Curriculum Vitae¶

Office:	Newell-Simon Hall 3215, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213
Telephone:	412-268-5909 (office)
Email:	garthz@cmu.edu
Academic:	https://www.cs.cmu.edu/~garthz
Art:	https://garthzeglin.com

Current Employment¶

Carnegie Mellon University

September 2014-present. Project Scientist in IDeATe and the Robotics Institute.

Education¶

Carnegie Mellon University Robotics Institute, Pittsburgh, PA.
Ph.D., Robotics, 1999.
Dissertation: The Bow Leg Hopping Robot.
Advised by Professor Matthew Mason and H. Benjamin Brown.

Massachusetts Institute Of Technology, Cambridge, MA.
B.S., Mechanical Engineering, 1991.
Undergraduate thesis: Uniroo: A One Legged Dynamic Hopping Robot.
Advised by Professor Marc Raibert.

Art Exhibitions¶

“Jumbler”

September 11-November 21, 2021. This Sacred Thing, SPACE gallery, Pittsburgh, PA.

“How to build a dishwasher”
With the New Artist Project.
March 26-June 12, 2011. Kunstnernes Hus, Oslo, Norway.
March 26-May 10, 2010. Keravan Taidemuseo, Kerava, Finland.

“Soie de Deux”

December 31, 2010 and January 28, 2011. First Night and Gallery Crawl, Three Rivers Arts Festival Gallery, Pittsburgh, PA.

“Traveler”

September 28, 2008. Aeolian Electric, Solar One, New York, NY.

“Shelter”

July 9-29, 2008. Robot 250 Festival, Carnegie Library Main, Pittsburgh, PA.

“Window”

November 5 to December 14, 2007. The Uncanny Valley Rally, Brewhouse Space 101, Pittsburgh, PA.

“Albatross”

February 23, 2007-March 23, 2007. “Mechanosphere”, Three Rivers Arts Festival Gallery, Pittsburgh, PA.

“Fledgling”

February 23, 2007-March 23, 2007. “Mechanosphere”, Three Rivers Arts Festival Gallery, Pittsburgh, PA.

“Confined Reflections”
With Gretchen Skogerson.
April 29 to August 20, 2006.  The 2006 DeCordova Annual Exhibition, DeCordova Museum, Lincoln, MA.

“PS”
With Gretchen Skogerson.
2005. Clifford Smith Gallery, Boston, MA.
April 22-May 8, 2005. Boston Cyberarts Festival, Stata Center, MIT, Cambridge, MA.
April 1-10, 2005. “Collision Collective #7”, Art Interactive, Cambridge, MA.

Art Performances¶

“It’s All in the Timing”

May 1, 2014. Helen Wayne Rauh Studio Theater, Carnegie Mellon University, Pittsburgh, PA.

“Separate Self”

March 9, 2013. With Philip Thompson and IonSound Project, in “Android Ballet”, Bellefield Hall, University of Pittsburgh, Pittsburgh, PA.

“The Taste of Metal”

December 4, 2009. With the New Artist Project, at the Robotics Institute, Carnegie Mellon University, Pittsburgh, PA.

“Wax Poetic”

May 31-June 1, 2008. With Ian Brill, at the Fi’Art International Family Art Festival, Children’s Museum, Pittsburgh, PA.

“Colorful Code Conveyor”

January 26, 2008. With Ian Brill, at the Children’s Museum, Pittsburgh, PA.

“Synaestopic DC”

November 7, 2007. With Ian Brill, at the Andy Warhol Museum, Pittsburgh, PA.

“Device Chain”

March 31, 2007. With Ian Brill, at CrossCurrents2, Penn State University, State College, PA.

“Oracular Eye”

December 31, 2006. With Gretchen Skogerson, at First Night, Pittsburgh, PA.

“Uptown Reverberation”

November 4, 2006. With Ian Brill, at “In Lieu of Condemnation”, Sage Building, Pittsburgh, PA.

“McBlare”

October 12, 2004. With Roger Dannenberg, Ben Brown, et al., Robotics Institute 25th Anniversary, Pittsburgh, PA.

“Watercourse Way”
With Roger B. Dannenberg, Barbara Bernstein, Tom Neuendorffer, and the Pittsburgh New Music Ensemble.
July 26, 2003. Hazlett Theater, Pittsburgh, PA.

“Glowing Hands”

June 6, 2003. FLUX 10, Pittsburgh, PA.

“Graceful Light in Weightless Darkness”
With Mary Miller, Venise St. Pierre, Adam Leong, and the Mary Miller Dance Company.
February 12, 2003. Byham Theater, Pittsburgh, PA.
April 12-13, 2002. Kelly Strayhorn Theater, Pittsburgh, PA.

