ModLab UPenn » Publications

Publications

2019

C. Liu, A. Bera, T. Tsabedze, D. Edgar, and M. Yim, “Spiral zipper manipulator for aerial grasping and manipulation,” in 2019 ieee/rsj international conference on intelligent robots and systems (iros), Macau, China, 2019.
[Bibtex]

@inproceedings{CL:AB:TT:DE:MY:19,
title={Spiral Zipper Manipulator for Aerial Grasping and Manipulation},
author={Liu, Chao and Bera, Abhraneel and Tsabedze, Thulani and Edgar, Daniel and Yim, Mark},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
address = {Macau, China},
year = {2019},
month={Nov.},
pdf={http://www.modlabupenn.org/wp-content/uploads/2019/12/chao_rcta_arm_2019.pdf}
}

C. Liu and M. Yim, “Reconfiguration motion planning for variable topology truss,” in 2019 ieee/rsj international conference on intelligent robots and systems (iros), Macau, China, 2019.
[Bibtex]

@inproceedings{CL:MY:vtt:19,
title={Reconfiguration Motion Planning for Variable Topology Truss},
author={Liu, Chao and Yim, Mark},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
address = {Macau, China},
year = {2019},
month={Nov.},
pdf={http://www.modlabupenn.org/wp-content/uploads/2019/08/chao_vtt_reconfiguration_2019.pdf}
}

C. Liu, M. Whitzer, and M. Yim, “A distributed reconfiguration planning algorithm for modular robots,” Ieee robotics and automation letters, vol. 4, iss. 4, pp. 4231-4238, 2019.
[Bibtex]

@Article{CL:MW:MY:19,
title={A Distributed Reconfiguration Planning Algorithm for Modular Robots},
author={C. {Liu} and M. {Whitzer} and M. {Yim}},
journal={IEEE Robotics and Automation Letters},
year={2019},
volume={4},
number={4},
pages={4231-4238},
doi={10.1109/LRA.2019.2930432},
ISSN={2377-3766},
month={Oct},
pdf={http://www.modlabupenn.org/wp-content/uploads/2019/08/chao_smores_reconfiguration_2019.pdf}
}

C. Liu, S. -C. Yu, and M. Yim, “Shape morphing for variable topology truss,” in 2019 16th international conference on ubiquitous robots (ur), Jeju, Korea, 2019.
[Bibtex]

@inproceedings{CL:SY:MY:ur:19,
title={Shape Morphing for Variable Topology Truss},
author={C. {Liu} and S.-C. {Yu} and M. {Yim}},
booktitle={2019 16th International Conference on Ubiquitous Robots (UR)},
address={Jeju, Korea},
pdf={http://www.modlabupenn.org/wp-content/uploads/2019/08/chao_vtt_ur_2019.pdf},
year={2019},
month={June}
}

C. C. Kessens, M. Horowitz, C. Liu, J. Dotterweich, M. Yim, and H. L. Edge, “Toward lateral aerial grasping & manipulation using scalable suction,” in 2019 international conference on robotics and automation (icra), 2019, pp. 4181-4186.
[Bibtex]

@inproceedings{CK:MH:CL:JD:MY:HE:19,
title={Toward Lateral Aerial Grasping & Manipulation Using Scalable Suction},
author={Kessens, Chad C. and Horowitz, Matthew and Liu, Chao and Dotterweich, James and Yim, Mark and Edge, Harris L.},
booktitle={2019 International Conference on Robotics and Automation (ICRA)},
pages={4181-4186},
doi={10.1109/ICRA.2019.8793672},
ISSN={2577-087X},
month={May},
pdf={http://www.modlabupenn.org/wp-content/uploads/2019/06/rcta_gripper_2019.pdf},
year={2019}
}

G. Li, B. Gabrich, D. Saldana, J. Das, V. Kumar, and M. Yim, “Modquad-vi: a vision-based self-assembling modular quadrotor,” in Ieee international conference on robotics and automation 2019, Montreal, Canada, 2019.
[Bibtex]

@inproceedings{GL:BG:DS:JD:VK:MY:19,
title = {ModQuad-Vi: A Vision-Based Self-Assembling Modular Quadrotor},
author = {Li, Guanrui and Gabrich, Bruno and Saldana, David and Das, Jnaneshwar and Kumar, Vijay and Yim, Mark},
booktitle = {IEEE International Conference on Robotics and Automation 2019},
address = {Montreal, Canada},
year = {2019},
pdf={http://www.modlabupenn.org/wp-content/uploads/2019/03/li_gabrich_saldana_modquadvi.pdf}
}

2018

S. Jeong, B. Kim, S. Park, E. Park, A. Spinos, D. Carroll, T. Tsabedze, Y. Weng, T. Seo, M. Yim, F. C. Park, and J. Kim, “Variable topology truss: hardware overview, reconfiguration planning and locomotion,” in 2018 15th international conference on ubiquitous robots (ur), 2018.
[Bibtex]

