
Junlei Li, James McCann, Nancy Pollard and Christos Faloutsos

Journal Article, Carnegie Mellon University, ACM SIGKDD, June/July 2009, pp 527--534, June, 2009
Video survey of pre-grasp interactions in natural hand activities
Lillian Y. Chang and Nancy Pollard

Conference Paper, Carnegie Mellon University, Robotics: Science and Systems (RSS) 2009 Workshop on Understanding the Human Hand for Advancing Robotic Manipulation, June, 2009
Preparatory object rotation as a human-inspired grasping strategy
Lillian Y. Chang, Garth Zeglin and Nancy Pollard

Conference Paper, Carnegie Mellon University, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2008), pp. 527-534, December, 2008
Effect of Character Animacy and Preparatory Motion on Perceptual Magnitude of Errors in Ballistic Motion
Paul Reitsma, James L. Andrews and Nancy Pollard

Journal Article, Carnegie Mellon University, Computer Graphics Forum (Eurographics), 27(2), 201 - 210, September, 2008
Laziness is a virtue: Motion stitching using effort minimization
James McCann, Christos Faloutsos, Nancy Pollard and Lei Li

Journal Article, Carnegie Mellon University, Eurographics (short paper), 2008, September, 2008
Real-Time Gradient-Domain Painting
James McCann and Nancy Pollard

Conference Paper, Carnegie Mellon University, ACM Transactions on Graphics 27(3), SIGGRAPH 2008 Proceedings, September, 2008
Method for determining kinematic parameters of the in vivo thumb carpometacarpal joint
Lillian Y. Chang and Nancy Pollard

Journal Article, Carnegie Mellon University, IEEE Transactions on Biomedical Engineering, Vol. 55, No. 7, pp. 1897-1906, July, 2008
Interactive Physically-Based Control of Skeleton-Driven Deformable Characters
Junggon Kim and Nancy Pollard

Tech. Report, CMU-RI-TR-08-11, Robotics Institute, Carnegie Mellon University, June, 2008
Legible Simplification of Textured Urban Models
R Chang, T Butkiewicz, C Ziemkiewicz, Z Wartell, Nancy Pollard and W Ribarsky

Journal Article, Carnegie Mellon University, IEEE Computer Graphics and Applications, 28(3), 27 -- 36, May, 2008
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
Evaluating Motion Graphs for Character Animation
Paul Reitsma and Nancy Pollard

Journal Article, Carnegie Mellon University, ACM Transactions on Graphics, 26(4), October, 2007
Feature Selection for Grasp Recognition from Optical Markers
Lillian Y. Chang, Nancy Pollard, Tom Mitchell and Eric P. Xing

Conference Paper, Carnegie Mellon University, Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS 2007), pp. 2944 - 2950, October, 2007
Responsive Characters from Motion Fragments
James McCann and Nancy Pollard

Conference Paper, Carnegie Mellon University, ACM Transactions on Graphics 26(3), SIGGRAPH 2007 Proceedings, September, 2007
Planar batting under shape, pose, and impact uncertainty
Jiaxin Fu, Siddhartha Srinivasa, Nancy Pollard and Bart Nabbe

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), April, 2007
Planar batting under shape, pose, and impact uncertainty
Jiaxin Fu, Siddhartha Srinivasa, Nancy Pollard and Bart Nabbe

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics and Automation, Rome, Italy, April, 2007
Constrained Least-Squares Optimization for Robust Estimation of Center of Rotation
Lillian Y. Chang and Nancy Pollard

Journal Article, Journal of Biomechanics, Vol. 40, No. 6, pp. 1392 - 1400, January, 2007
Data driven grasp synthesis using shape matching and task-based pruning
Ying Li, Jiaxin Fu and Nancy Pollard

Journal Article, IEEE Transactions on Visualization and Computer Graphics, Vol. 13, January, 2007
Robust estimation of dominant axis of rotation
Lillian Y. Chang and Nancy Pollard

Journal Article, Journal of Biomechanics, Vol. 40, No. 12, pp. 2707 - 2715, January, 2007
Hierarchical Simplification of City Models to Maintain Urban Legibility
Remco Chang, Thomas Butkiewicz, Caroline Ziemkiewicz, Zachary Wartell, Nancy Pollard and William Ribarsky