“Institute for the Study of Biological Enigmas”

September 2000. With Diego Diaz, at the Alma de Rana art festival, Santomera, Spain.

Courses Taught¶

Spring 2023	IDeATe Special Topics: Creative Soft Robotics
Spring 2023	Kinetic Fabrics
Spring 2023	Interaction & Expression using the Pausch Bridge Lighting
Fall 2022	Robotics for Creative Practice
Fall 2022	Creative Kinetic Systems
Spring 2022	IDeATe Special Topics: Creative Soft Robotics
Spring 2022	Kinetic Fabrics
Spring 2022	Interaction & Expression using the Pausch Bridge Lighting
Fall 2021	Robotics for Creative Practice
Fall 2021	Creative Kinetic Systems
Spring 2021	IDeATe Special Topics: Creative Soft Robotics
Spring 2021	Kinetic Fabrics
Spring 2021	Interaction & Expression using the Pausch Bridge Lighting
Fall 2020	Robotics for Creative Practice
Fall 2020	Creative Kinetic Systems
Spring 2020	Kinetic Fabrics
Spring 2020	Human-Machine Virtuosity
Fall 2019	Robotics for Creative Practice
Fall 2019	Creative Kinetic Systems
Summer 2019	Pinball Design Lab for the Summer Academy for Math and Science
Spring 2019	Kinetic Fabrics
Spring 2019	Human-Machine Virtuosity
Fall 2018	Robotics for Creative Practice
Fall 2018	Creative Kinetic Systems
Summer 2018	Pinball Design Lab for the Summer Academy for Math and Science
Spring 2018	Art of Robotic Special Effects
Spring 2018	Human-Machine Virtuosity
Fall 2017	Robotics for Creative Practice
Fall 2017	Introduction to Physical Computing
Summer 2017	Pinball Design Lab for the Summer Academy for Math and Science
Spring 2017	Art of Robotic Special Effects
Spring 2017	Human-Machine Virtuosity
Fall 2016	Robotics for Creative Practice
Fall 2016	Introduction to Physical Computing
Fall 2016	Introduction to Arduino Micro-Course
Summer 2016	Pinball Design Lab for the Summer Academy for Math and Science
Spring 2016	Finch Drama, a six-week project with 7th graders at ECS
Spring 2016	Introduction to Arduino Micro-Course
Fall 2015	Robotics for Creative Practice
Fall 2015	Introduction to Physical Computing
Spring 2015	Human-Machine Virtuosity
Fall 2014	Introduction to Physical Computing
Summer 2001	Andrew’s Leap. Co-taught with Prof. Matt Mason.
Spring 2001	Telepresence Art and Applications. Co-taught with artist Peter Coppin.
Summer 1995	Andrew’s Leap. Teaching assistant.
Spring 1995	Laboratory Course in Robotics Manipulation. Teaching assistant.

Papers at Refereed Conferences¶

Garth Zeglin, Aaron Walsman, Laura Herlant, Zhaodong Zheng, Yuyang Guo, Michael C. Koval, Kevin Lenzo, Hui Jun Tay, Prasanna Velagapudi, Katie Correll, and Siddhartha S. Srinivasa. “HERB’s Sure Thing: a rapid drama system for rehearsing and performing live robot theater.” IEEE Workshop on Advanced Robotics and its Social Impacts, September 11-13, 2014, Evanston, IL.

Garth Zeglin, Alberto Rodriguez, and Matthew T. Mason. “A simple and compliant force sensing palm for the MLab Simple Hand.” Proceedings of IEEE International Conference on Robotics and Automation, 2013.

Ben Brown, Geoff Gordon, Sue Ann Hong, Marek Michalowski, Paul Scerri, Axel Straschnoy, Iheanyi Umez-Eronini, and Garth Zeglin. “The New Artist,” video presented at the IEEE International Conference on Robotics and Automation 2011 Workshop on Robots and Art, Frontiers in Human-Centered Robotics as Seen by the Arts. Shanghai, May 13, 2011.

G.S. Koonjul, G.J. Zeglin, and N.S. Pollard. “Measuring contact points from displacements with a compliant, articulated robot hand.” Proceedings of IEEE International Conference on Robotics and Automation, pages 489-495, May 2011.

Lillian Y. Chang, Garth J. Zeglin, and Nancy S. Pollard. “Preparatory object rotation as a human-inspired grasping strategy.” IEEE International Conference on Humanoid Robots 2008, Daejeon, Korea.

M. Wisse, D. G. E. Hobbelen, R. J. J. Rotteveel, S. O. Anderson, G. J. Zeglin. “Ankle springs instead of arc-shaped feet for passive dynamic walkers.” IEEE International conference on Humanoid Robots 2006, Genoa, Italy.