@inproceedings{SJ:BK:SP:EP:AS:DC:TT:YW:TS:MY:FCP:JK:18,
title = {Variable Topology Truss: Hardware Overview, Reconfiguration Planning and Locomotion},
author = {Jeong, Seongjae and Kim, Byungheon and Park, Sumin and Park, Eugene and Spinos, Alexander and Carroll, Devin and Tsabedze, Thulani and Weng, Yulai and Seo, TaeWon and Yim, Mark and Park, Frank C. and Kim, Jongwon},
booktitle = {2018 15th International Conference on Ubiquitous Robots (UR)},
year = {2018},
month = {June},
}

G. Jing, T. Tosun, M. Yim, and H. Kress-Gazit, “Accomplishing high-level tasks with modular robots,” Autonomous robots, 2018.
[Bibtex]

@Article{GJ:TT:MY:HK:auro:18,
title={Accomplishing High-Level Tasks with Modular Robots},
author={Jing, Gangyuan and Tosun, Tarik and Yim, Mark and Kress-Gazit, Hadas},
Journal={Autonomous Robots},
year={2018},
DOI={10.1007/s10514-018-9738-1},
pdf={https://arxiv.org/abs/1712.02299},
}

J. Daudelin$^*$, G. Jing$^*$, T. Tosun$^*$, M. Yim, H. Kress-Gazit, and M. Campbell, “An integrated system for perception-driven autonomy with modular robots,” Science robotics, 2018.
[Bibtex]

@Article{JD:GJ:TT:MY:HK:MC:18,
title={An Integrated System for Perception-Driven Autonomy with Modular Robots},
author={Daudelin$^*$, Jonathan and Jing$^*$, Gangyuan and Tosun$^*$, Tarik and Yim, Mark and Kress-Gazit, Hadas and Campbell, Mark},
Journal={Science Robotics},
pdf={http://robotics.sciencemag.org/cgi/content/full/3/23/eaat4983?ijkey=iBq7yW7Z8vmjE&keytype=ref&siteid=robotics},
year={2018}
}

T. Tosun$^*$, J. Daudelin$^*$, G. Jing$^*$, H. Kress-Gazit, M. Campbell, and M. Yim, “Perception-informed autonomous environment augmentation with modular robots,” in Ieee international conference on robotics and automation, 2018.
[Bibtex]

@inproceedings{TT:JD:GJ:HK:MC:MY:icra:18,
title={Perception-Informed Autonomous Environment Augmentation With Modular Robots},
author={Tosun$^*$, Tarik and Daudelin$^*$, Jonathan and Jing$^*$, Gangyuan and Kress-Gazit, Hadas and Campbell, Mark and Yim, Mark},
booktitle={IEEE International Conference on Robotics and Automation},
pdf={https://arxiv.org/abs/1710.01840},
year={2018}
}

A. Specian, C. Mucchiani, M. Yim, and J. Seo, “Robotic edge-rolling manipulation: a grasp planning approach,” Ieee robotics and automation letters, vol. 3, iss. 4, p. 3137–3144, 2018.
[Bibtex]

@article{AS:CM:MY:JS:18,
title={Robotic Edge-Rolling Manipulation: A Grasp Planning Approach},
author={Specian, Andrew and Mucchiani, Caio and Yim, Mark and Seo, Jungwon},
journal={IEEE Robotics and Automation Letters},
volume={3},
number={4},
pages={3137--3144},
year={2018},
publisher={IEEE},
doi={10.1109/LRA.2018.2849828}
}

J. Paulos and M. Yim, “Emulating a fully actuated aerial vehicle using two actuators,” in 2018 ieee international conference on robotics and automation, Brisbane, Australia, 2018.
[Bibtex]

@inproceedings{JP:MY:18,
title = {Emulating a Fully Actuated Aerial Vehicle using Two Actuators},
author={Paulos, James and Yim, Mark},
booktitle = {2018 IEEE International Conference on Robotics and Automation},
address = {Brisbane, Australia},
year = {2018},
pdf={http://www.modlabupenn.org/wp-content/uploads/2018/05/paulos_emulating_ICRA_2018.pdf}
}

B. Gabrich, D. Saldana, V. Kumar, and M. Yim, “A flying gripper based on cuboid modular robots,” in Ieee international conference on robotics and automation 2018, Brisbane, Australia, 2018.
[Bibtex]

@inproceedings{BG:DS:VK:MY:18,
title = {A Flying Gripper Based on Cuboid Modular Robots},
author = {Gabrich, Bruno and Saldana, David and Kumar, Vijay and Yim, Mark},
booktitle = {IEEE International Conference on Robotics and Automation 2018},
address = {Brisbane, Australia},
year = {2018},
pdf={http://www.modlabupenn.org/wp-content/uploads/2018/03/gabrich_modquad_gripper_icra2018.pdf}
}

D. Saldana, B. Gabrich, G. Li, M. Yim, and V. Kumar, “Modquad: the flying strucuture that self-assembles in midair,” in Ieee international conference on robotics and automation 2018, Brisbane, Australia, 2018.
[Bibtex]

