Curriculum Vitae

Office:

Newell-Simon Hall 3215, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213

Telephone:

412-268-5909 (office) (not currently monitored)

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

With the New Artist Project.
March 26-June 12, 2011. Kunstnernes Hus, Oslo, Norway.
March 26-May 10, 2010. Keravan Taidemuseo, Kerava, Finland.
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.
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

May 1, 2014. Helen Wayne Rauh Studio Theater, Carnegie Mellon University, Pittsburgh, PA.
March 9, 2013. With Philip Thompson and IonSound Project, in “Android Ballet”, Bellefield Hall, University of Pittsburgh, Pittsburgh, PA.
December 4, 2009. With the New Artist Project, at the Robotics Institute, Carnegie Mellon University, Pittsburgh, PA.
May 31-June 1, 2008. With Ian Brill, at the Fi’Art International Family Art Festival, Children’s Museum, Pittsburgh, PA.
January 26, 2008. With Ian Brill, at the Children’s Museum, Pittsburgh, PA.
November 7, 2007. With Ian Brill, at the Andy Warhol Museum, Pittsburgh, PA.
March 31, 2007. With Ian Brill, at CrossCurrents2, Penn State University, State College, PA.
December 31, 2006. With Gretchen Skogerson, at First Night, Pittsburgh, PA.
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.
With Roger B. Dannenberg, Barbara Bernstein, Tom Neuendorffer, and the Pittsburgh New Music Ensemble.
July 26, 2003. Hazlett Theater, Pittsburgh, PA.
June 6, 2003. FLUX 10, Pittsburgh, PA.
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.
September 2000. With Diego Diaz, at the Alma de Rana art festival, Santomera, Spain.

Courses Taught

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: 2021-04-15