The Manipulation Lab | Publications

Publications

For an automated list of publications please see the Robotics Institute's M-Lab publications page

Recent Papers:

Legless Locomotion: A Novel Locomotion Technique for Legged Robots
Ravi Balasubramanian, Alfred A. Rizzi, and Matthew T. Mason
International Journal of Robotics Research, 27:5, pp.575-594, May 2008.

Robotic Origami Folding
Devin J. Balkcom and Matthew T. Mason
International Journal of Robotics Research, 27:5, pp.613-627, May 2008.

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

A Dynamic Single Actuator Vertical Climbing Robot
Amir Degani, Amir Shapiro, Howie Choset and Matthew T. Mason
Proc. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct, 2007, San Diego, CA, USA
Download: pdf [420 KB] copyrighted

Control Strategies and Design Guidelines for Planar Latch-Less Metamorphic Robots Based on Analysis of Dynamics
A. Deshpande, S. Srinivasa, and P. Pillai
IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2007. [Abstract]
Download: pdf [611 KB] copyrighted

Toward Legless Locomotion Control
R. Balasubramanian, A. Rizzi, and M. Mason
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2006, pp. 5594 - 5599. [Abstract]
Download: pdf [968 KB] copyrighted

Modeling and Control Techniques for a Class of Mobile Robot Error Recovery Problems
R. Balasubramanian
doctoral dissertation, tech. report CMU-RI-TR-06-39, Robotics Institute, Carnegie Mellon University, September, 2006. [Abstract]
Download: pdf [10971 KB] copyrighted

Control Synthesis for Dynamic Contact Manipulation
S. Srinivasa
doctoral dissertation, tech. report CMU-RI-TR-05-33, Robotics Institute, Carnegie Mellon University, September, 2005. [Abstract]
Download: pdf [9794 KB] copyrighted

Using projected dynamics to plan dynamic contact manipulation
S. Srinivasa, M. Erdmann, and M. Mason
IEEE/RSJ International Conference on Intelligent Robots and Systems, August, 2005. [Abstract]
Download: pdf [933 KB] copyrighted

Control synthesis for dynamic contact manipulation
S. Srinivasa, M. Erdmann, and M. Mason
IEEE International Conference on Robotics and Automation, IEEE, April, 2005. [Abstract]
Download: pdf [1159 KB] copyrighted

Kinematic reduction and planning using symmetry for a variable inertia mechanical system
R. Balasubramanian and A.A. Rizzi
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 4, October, 2004, pp. 3829 - 3834.
Download: pdf [337 KB] copyrighted

Older Papers:

Tamara Abell and Michael Erdmann. Stably Supported Rotations of a Planar Polygon with Two Frictionless Contacts. Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and System, Pittsburgh, Pennsylvania, pp. 411-418. abstract.
S. Akella and M. T. Mason. Posing polygonal objects in the plane by pushing. International Journal of Robotics Research, Vol. 17, No. 1, pp. 70-88, January 1998. abstract .
S. Akella and M. T. Mason. Using Partial Sensor Information to Orient Parts. To appear in the International Journal of Robotics Research, accepted September 1998. abstract .
S. Akella and M. T. Mason, "Orienting Toleranced Parts," Submitted to the International Journal of Robotics Research, December 1998. abstract .
S. Akella and M. T. Mason. Parts Orienting with Shape Uncertainty. 1998 IEEE International Conference on Robotics and Automation, May 1998. abstract , postscript (619K).
S. Akella and M. T. Mason. Parts Orienting with Partial Sensor Information. 1998 IEEE International Conference on Robotics and Automation, May 1998. abstract , postscript (463K).
S. Akella, W. Huang, K. M. Lynch, and M. T. Mason. Parts Feeding on a Conveyor with a One Joint Robot. To appear in Algorithmica (Special issue on Robotics), accepted November 1997. abstract, postscript (2.81 M).
S. Akella, W. Huang, K. M. Lynch, and M. T. Mason. Sensorless Parts Orienting with a One-Joint Manipulator. 1997 IEEE International Conference on Robotics and Automation. abstract, postscript (2.9 M).
S. Akella. Robotic Manipulation for Parts Transfer and Orienting: Mechanics, Planning, and Shape Uncertainty. Ph.D. thesis, The Robotics Institute, Carnegie Mellon University, December 1996. Available as Robotics Institute Technical Report CMU-RI-TR-96-38. abstract , postscript (5.619M).
S. Akella, W. Huang, K. M. Lynch, and M. T. Mason. Sensorless parts feeding with a one joint robot. 1996 Workshop on the Algorithmic Fundamentals of Robotics. abstract, postscript (2269 K).
S. Akella, W. Huang, K. M. Lynch, and M. T. Mason. Planar manipulation on a conveyor with a one joint robot. 1995 International Symposium on Robotics Research. abstract, postscript (1691 K).
S. Akella and M. T. Mason. Parts Orienting by push-aligning. 1995 IEEE International Conference on Robotics and Automation, pp. 414-420, Nagoya, Japan, May 1995. abstract , postscript (242K).
S. Akella and M. T. Mason. Posing polygonal objects in the plane by pushing. 1992 IEEE International Conference on Robotics and Automation,, pp. 2255-2262, Nice, France, May 1992. abstract, postscript (394K).
R. Balasubramanian and T.R.Balch. Energy-optimal Trajectories for Overatuated Robots. Tech. report CMU-RI-TR-02-17, Robotics Institute, Carnegie Mellon University, July, 2002. pdf (126K).
R. Balasubramanian, A. Rizzi, and M. Mason. Legless Locomotion for Legged Robots. Tech. report CMU-RI-TR-04-05, Robotics Institute, Carnegie Mellon University, January, 2004. pdf (950K).
R. Balasubramanian, A. Rizzi, and M. Mason. Legless Locomotion for Legged Robots. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 880-885. pdf (462K).
D. J. Balkcom and M. T. Mason. Time Optimal Trajectories for Bounded Velocity Differential Drive Robots. 2000 IEEE International Conference on Robotics and Automation. postscript (2.8M).
D. J. Balkcom and M. T. Mason. Extremal Trajectories for Bounded Velocity Differential Drive Robots. 2000 IEEE International Conference on Robotics and Automation. postscript (1.5M).
D. J. Balkcom and M. T. Mason. Graphical construction of time optimal trajectories for differential drive robots. 2000 Workshop on the Algorithmic Foundations of Robotics. postscript (2.7M).
Michael Erdmann. On a Representation of Friction in Configuration Space. International Journal of Robotics Research, Vol. 13, No. 3, 1994. abstract.
Michael Erdmann. Understanding Action and Sensing by Designing Action-Based Sensors. International Journal of Robotics Research, Vol. 14, No. 5, 1995. abstract.
Michael Erdmann. An Exploration of Nonprehensile Two-Palm Manipulation: Planning and Execution. Seventh International Symposium on Robotics Research, October 21-24, 1995, Herrsching, Germany. abstract, postscript (2.5 Meg).
[A revised version (2.1 Meg) of this paper appeared in the International Journal of Robotics Research, Vol. 17, No. 5, 1998.]
Michael Erdmann. Shape Recovery from Passive Locally Dense Tactile Data. 1998 Workshop on the Algorithmic Foundations of Robotics . abstract, postscript (11 Meg postscript, 23 pages) Here (3.7 Meg postscript, 13 pages) is the shorter version from the proceedings.
W. H. Huang and M. T. Mason. Experiments in Impulsive Manipulation 1998 IEEE International Conference on Robotics and Automation abstract, postscript (209 K).