Mike Stilman, Chris Atkeson, James Kuffner, and Garth Zeglin. “Dynamic programming in reduced dimensional spaces: Dynamic planning for robust biped locomotion.” Proceedings of IEEE International Conference on Robotics and Automation, 2005.

S. O. Anderson, M. Wisse, C.G. Atkeson, J.K. Hodgins, G.J. Zeglin. “Powered Bipeds Based on Passive Dynamic Principles.” IEEE International conference on Humanoid Robots 2005, Tsukuba, Japan.

Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, and Garth Zeglin. “Poincar<0x00E9>-map-based reinforcement learning for biped walking.” Proceedings of IEEE International Conference on Robotics and Automation, 2005.

Roger B. Dannenberg, Ben Brown, Garth Zeglin, and Ron Lupish. “McBlare: A robotic bagpipe player.” International Conference on New Interfaces for Musical Expression, Vancouver, Canada, May 26-28 2005.

Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, and Garth Zeglin. “Acquisition of a biped walking pattern using an approximate Poincar<0x00E9> map.” In IEEE-RAS/RSJ Int. Conf. on Humanoid Robots (Humanoids 2004)/Proceeding CD, November 2004.

Jun Morimoto, Gordon Cheng, Christopher G. Atkeson, and Garth Zeglin. “A simple reinforcement learning algorithm for biped walking.” Proceedings of IEEE International Conference on Robotics and Automation, pages 3030-5, April 2004.

Jun Morimoto, Garth Zeglin, and Christopher G. Atkeson. “Minimax differential dynamic programming: Application to a biped walking robot.” IEEE/RSJ International Workshop on Intelligent Robots and Systems, 2003.

Roger B. Dannenberg, Barbara Bernstein, Garth Zeglin, and Tom Neuendorffer. “Sound synthesis from video, wearable lights, and “The Watercourse Way.” Proceedings of The Eighth Biennial Symposium on Arts and Technology, pages 38-44, New London, Connecticut College, February 2003.

Zeglin, G., H.B. Brown Jr. “First hops of the 3D Bow Leg.” 5th International Conference on Climbing and Walking Robots, 2002.

Brown, H.B., Zeglin, G.J. “The Bow Leg Hopping Robot.” IEEE International Conference on Robotics and Automation, 1998.

Zeglin, G.J., Brown, H.B. “Control of a Bow Leg Hopping Robot.” IEEE International Conference on Robotics and Automation, 1998.

Thesis Publications¶

Zeglin, G.J. 1999. “The Bow Leg Hopping Robot.” Ph.D. thesis, Carnegie Mellon University. CMU-RI-TR-99-33.

Zeglin, G.J. 1991. “Uniroo: A One Legged Dynamic Hopping Robot.” B.S. thesis, MIT Dept. of Mechanical Engineering.

Patents¶

H. Benjamin Brown, Garth Zeglin, and Illah Nourbakhsh. “Resilient leg design for hopping running and walking machines.” U.S. Patent 7,270,589. Issued September 18, 2007.

H. Benjamin Brown Jr., Illah R. Nourbakhsh, and Garth John Zeglin. “Energy storage device used in locomotion machine.” U.S. Patent 6,558,297. Issued May 6, 2003.

MFA Committees¶

2015	MFA Thesis Committee member for Dakotah Konicek, Carnegie Mellon University.
2006	MFA Thesis Committee member for Takehito Etani, Carnegie Mellon University.
2001	MFA Thesis Committee member for Brian Grant, Carnegie Mellon University.

Art Mentorship¶

2009-	Technical advisor to artist Ian Brill.
2003	Technical advisor to artist Anat Pollack.
2001	Robotics consultant for Critical Art Ensemble “Genterra”, le Magasin Centre National d’Art Contemporain, Grenoble.
2001	Robotics consultant to artist Beatriz da Costa for the kinetic sculpture “Cello.”
2000	Technical advisor to artist Heidi Kumao for the kinetic sculpture “Lullaby.”

Art Grants and Stipends¶

2015	Spark grant for “Teach a Robot to See”
2013	Spark/IonSound Project support for “Separate Self”
2011	Kunstnernes Hus support for “How to build a dishwasher”
2010	Various support for “How to build a dishwasher”
2009	Received GPAC Artist Opportunity Grant for Pixelache 2010
2008	Aeolian Electric support for “Traveler”
2008	Received Robot 250 commission for “Shelter”
2008	Children’s Museum of Pittsburgh stipend for “Wax Poetic”
2008	Children’s Museum of Pittsburgh stipend for “Colorful Code Conveyor”
2007	Andy Warhol Museum stipend for “Synaestopic DC”
2006	Pittsburgh First Night stipend for “Oracular Eye”
2006	DeCordova Museum support for “Confined Reflections”
2003	FLUX 10 stipend for “Glowing Hands”
2003	Mary Miller Dance Company support for “Graceful Light in Weightless Darkness”