@inproceedings{DS:BG:LG:MY:VK:18,
title = {ModQuad: The Flying Strucuture that Self-Assembles in Midair},
author = {Saldana, David and Gabrich, Bruno and Li, Guanrui and Yim, Mark and Kumar, Vijay},
booktitle = {IEEE International Conference on Robotics and Automation 2018},
address = {Brisbane, Australia},
year = {2018},
pdf={http://www.modlabupenn.org/wp-content/uploads/2018/03/gabrich_modquad_icra2018.pdf}
}

J. Paulos and M. Yim, “Cyclic blade pitch control without a swashplate for small helicopters,” Journal of guidance, control, and dynamics, vol. 41, iss. 3, p. 689–700, 2018.
[Bibtex]

@article{JP:MY:18,
title={Cyclic Blade Pitch Control Without a Swashplate for Small Helicopters},
author={Paulos, James and Yim, Mark},
journal={Journal of Guidance, Control, and Dynamics},
volume={41},
number={3},
pages={689--700},
year={2018},
publisher={American Institute of Aeronautics and Astronautics},
doi={10.2514/1.G002683},
pdf={http://www.modlabupenn.org/wp-content/uploads/2018/05/paulos_cyclic_blade_pitch_JGCD_2018.pdf}
}

C. Mucchiani, M. Kennedy, M. Yim, and J. Seo, “Object picking through in-hand manipulation using passive end-effectors with zero mobility,” Ieee robotics and automation letters, vol. 3, iss. 2, p. 1096–1103, 2018.
[Bibtex]

@article{CM:KM:MY:JS:18,
title={Object Picking Through In-Hand Manipulation Using Passive End-Effectors With Zero Mobility},
author={Mucchiani, Caio and Kennedy, Monroe and Yim, Mark and Seo, Jungwon},
journal={IEEE Robotics and Automation Letters},
volume={3},
number={2},
pages={1096--1103},
year={2018},
publisher={IEEE}
pdf={http://www.modlabupenn.org/wp-content/uploads/2018/03/Mucchiani_Caio_Picking_2018.pdf}
}

A. Specian, N. Eckenstein, R. Mead, B. McDorman, S. Kim, M. Mataric, and M. Yim, “Preliminary system and hardware design for quori, a low-cost, modular, socially interactive robot,” in 2018 hri workshop social robots in the wild, 2018, p. 1–6.
[Bibtex]

@inproceedings{AS:NE:MY:18,
title={Preliminary system and hardware design for Quori, a low-cost, modular, socially interactive robot},
author={Specian, Andrew and Eckenstein, Nick and Mead, Ross and McDorman, Braden and Kim, Simon and Mataric, Maja and Yim, Mark},
booktitle={2018 HRI Workshop Social Robots in the Wild},
pages={1--6},
year={2018},
pdf={ http://www.modlabupenn.org/wp-content/uploads/2018/03/Specian_Quori_Hardware_HRI_Workshop_2018.pdf}
}

J. Paulos and M. Yim, “Scalability of cyclic control without blade pitch actuators,” in Aiaa atmospheric flight mechanics conference, aiaa scitech forum, 2018.
[Bibtex]

@inproceedings{JP:MY:18,
title={Scalability of Cyclic Control without Blade Pitch Actuators},
author={Paulos, James and Yim, Mark},
booktitle={AIAA Atmospheric Flight Mechanics Conference, AIAA SciTech Forum},
year={2018},
doi={10.2514/6.2018-0532},
pdf={http://www.modlabupenn.org/wp-content/uploads/2018/03/paulos_scalability_of_cyclic_AIAA_2018.pdf}
}

2017

C. Liu and M. Yim, “Configuration recognition with distributed information for modular robots,” in Ifrr international symposium on robotics research, 2017.
[Bibtex]

@inproceedings{CL:MY:17,
title = {Configuration Recognition with Distributed Information for Modular Robots},
author = {Liu, Chao and Yim, Mark},
booktitle={IFRR International Symposium on Robotics Research},
year={2017},
pdf={http://www.modlabupenn.org/wp-content/uploads/2019/09/chao_config_recognition_isrr2017.pdf}
}

G. Jing, T. Tosun, M. Yim, and H. Kress-Gazit, “An end-to-end system for accomplishing tasks with modular robots: perspectives for the ai community,” in International joint conference on artificial intelligence, 2017.
[Bibtex]

@inproceedings{GJ:TT:MY:HK:ijcai:17,
title={An End-to-End System for Accomplishing Tasks with Modular Robots: Perspectives for the AI community},
author={Jing, Gangyuan and Tosun, Tarik and Yim, Mark and Kress-Gazit, Hadas},
booktitle={International Joint Conference on Artificial Intelligence},
pdf={http://static.ijcai.org/proceedings-2017/0686.pdf},
year={2017}
}

T. Tosun, D. Edgar, C. Liu, Tsabedze Thulani, and M. Yim, “Paintpots: low cost, accurate, highly customizable potentiometers for position sensing,” in Ieee international conference on robotics and automation, 2017.
[Bibtex]