W. H. Huang and M. T. Mason. Mechanics, Planning, and Control for Tapping Third International Workshop on the Algorithmic Foundations of Robotics, Houston TX, March 1998. abstract, postscript (225 K).
W. H. Huang and M. T. Mason. Mechanics for Vibratory Manipulation. 1997 IEEE International Conference on Robotics and Automation abstract, postscript (225 K).
W. H. Huang, E. P. Krotkov, and M. T. Mason. Impulsive Manipulation. 1995 IEEE International Conference on Robotics and Automation abstract, postscript (312 K).
Y.-B. Jia and M. A. Erdmann. Sensing polygon poses by inscription. 1994 IEEE International Conference on Robotics and Automation, pp. 1642-1649. abstract, postscript (280 K).
Y.-B. Jia. On computing optimal planar grasps. 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3:427-434. abstract, postscript (292 K).
Y.-B. Jia and M. A. Erdmann. Pose from pushing. 1996 IEEE International Conference on Robotics and Automation, pp. 165-171. abstract, postscript (396 K).
Y.-B. Jia and M. A. Erdmann. Geometric sensing of known planar shapes. International Journal of Robotics Research, v. 15, n. 4, pp. 365-392, August 1996. abstract, postscript (1178 K, 45 pages) (An earlier version of its first part was presented at the 1994 International Conference on Robotics and Automation; and an earlier version of its second part was presented at the First Workshop on Algorithmic Foundations of Robotics, San Francisco, CA, February, 1994.)
Y.-B. Jia and M. A. Erdmann. Pose and motion from contact. Accepted by the International Journal of Robotics Research . abstract, postscript (1258 K, 44 pages) (The first part appeared early in the 1996 International Conference on Robotics and Automation; the second part concerns nonlinear observability and observers for object pose and motion from one-finger tactile information.)
Y.-B. Jia and M. A. Erdmann. Observing Pose and Motion through Contact. 1998 IEEE International Conference on Robotics and Automation. abstract, postscript (430 K).
Y.-B. Jia and M. A. Erdmann. Local Observability of Rolling. Appeared in the Third International Workshop on the Algorithmic Foundations of Robotics, Houston TX, March 1998. abstract, postscript (284 K, 27 pages).
Y.-B. Jia. Geometric and Dynamic Sensing: Observation of Pose and Motion through Contact. Ph.D. thesis. December 1997. abstract, postscript (2749 K, 155 pages).
K. M. Lynch. The mechanics of fine manipulation by pushing. 1992 IEEE International Conference on Robotics and Automation, pp. 2269-2276. abstract, postscript (300 K)
K. M. Lynch. Estimating the friction parameters of pushed objects. 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 186-193. abstract, postscript (435 K)
K. M. Lynch. Nonprehensile robotic manipulation: Controllability and planning. Ph.D. thesis, March 1996. Available as CMU-RI-TR-96-05. abstract, postscript summary (387 K, 13 pages), postscript (8312 K, 210 pages) (For proper page layout, the thesis should be printed double-sided.)
K. M. Lynch. Locally controllable polygons by stable pushing. 1997 IEEE International Conference on Robotics and Automation, to appear. abstract, postscript (732 K)
K. M. Lynch, H. Maekawa, and K. Tanie. Manipulation and active sensing by pushing using tactile feedback. 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 416-421. abstract, postscript (346 K)
K. M. Lynch and M. T. Mason. Pulling by pushing, slip with infinite friction, and perfectly rough surfaces. 1993 IEEE International Conference on Robotics and Automation, v. 1, pp. 745-751. abstract, postscript (231 K) (A more complete version of this paper appears in the International Journal of Robotics Research, v. 14, n. 2, pp. 174-183, April 1995.)
K. M. Lynch and M. T. Mason. Controllability of pushing. 1995 IEEE International Conference on Robotics and Automation, pp. 112-119. abstract, postscript (593 K)
K. M. Lynch and M. T. Mason. Stable pushing: Mechanics, controllability, and planning. International Journal of Robotics Research, 15(6): 533-556, December 1996. abstract, postscript (2214 K) (An earlier version appeared in the First Workshop on the Algorithmic Foundations of Robotics, A. K. Peters, Boston, 1995.)
K. M. Lynch and M. T. Mason. Dynamic underactuated nonprehensile manipulation. 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 889-896. abstract, postscript (1695 K)
K. M. Lynch and M. T. Mason. Dynamic manipulation with a one joint robot. 1997 IEEE International Conference on Robotics and Automation, to appear. abstract, postscript (837 K)
K. M. Lynch and M. T. Mason. Dynamic nonprehensile manipulation: Controllability, planning, and experiments. Preprint, submitted to the International Journal of Robotics Research. abstract, postscript (2178 K)
M.T. Mason. Compliance and Force Control for Computer Controlled Manipulators. IEEE Transactions on Systems, Man, and Cybernetics, v. SMC-11, n. 6, pp. 418-432. abstract, 50K gifs.
