Home/Garth Zeglin

Garth Zeglin

Instructor/Project Scientist
Email: garthz@andrew.cmu.edu
Office: NSH 3215
Phone: (412) 268-5909
Personal Homepage
Mailing Address:

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

Displaying 13 Publications
HERB’s Sure Thing: a rapid drama system for rehearsing and performing live robot theater
Garth Zeglin, Aaron Walsman, Laura Herlant, Zhaodong Zheng, Yuyang Guo, Michael Koval, Kevin Lenzo, Hui Jun Tay, Prasanna Velagapudi, Katie Correll and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, IEEE Workshop on Advanced Robotics and its Social Impacts, September, 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
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
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
Powered bipeds based on passive dynamic principles
Stuart Anderson, Martijn Wisse, Chris Atkeson, Jessica K. Hodgins, Garth Zeglin and B. Moyer

Conference Paper, Carnegie Mellon University, 5th IEEE-RAS International Conference on Humanoid Robots, pp. 110 - 116, December, 2005
Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning For Robust Biped Locomotion
Michael Stilman, Chris Atkeson, James Kuffner and Garth Zeglin

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'05), pp. 2399 - 2404, April, 2005
Poincare-Map-Based Reinforcement Learning for Biped Walking
Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Chris Atkeson and Garth Zeglin

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'05), April, 2005
Acquisition of a Biped Walking Pattern Using an Approximate Poincare Map
Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Chris Atkeson and Garth Zeglin

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE-RAS/RSJ Int. Conf. on Humanoid Robots (Humanoids 2004), pp. 912 - 924, November, 2004
A Simple Reinforcement Learning Algorithm For Biped Walking
Jun Morimoto, Gordon Cheng, Chris Atkeson and Garth Zeglin

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'04), pp. 3030 - 3035, April, 2004
Minimax Differential Dynamic Programming: Application to a Biped Walking Robot
Jun Morimoto, Garth Zeglin and Chris Atkeson

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, January, 2003
The Bow Leg Hopping Robot
Garth Zeglin

PhD Thesis, CMU-RI-TR-99-33, Robotics Institute, Carnegie Mellon University, October, 1999
Control of a Bow Leg Hopping Robot
Garth Zeglin and H. Benjamin Brown

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, May, 1998
The bow leg hopping robot
H. Benjamin Brown and Garth Zeglin

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, May, 1998
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