@InProceedings{TT:DE:CL:TT:MY:17,
title = {PaintPots: Low Cost, Accurate, Highly Customizable Potentiometers for Position Sensing},
author = {Tosun, Tarik and Edgar, Daniel and Liu, Chao and Tsabedze, Thulani, and Yim, Mark},
booktitle = {IEEE International Conference on Robotics and Automation},
pdf={http://www.modlabupenn.org/wp-content/uploads/2017/10/tosun2017paintpots.pdf},
year = 2017
}

A. Spinos and M. Yim, “Towards a variable topology truss for shoring,” in Ubiquitous robots and ambient intelligence (urai), 2017 14th international conference on, 2017, p. 244–249.
[Bibtex]

@inproceedings{AS:MY:17,
title={Towards a variable topology truss for shoring},
author={Spinos, Alexander and Yim, Mark},
booktitle={Ubiquitous Robots and Ambient Intelligence (URAI), 2017 14th International Conference on},
pages={244--249},
year={2017},
organization={IEEE},
doi={10.1109/URAI.2017.7992723},
pdf={http://www.modlabupenn.org/wp-content/uploads/2017/10/spinos2017vttshoring.pdf}
}

A. Spinos, D. Carroll, T. Kientz, and M. Yim, “Variable topology truss: design and analysis,” in 2017 ieee/rsj international conference on intelligent robots and systems (iros), Vancouver, Canada, 2017.
[Bibtex]

@inproceedings{AS:DC:TK:MY:17,
title = {Variable Topology Truss: Design and Analysis},
author = {Spinos, Alexander and Carroll, Devin and Kientz, Terry and Yim, Mark},
booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
address = {Vancouver, Canada},
year = {2017},
pdf={http://www.modlabupenn.org/wp-content/uploads/2017/10/spinos2017vttdesign.pdf}
}

N. Eckenstein and M. Yim, “Modular robot connector area of acceptance from configuration space obstacles,” in 2017 ieee/rsj international conference on intelligent robots and systems (iros), Vancouver, Canada, 2017.
[Bibtex]

@inproceedings{NE:MY:17,
title = {Modular Robot Connector Area of Acceptance from Configuration Space Obstacles},
author = {Eckenstein, Nick and Yim, Mark},
booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
address = {Vancouver, Canada},
year = {2017},
pdf={http://www.modlabupenn.org/wp-content/uploads/2017/10/2017_Modular_Robot_Connector_Area_of_Acceptance_from_Configuration_Space_Obstacles.pdf}
}

D. Carroll and M. Yim, “Truss optimization with random piecewise linear beams,” in 2017 asme international mechanical engineering congress & exposition (imece), Tampa, Florida, 2017.
[Bibtex]

@inproceedings{DC:MY:17,
title = {Truss Optimization with Random Piecewise Linear Beams},
author = {Carroll, Devin and Yim, Mark},
booktitle = {2017 ASME International Mechanical Engineering Congress & Exposition (IMECE)},
address = {Tampa, Florida},
year = {2017},
}

C. Mucchiani, S. Sharma, M. Johnson, J. Sefcik, N. Vivio, J. Huang, P. Cacchione, M. Johnson, R. Rai, A. Canoso, T. Lau, and M. Yim, “Evaluating older adults’ interaction with a mobile assistive robot,” in 2017 ieee/rsj international conference on intelligent robots and systems (iros), Vancouver, Canada, 2017.
[Bibtex]

@inproceedings{CM:SS:MJ:JS:NV:JH:PC:MJ:RR:AC:TL:MY:17,
title = {Evaluating Older Adults’ Interaction with a Mobile Assistive Robot},
author = {Mucchiani, Caio and Sharma, Suneet and Johnson, Megan and Sefcik, Justine and Vivio, Nicholas and Huang, Justin and
Cacchione, Pamela and Johnson, Michelle and Rai, Roshan and Canoso, Adrian and Lau, Tessa and Yim, Mark},
booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
address = {Vancouver, Canada},
year = {2017},
pdf={http://www.modlabupenn.org/wp-content/uploads/2017/08/Mucchiani_IROS2017.pdf}
}

D. Saldana, B. Gabrich, M. Whitzer, A. Prorok, M. F. M. Campos, M. Yim, and V. Kumar, “A decentralized algorithm for assembling structures with modular robots,” in 2017 ieee/rsj international conference on intelligent robots and systems (iros), Vancouver, Canada, 2017.
[Bibtex]

@inproceedings{DS:BG:MW:AM:MFMC:MY:VK:17,
title = {A Decentralized Algorithm for Assembling Structures
with Modular Robots},
author = {Saldana, David and Gabrich, Bruno and Whitzer, Mickey and Prorok, Amanda and Campos, Mario F.M. and Yim, Mark and Kumar, Vijay},
booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
address = {Vancouver, Canada},
year = {2017},
pdf={http://www.modlabupenn.org/wp-content/uploads/2017/07/Saldana_Gabrich_decentralized_algorithm_IROS_2017.pdf.pdf}
}