M. T. Mason. Progress in Nonprehensile Manipulation. Submitted to the International Journal of Robotics Research. postscript (5500 K)
M.T. Mason, D. K. Pai, D. Rus, L. R. Taylor, and M. A. Erdmann. A Mobile Manipulator. 1999 IEEE Int Conf Robotics and Automation. abstract, 1.5M PS, 367K PDF.
M.T. Mason, D. K. Pai, D. Rus, J. Howell, L. R. Taylor, and M. A. Erdmann. Experiments with Desktop Mobile Manipulators. 1999 Int Symp Experimental Robotics. abstract, 7.2M PS, 584K PDF.
Mark Moll and Michael A. Erdmann. Reconstructing the Shape and Motion of Unknown Objects with Active Tactile Sensors. In Proceedings of the Fifth International Workshop on Algorithmic Foundations of Robotics (WAFR), Springer Verlag, December 2002. abstract , 2.6MB PDF,
Mark Moll. Shape Reconstruction Using Active Tactile Sensors. Ph.D. Thesis, Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, 2002. abstract , 8.6MB PDF,
Mark Moll and Michael A. Erdmann. Manipulation of Pose Distributions. International Journal of Robotics Research, 21(3):277–292, March 2002. abstract , 397.2kB PDF, 438.3kB ps.gz
Mark Moll, Ken Goldberg, Michael A. Erdmann, and Ron Fearing. Aligning Parts for Micro Assemblies. Assembly Automation, 22(1):46–54, February 2002. abstract , 105.9kB PDF, 88.2kB ps.gz
Mark Moll and Michael A. Erdmann. Dynamic Shape Reconstruction Using Tactile Sensors. In Proceedings of the 2002 IEEE International Conference on Robotics and Automation, pp. 1636–1641, 2002. abstract , 104.6kB PDF, 248.1kB ps.gz
Mark Moll, Michael A. Erdmann, Ron Fearing, and Ken Goldberg. Orienting Micro-Scale Parts with Squeeze and Roll Primitives. In Proceedings of the 2002 IEEE International Conference on Robotics and Automation, pp. 1931–1936, 2002. abstract , 108.0kB PDF, 234.4kB ps.gz
Mark Moll and Michael A. Erdmann. Manipulation of Pose Distributions. In Bruce R. Donald, Kevin M. Lynch, and Daniela Rus, editors, Algorithmic and Computational Robotics: New Directions, pp. 127–141, A. K. Peters, 2001. abstract , 700.0kB PDF, 895.2kB ps.gz
Mark Moll and Michael A. Erdmann. Reconstructing Shape from Motion Using Tactile Sensors. In Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 691–700, Maui, HI, October/November 2001. abstract , 335.8kB PDF, 304.8kB ps.gz
Mark Moll and Michael A. Erdmann. Shape Reconstruction in a Planar Dynamic Environment. Technical Report CMU-CS-01-107, Dept. of Computer Science, Carnegie Mellon University, 2001. abstract , 787.4kB PDF
Mark Moll and Michael A. Erdmann. Manipulation of Pose Distributions. Technical Report CMU-CS-00-111, Dept. of Computer Science, Carnegie Mellon University, 2000. abstract , 224.2kB PDF, 793.2kB ps.gz
Mark Moll and Michael A. Erdmann. Uncertainty Reduction Using Dynamics. In Proceedings of the 2000 IEEE International Conference on Robotics and Automation, pp. 3673–3680, San Francisco, California, 2000. abstract, 218.8kB PDF, 255.7kB ps.gz
S. Srinivasa, M. Erdmann, and M. Mason (2003). Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system. In Proceedings of the 2003 IEEE International Conference on Robotics and Automation. Taipei, Taiwan. abstract, PDF
S. Srinivasa, C. Baker, E. Sacks, G. Reshko, M. Mason, and M. Erdmann (2002). Experiments with nonholonomic manipulation. In Proceedings of the 2002 IEEE International Conference on Robotics and Automation. Washington, DC. abstract, PDF or PostScript
N. B. Zumel and M. A. Erdmann. Balancing of a Planar Bouncing Object. 1994 IEEE International Conference on Robotics and Automation, v. 4, pp. 2949-2954. abstract, postscript (195 K)
N. B. Zumel and M. A. Erdmann. Nonprehensile Two Palm Manipulation with Non-Equilibrium Transitions between Stable States. 1996 IEEE International Conference on Robotics and Automation, v. 4, pp. 3317-3323. abstract, postscript (975 K) .
N. B. Zumel and M. A. Erdmann. Nonprehensile Manipulation for Orienting Parts in the Plane. 1997 IEEE International Conference on Robotics and Automation. abstract, postscript (391 K) .
N. B. Zumel. A Nonprehensile Method for Reliable Parts Orienting. Ph.D. thesis, January 1997. abstract, postscript summary (343 K), postscript (1730 K)

We gratefully acknowledge support by the National Science Foundation for this research.

This support includes a Research Initiation Award IRI-9010686 and REU supplement, a Presidential Young Investigator Award IRI-9157643, grant IRI-9213993 (with REU supplement IRI-9443084), grant IRI-9503648 (with REU supplements IRI-9642850 and IRI-9741440, and a Creativity Extension), grant IIS-9820180, and grant IIS-0222875.

Any opinions, findings, and conclusions or recommendations expressed in this research are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.

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