Past Employment¶

Robotics Institute, Carnegie Mellon University.
January 2014-May 2016. Project Scientist with Prof. Sidd Srinivasa.
June 2013-December 2013. Project Scientist with Prof. Ralph Hollis.
November 2011-February 2013.  Project Scientist with Prof. Matt Mason.
April 2011-March 2012.  Lead engineer for the Romibo Robot Project.
August 2009-May 2013.  Project Scientist with Prof. Nancy Pollard.
January 2002-July 2009. Project Scientist with Prof. Christopher Atkeson.
January 2001-January 2002. Post-doctoral fellow with Prof. Jessica Hodgins and Prof. Christopher Atkeson.
January 2000-July 2000.  Post-doctoral fellow with Prof. Illah Nourbakhsh and the Toy Robots Initiative.

Technical University Of Delft, Netherlands.

September-December 2005. Senior Fellow with the Delft Biorobotics Laboratory.

Boston Dynamics, Inc., Cambridge, MA.

January 1993-August 1993. Simulation software engineer.

Bolton Engineering, Inc., Melrose, MA.

January 1992-December 1992. Electrical, mechanical, and software design engineer.

MIT Artificial Intelligence Laboratory, Cambridge, MA.
Summer, 1991. Research staff under Prof. Chris Atkeson.
Summer, 1990. Research staff under Prof. Marc Raibert.

MIT Media Lab, Cambridge, MA.

Summer, 1989. Research staff under Prof. Barry Vercoe.

MIT Physics Department, Cambridge, MA.

Summer, 1988. Research staff under Prof. David Pritchard.

Pearse and Associates, Bethesda, MD.

Summer, 1986 and 1987. Electrical design engineer.

Fellowships¶

1996-1999	U.S. Department of Energy Integrated Manufacturing Predoctoral Fellowship.
1993-1996	National Science Foundation Graduate Fellowship.

Professional Service¶

2013	Panelist, Frank-Ratchye Fund for Art @ the Frontier.
2011	Panelist, GPAC Artist Opportunity Grant Panel.
2006-	Co-founder of Rossum’s.

Musical Interests¶

1994-2001	Studied trumpet performance with Anthony Pasquarelli of the Carnegie Mellon Music Department.
1988-1991	Performed and recorded with the MIT Festival Jazz Ensemble.
1987-1991	Performed with the MIT Brass Ensemble.

Selected Media¶

It’s All in the Timing

CMU play pairs HERB the robot with human actor, Pittsburgh Post-Gazette, May 20, 2014.

Carnegie Mellon’s creation HERB readies his pick-up lines, TribLive, April 29, 2014.

The New Artist Project

Premio MAMba, Fundación Telefónica Arte y Nuevas Tecnologías Sexta Edición (catalogue). Buenos Aires: Espacio Fundación Telefónica, 2010.

Debatty, Régine. “How to Build a Dishwasher” in Eikon No. 70, p. 72-3, Summer 2010.

Bonadeo, Martín. “Arte con Nombre de Marca” in AdLatina, p. 184-9., May 28, 2010.

Kantokorpi, Otso. “Robotti tekee Taidetta” in Kauppalehti, p.17., April 20, 2010.

Valjakka, Timo. “Robotit pitävät tanssista” in Helsingin Sanomat, March 26, 2010.

Uptown Reverberation, Colorful Code Conveyor

“Family fun: art + electronic music + robotics at the Children’s Museum.” Pop City, Feb 5, 2008.

Reeves, Ally. “For Demolition and Dreaming.” Pittsburgh Art Review, Nov 5, 2006.

Shelter

Davis, Lauren. “Meet Pittsburgh’s BigBots.” io9, Jul 12, 2008.

McCoy, Adrian. “Pittsburgh’s Robot 250 roundup.” Pittsburgh Post-Gazette, July 9, 2008.

Albatross

Hopper, Justin. “State Of Art.” Pittsburgh City Paper, February 22, 2007.

Confined Reflections and PS

Hopkins, Randi. “The 2006 DeCordova Annual, plus Art, Theatre, and Engineering at MIT.” The Phoenix, April 28, 2006.

Boxer, Sarah. “Art That Puts You in the Picture, Like It or Not.” The New York Times, April 27, 2005.

Hopkins, Randi. “Mad science: Collision Collective at Art Interactive and Urban Icons at the New Art Center.” The Boston Phoenix, March 25-31, 2005.

Graceful Light in Weightless Darkness

Vranish, Jane. “Dance Preview: Dancers work with computers, fiber optics and muscle.” Pittsburgh Post-Gazette, April 12, 2002.

Last updated: 2021-11-23