J. Paulos and M. Yim, “Cyclic blade pitch control for small uav without a swashplate,” in Aiaa atmospheric flight mechanics conference, aiaa scitech forum, 2017.
[Bibtex]

@inproceedings{JP:MY:17,
title={Cyclic Blade Pitch Control for Small UAV Without a Swashplate},
author={Paulos, James and Yim, Mark},
booktitle={AIAA Atmospheric Flight Mechanics Conference, AIAA SciTech Forum},
year={2017},
doi={10.2514/6.2017-1186}
}

J. S. Sefcik, M. Johnson, M. Yim, Lau T, Vivio N, C. Mucchiani, and P. Z. Cacchione, “Stake- holder confirmation of low-cost assistive robot activities to support older adults in their activities of daily living,” in Proc. of eastern nursing research society, 2017.
[Bibtex]

@inproceedings{SJ:MJ:MY:TL:NV:CM:PC:17,
title={Stake- holder Confirmation of Low-Cost Assistive Robot Activities to support Older Adults in their Activities of Daily Living},
author={Sefcik, J. S and Johnson, M and Yim, M and Lau, T, and Vivio, N, and Mucchiani, C and Cacchione, P.Z},
booktitle={Proc. of Eastern Nursing Research Society},
year={2017},
}

2016

N. Eckenstein, T. Tosun, and M. Yim, “Self-reconfigurable modular connection systems,” in Proc. of intl/ workshop on robot modularity at the ieee/rsj intelligent robots and systems (iros), 2016.
[Bibtex]

@inproceedings{NE:TT:MY:16,
title={Self-reconfigurable Modular Connection Systems},
author={Eckenstein, Nick and Tosun, Tarik and Yim, Mark},
booktitle={Proc. of Intl/ Workshop on Robot Modularity at the IEEE/RSJ Intelligent Robots and Systems (IROS)},
year={2016},
}

T. Tosun, J. Davey, C. Liu, and M. Yim, “Design and characterization of the ep-face,” in Ieee intl. conf. on robotics and automation (icra), 2016.
[Bibtex]

@inproceedings{TT:JD:CL:MY:16,
title={Design and Characterization of the EP-Face},
author={Tosun, Tarik and Davey, Jay and Liu, Chao and Yim, Mark},
booktitle={IEEE Intl. Conf. on Robotics and Automation (ICRA)},
year={2016},
pdf={http://modlabupenn.org/wp-content/uploads/tosun2016epface.pdf}
}

F. Collins and M. Yim, “Design of a spherical robot arm with the spiral zipper prismatic joint,” in 2016 ieee international conference on robotics and automation (icra), 2016.
[Bibtex]

@inproceedings{FC:MY:16,
title={Design of a spherical robot arm with the Spiral Zipper prismatic joint},
author={F. Collins and M. Yim},
booktitle={2016 IEEE International Conference on Robotics and Automation (ICRA)},
year={2016},
doi={10.1109/ICRA.2016.7487363},
pdf={http://www.modlabupenn.org/wp-content/uploads/2017/12/collins2016spiralzipper.pdf}
}

G. Jing, T. Tosun, M. Yim, and H. Kress-Gazit, “An end-to-end system for accomplishing tasks with modular robots,” in Proceedings of robotics: science and systems, 2016.
[Bibtex]

@inproceedings{GJ:TT:MY:HK:16,
title={An End-to-End System for Accomplishing Tasks with Modular Robots},
author={Jing, Gangyuan and Tosun, Tarik and Yim, Mark and Kress-Gazit, Hadas },
booktitle={Proceedings of Robotics: Science and Systems},
year={2016},
pdf={http://modlabupenn.org/wp-content/uploads/jing2016system.pdf}
}

M. Piccoli and M. Yim, “Anticogging: torque ripple suppression, modeling, and parameter selection,” The international journal of robotics research, vol. 35, iss. 1-3, pp. 148-160, 2016.
[Bibtex]

@article{MP:MY:15:10,
author = {Piccoli, Matthew and Yim, Mark},
title = {Anticogging: Torque ripple suppression, modeling, and parameter selection},
volume = {35},
number = {1-3},
pages = {148-160},
year = {2016},
doi = {10.1177/0278364915599045},
URL = {http://ijr.sagepub.com/content/35/1-3/148.abstract},
eprint = {http://ijr.sagepub.com/content/35/1-3/148.full.pdf+html},
journal = {The International Journal of Robotics Research},
abstract ={Smooth motion is critical to some robotic applications such as haptics or those requiring high precision force control. These systems are often direct-drive, so any torque ripple in the motor output must be minimal. Unfortunately, low-torque ripple motors are expensive. Low cost brushless direct current motors are becoming more prevalent, especially from the hobby remote control community. These motors often have the required high-torque density; however, they also have significant torque ripple. This paper presents a low cost method for anticogging, the compensation of cogging torque. While other methods exist to compensate for current-based torque ripple (mutual or reluctance torque), none have addressed cogging torque, except by adding expensive force sensors. This paper presents two methods that use a position sensor (already present for servo motors) to map cogging torque to rotor position. The map is played back according to position reported from the sensor to cancel the cogging torque. The design and testing of a low cost haptic arm using anticogging shows validation; however, the approach is much broader, and can be applied to any precision force application. A model of torque ripple sources are included as a function of pulse-width modulation frequency to help choose the optimal pulse-width modulation frequency to minimize torque ripple. Test results on eleven different motors show a removal of up to 88% of torque ripple with no added cost in robotic servo applications, and in some cases having better performance than motors that are over nine times as expensive.},
}