Conference Paper, Carnegie Mellon University, SIGGRAPH Sketches Program, September, 2006
Physics-Based Motion Retiming
James McCann, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, Eurographics/ ACM SIGGRAPH Symposium on Computer Animation, September, 2006
On the Importance of Asymmetries in Grasp Quality Metrics for Tendon Driven Hands
Jiaxin Fu and Nancy Pollard

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), January, 2006
Physics-Based Motion Retiming
James McCann, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, ACM SIGGRAPH / Eurographics Symposium on Computer Animation, January, 2006
Physically Based Grasping Control from Example
Nancy Pollard and Victor B. Zordan

Conference Paper, Carnegie Mellon University, In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation, August, 2005
A Shape Matching Algorithm for Synthesizing Humanlike Enveloping Grasps
Ying Li and Nancy Pollard

Conference Paper, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2005), January, 2005
Grasp Synthesis from Example: Tuning the Example to a Task or Object
Nancy Pollard and Alon Wolf

Book Section/Chapter, Multi-point Interaction with Real and Virtual Objects, pp. 77-90, January, 2005
Evaluating Motion Graphs for Character Navigation
Paul Reitsma and Nancy Pollard

Conference Paper, Carnegie Mellon University, In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation, August, 2004
Synthesizing Physically Realistic Human Motion in Low-Dimensional, Behavior-Specific Spaces
Jessica K. Hodgins and Nancy Pollard

Journal Article, Carnegie Mellon University, ACM Transactions on Graphics (SIGGRAPH 2004), Vol. 23, No. 3, August, 2004
Segmenting Motion Capture Data into Distinct Behaviors
Jernej Barbic, and Jia-Yu Pan, Christos Faloutsos, Jessica K. Hodgins and Nancy Pollard

Conference Paper, Carnegie Mellon University, In Proceedings of Graphics Interface 2004, pp. 185 - 194, May, 2004
Efficient Computation of Optimal, Physically Valid Motion
Anthony Fang and Nancy Pollard

Conference Paper, Carnegie Mellon University, Journal of Robotics Society of Japan 22(2), Special issue on Motor Learning of Robots, March, 2004
Closure and Quality Equivalence for Efficient Synthesis of Grasps from Examples
Nancy Pollard

Journal Article, International Journal of Robotics Research, Vol. 23, No. 6, pp. 595-614, January, 2004
Efficient Synthesis of Physically Valid Human Motion
Anthony Fang and Nancy Pollard

Journal Article, Carnegie Mellon University, ACM Transactions on Graphics (SIGGRAPH 2003), Vol. 22, No. 3, pp. 417 - 426, July, 2003
Perceptual Metrics for Character Animation: Sensitivity to Errors in Ballistic Motion
Paul Reitsma and Nancy Pollard

Journal Article, Carnegie Mellon University, ACM Transactions on Graphics (SIGGRAPH 2003), Vol. 22, No. 3, pp. 537 - 542, July, 2003
Optimizing Human Motion for the Control of a Humanoid Robot
Alla Safonova, Nancy Pollard and Jessica K. Hodgins

Conference Paper, Carnegie Mellon University, 2nd International Symposium on Adaptive Motion of Animals and Machines (AMAM2003), March, 2003
Generalizing Demonstrated Manipulation Tasks
Nancy Pollard and Jessica K. Hodgins

Conference Paper, Carnegie Mellon University, Workshop on the Algorithmic Foundations of Robotics (WAFR '02), December, 2002
Interactive Control of Avatars Animated With Human Motion Data
Jehee Lee, Jinxiang Chai, Paul Reitsma, Jessica K. Hodgins and Nancy Pollard

Journal Article, Carnegie Mellon University, ACM Transactions on Graphics (SIGGRAPH 2002), Vol. 21, No. 3, pp. 491 - 500, July, 2002
Adapting Human Motion for the Control of a Humanoid Robot
Nancy Pollard, Jessica K. Hodgins, M.J. Riley and Chris Atkeson

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002
Tendon Arrangement and Muscle Force Requirements for Humanlike Force Capabilities in a Robotic Finger
Nancy Pollard and R.C. Gilbert

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002
Simple Machines for Scaling Human Motion
Nancy Pollard

Conference Paper, In Proceedings of Computer Animation and Simulation '99, August, 1999
Adapting Simulated Behaviors For New Characters
Jessica K. Hodgins and Nancy Pollard

Conference Paper, In Proceedings of SIGGRAPH 97, pp. 153 - 162, August, 1997
Mailing Address:

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

2017-11-10T14:36:53+00:00