Research InterestsI'm generally interested in manipulation and grasping, in particular, how to create natural-looking hand motions using physically-based techniques. I'm interested in this problem from a computer graphics perspective (creating natural hand motions on human characters) and from a robotics perspective (creating dexterous robotic hands). However, the largest portion of my work has actually involved observing how humans use their hands and why. I have used a variety of methods to observe human manipulation including using slow-motion video and controlled experiments. The aim of my research is to use these observations of human grasping in order to create better, more robust artificial manipulators.
Education / Previous WorkI received a B.S. in Computer Science from the University of Illinois at Urbana-Champaign. After graduating, I worked for a year and a half as a software engineer at Palm, Inc. around the time it was acquired by Hewlett-Packard, before applying to graduate school.
Y. Nakamura, D. Troniak, A. Rodriguez, M.T. Mason, and N.S. Pollard. "The Complexities of Grasping in the Wild," IEEE-RAS International Conference on Humanoid Robotics (Humanoids 2017). [project] [pdf]
J. Liu, F. Feng, Y. Nakamura, and N.S. Pollard. "A Taxonomy of Everyday Grasps in Action," IEEE-RAS International Conference on Humanoid Robotics (Humanoids 2014), pp.573-580, November, 2014.