2015

J. Paulos, N. Eckenstein, T. Tosun, J. Seo, J. Davey, J. Greco, V. Kumar, and M. Yim, “Automated self-assembly of large maritime structures by a team of robotic boats,” Automation science and engineering, ieee transactions on, vol. 12, iss. 3, pp. 958-968, 2015.
[Bibtex]

@ARTICLE{JP:NE:TT:JS:JD:JG:VK:MY:15,
author={Paulos, J. and Eckenstein, N. and Tosun, T. and Seo, J. and Davey, J. and Greco, J. and Kumar, V. and Yim, M.},
journal={Automation Science and Engineering, IEEE Transactions on},
title={Automated Self-Assembly of Large Maritime Structures by a Team of Robotic Boats},
year={2015},
month={July},
volume={12},
number={3},
pages={958-968},
keywords={Assembly;Boats;Computers;Planning;Robots;Trajectory;Winches;Autonomous surface craft;modular construction;modular robot;multirobot systems;self-assembly;self-reconfigurable},
doi={10.1109/TASE.2015.2416678},
pdf={http://modlabupenn.org/wp-content/uploads/paulos_automated_self_assembly_TASE_2015.pdf},
ISSN={1545-5955}
}

M. Piccoli and M. Yim, “Passive stability of vehicles without angular momentum including quadrotors and ornithopters,” in Robotics and automation (icra), 2015 ieee international conference on, 2015, pp. 1716-1721.
[Bibtex]

@INPROCEEDINGS{MP:MY:15,
author={Piccoli, Matthew and Yim, Mark},
booktitle={Robotics and Automation (ICRA), 2015 IEEE International Conference on},
title={Passive stability of vehicles without angular momentum including quadrotors and ornithopters},
year={2015},
month={May},
pages={1716-1721},
keywords={Aerodynamics;Damping;Eigenvalues and eigenfunctions;Helicopters;Propellers;Stability analysis;Vehicles},
doi={10.1109/ICRA.2015.7139419},
pdf={http://modlabupenn.org/wp-content/uploads/piccoli_matthew_passive_stability_no_ang_mom_ICRA_2015.pdf}
}

J. Paulos and M. Yim, “Flight performance of a swashplateless micro air vehicle,” in Robotics and automation (icra), 2015 ieee international conference on, 2015, pp. 5284-5289.
[Bibtex]

@INPROCEEDINGS{JP:MY:15,
author={Paulos, James and Yim, Mark},
booktitle={Robotics and Automation (ICRA), 2015 IEEE International Conference on},
title={Flight Performance of a Swashplateless Micro Air Vehicle},
year={2015},
month={May},
pages={5284-5289},
keywords={Attitude control;Blades;Brushless motors;Helicopters;Propellers;Rotors;Vehicles},
doi={10.1109/ICRA.2015.7139936},
pdf={http://modlabupenn.org/wp-content/uploads/paulos_flight_performance_ICRA_2015.pdf}
}

A. Specian and M. Yim, “Friction binding study and remedy design for tethered search and rescue robots,” in 2015 ieee international symposium on safety, security, and rescue robotics (ssrr), finalist for best paper, 2015, p. 1–6.
[Bibtex]

@inproceedings{AS:MY:15,
title={Friction binding study and remedy design for tethered search and rescue robots},
author={Specian, Andrew and Yim, Mark},
booktitle={2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Finalist for Best Paper},
pages={1--6},
year={2015},
doi = {10.1109/SSRR.2015.7442940},
organization={IEEE}
}

L. Grega, M. Kothari, A. Specian, and S. Voinier, “Characterization of flow within a fuel cell manifold subject to asymmetric inlet conditions,” Journal of fuel cell science and technology, vol. 12, iss. 6, p. 61008, 2015.
[Bibtex]

@article{AS:15,
title={Characterization of Flow Within a Fuel Cell Manifold Subject to Asymmetric Inlet Conditions},
author={Grega, Lisa and Kothari, Manthan and Specian, Andrew and Voinier, Steven},
journal={Journal of Fuel Cell Science and Technology},
volume={12},
number={6},
pages={061008},
year={2015},
publisher={American Society of Mechanical Engineers}
}

T. Tosun, G. Jing, H. Kress-Gazit, and M. Yim, “Computer-aided compositional design and verification for modular robots,” in Ifrr international symposium on robotics research, 2015.
[Bibtex]

