/Garth Zeglin

Garth Zeglin

Portrait of Garth Zeglin
Instructor/Project Scientist
Email: garthz@andrew.cmu.edu
Office: 3215 Newell-Simon Hall
Phone: (412) 268-5909
Personal Homepage
Mailing Address

I am fascinated by machines that combine elegant simplicity with dynamic motion. In practice, these are often mechanisms motivated by a deep understanding of the physics of their interaction with their environment. Most research I do is related to legged locomotion, developing one-legged hopping and two-legged walking machines. I follow a minimalist design approach, looking for simple mechanisms that utilize the passive dynamics of a task.

I am also interested in creating robotic sculpture, i.e, art that combines physical and computational processes to create compelling motion. I am also committed to fostering the connection between the technical and artistic communities. I would like to see robotic technology become a set of creative tools that can be used transparently as an un-self-conscious medium.

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, 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, 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, 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, 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, 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, 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, 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, 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, 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, Tech. Report, 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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