@inproceedings{TT:GJ:HK:MY:15,
title={Computer-Aided Compositional Design and Verification for Modular Robots},
author={Tosun, Tarik and Jing, Gangyuan and Kress-Gazit, Hadas and Yim, Mark},
booktitle={IFRR International Symposium on Robotics Research},
year={2015},
pdf={http://modlabupenn.org/wp-content/uploads/tosunEtAl2015.pdf}
}

Y. Mantzouratos, T. Tosun, Khanna Sanjeev, and M. Yim, “On embeddability of modular robot designs,” in Ieee international conference on robotics and automation, 2015.
[Bibtex]

@inproceedings{YM:TT:SK:MY:15,
title={On Embeddability of Modular Robot Designs},
author={Mantzouratos, Yannis and Tosun, Tarik and Khanna, Sanjeev, and Yim, Mark},
booktitle={IEEE International Conference on Robotics and Automation},
year={2015},
pdf={http://modlabupenn.org/wp-content/uploads/MantzouratosEtAl_ICRA2015_Final.pdf}
}

N. Eckenstein and M. Yim, “Modular reconfigurable robotic systems: lattice automata,” in Robots and lattice automata, Springer International Publishing, 2015, p. 47–75.
[Bibtex]

@incollection{NE:MY:15:2,
title={Modular Reconfigurable Robotic Systems: Lattice Automata},
author={Eckenstein, Nick and Yim, Mark},
booktitle={Robots and Lattice Automata},
pages={47--75},
year={2015},
doi={10.1007/978-3-319-10924-4_3},
publisher={Springer International Publishing}
}

2014

M. Piccoli and M. Yim, “Cogging torque ripple minimization via position based characterization,” in Proceedings of robotics: science and systems, Berkeley, USA, 2014.
[Bibtex]

@INPROCEEDINGS{MP:MY:14:7,
AUTHOR = {Matthew Piccoli AND Mark Yim},
TITLE = {Cogging Torque Ripple Minimization via Position Based Characterization},
BOOKTITLE = {Proceedings of Robotics: Science and Systems},
YEAR = {2014},
ADDRESS = {Berkeley, USA},
MONTH = {July},
pdf={http://www.roboticsproceedings.org/rss10/p42.pdf}
}

I. O’Hara, J. Paulos, J. Davey, N. Eckenstein, N. Doshi, T. Tosun, J. Greco, J. Seo, M. Turpin, V. Kumar, and M. Yim, “Self-assembly of a swarm of autonomous boats into floating structures,” in 2014 ieee international conference on robotics and automation (icra 2014), 2014.
[Bibtex]

@INPROCEEDINGS{IO:JP:JD:NE:ND:TT:JG:JS:MT:VK:MY:14:5,
author={O'Hara, Ian and Paulos, James and Davey, Jay and Eckenstein, Nick and Doshi, Neel and Tosun, Tarik and Greco, Jonathan and Seo, Jungwon and Turpin, Matt and Kumar, Vijay and Yim, Mark},
booktitle={2014 IEEE International Conference on Robotics and Automation (ICRA 2014)}, title={Self-Assembly of a Swarm of Autonomous Boats into Floating Structures},
doi={10.1109/ICRA.2014.6907011},
year={2014},
month={June},
pdf={http://modlabupenn.org/wp-content/uploads/ieee_copyright_overlay_dtemp.pdf},
}

M. Piccoli and M. Yim, “Passive stability of a single actuator micro aerial vehicle,” in Robotics and automation (icra), 2014 ieee international conference on, 2014.
[Bibtex]

@INPROCEEDINGS{MP:MY:14,
author={Piccoli, M. and Yim, M.},
booktitle={Robotics and Automation (ICRA), 2014 IEEE International Conference on}, title={Passive Stability of a Single Actuator Micro Aerial Vehicle},
doi={10.1109/ICRA.2014.6907669},
year={2014},
month={June},
pdf={http://modlabupenn.org/wp-content/uploads/Passive-Stability-of-a-Single-Actuator-MAV.pdf},
}

B. T. Gabrich, L. N. Assis, A. M. de Morais, and J. R. Sodré, “Study of the throtle valve flow rate to adapt a diesel engine for operation with ethanol,” in Sae international congress, São Paulo, Brazil, 2014.
[Bibtex]

@inproceedings{BG:LS:AM:JS:14,
title = {Study of the throtle valve flow rate to adapt a diesel engine for operation with ethanol},
author = {Gabrich, Bruno Teles and Assis, Lucas Nogueira and de Morais, André Marcelino and Sodré, José Ricardo},
booktitle = {SAE International Congress},
address = {São Paulo, Brazil},
year = {2014},
pdf={}
}

N. Eckenstein and M. Yim, “Design, principles, and testing of a latching modular robot connector,” in 2014 ieee/rsj international conference on intelligent robots and systems (iros 2014), 2014, p. 2846–2851.
[Bibtex]

@inproceedings{NE:MY:14:9,
title={Design, principles, and testing of a latching modular robot connector},
author={Eckenstein, Nick and Yim, Mark},
booktitle={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)},
pages={2846--2851},
doi={10.1109/IROS.2014.6942953},
year={2014},
organization={IEEE},
pdf={http://modlabupenn.org/wp-content/uploads/latching_xface_overlay.pdf},
}

N. Eckenstein and M. Yim, “Area of acceptance for 3d self-aligning robotic connectors: concepts, metrics, and designs,” in 2014 ieee international conference on robotics and automation (icra 2014), 2014.
[Bibtex]

@inproceedings{NE:MY:14:5,
author={Eckenstein, Nick and Yim, Mark},
title={Area of Acceptance for 3D Self-Aligning Robotic Connectors: Concepts, Metrics, and Designs},
booktitle={2014 IEEE International Conference on Robotics and Automation (ICRA 2014)},
doi={10.1109/ICRA.2014.6907010},
pages={},
year={2014},
organization={IEEE},
pdf={http://modlabupenn.org/wp-content/uploads/xface_3d_overlay.pdf},
}

2013

J. Paulos and M. Yim, “An underactuated propeller for attitude control in micro air vehicles,” in Intelligent robots and systems (iros), 2013 ieee/rsj international conference on, Tokyo, Japan, 2013.
[Bibtex]

@INPROCEEDINGS{JP:MY:13,
author={Paulos, James and Yim, Mark},
booktitle={Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on},
title={An Underactuated Propeller for Attitude Control in Micro Air Vehicles},
year={2013},
address={Tokyo, Japan},
month={November},
doi={10.1109/IROS.2013.6696528},
pdf={http://modlabupenn.org/wp-content/uploads/paulos_an_underactuated_propeller_IROS_2013.pdf},
}

M. Piccoli, S. Revzen, and M. Yim, “Seal pack versatile, portable, and rapidly deployable sea, air, and land vehicle,” in Safety, security, and rescue robotics (ssrr), 2013 ieee international symposium on, 2013, pp. 1-6.
[Bibtex]

@INPROCEEDINGS{MP:SR:MY:13,
author={Piccoli, Matthew and Revzen, Shai and Yim, Mark},
booktitle={Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on},
title={SEAL Pack versatile, portable, and rapidly deployable SEa, air, and land vehicle},
year={2013},
month={Oct},
pages={1-6},
keywords={Boats;Brushless motors;Payloads;Propellers;Robots;Seals;Vehicles},
doi={10.1109/SSRR.2013.6719362},
pdf={http://modlabupenn.org/wp-content/uploads/SEAL_Pack.pdf},
}

J. Seo, M. Yim, and V. Kumar, “Assembly planning for planar structures of a brick wall pattern with rectangular modular robots,” in Proc. of 9th ieee intl. conf. on automation science and engineering, Madison, WI, 2013.
[Bibtex]

@INPROCEEDINGS{JS:MY:VK:13,
author={Seo, J. and Yim, M. and Kumar, V.},
booktitle={Proc. of 9th IEEE Intl. Conf. on Automation Science and Engineering},
title={Assembly Planning for Planar Structures of a Brick Wall Pattern with Rectangular Modular Robots},
doi={10.1109/CoASE.2013.6653996},
year={2013},
address={Madison, WI},
month={August 17-21},
}

N. Eckenstein and M. Yim, “Modular advantage and kinematic decoupling in gravity compensated robotic systems,” Journal of mechanisms and robotics, vol. 5, 2013.
[Bibtex]

@article{NE:MY:13,
year={2013},
journal={Journal of Mechanisms and Robotics},
volume={5},
issue={4},
doi={10.1115/1.4025218},
title={Modular Advantage and Kinematic Decoupling in Gravity Compensated
Robotic Systems},
publisher={ASME},
author={Eckenstein, N. and Yim, M.},
language={English},
}

2012

J. Davey, J. Sastra, M. Piccoli, and M. Yim, “Modlock: a manual connector for reconfigurable modular robots,” in Intelligent robots and systems (iros), 2012 ieee/rsj international conference on, Vilamoura, Algarve, Portugal, 2012, pp. 3217-3222.
[Bibtex]

@INPROCEEDINGS{JD:JS:MP:MY:12,
author={Davey, J. and Sastra, J. and Piccoli, M. and Yim, M.},
booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},
title={ModLock: A manual connector for reconfigurable modular robots},
year={2012},
address={Vilamoura, Algarve, Portugal},
month={October 7-12},
pages={3217-3222},
keywords={helicopters;mobile robots;reconfigurable architectures;ModLock manual connection system;flying quadrotors;legged walkers;low profile connection system;manual connector;modular reconfigurable systems;reconfigurable modular robots;robot configurations;wheeled robots;Assembly;Connectors;Fasteners;Mobile robots;Steel;Torque},
doi={10.1109/IROS.2012.6386190},
ISSN={2153-0858},
pdf={http://modlabupenn.org/wp-content/uploads/ModLock.pdf},
}

J. Davey, N. Kwok, and M. Yim, “Emulating self-reconfigurable robots – design of the smores system,” in Intelligent robots and systems (iros), 2012 ieee/rsj international conference on, Vilamoura, Algarve, Portugal, 2012, pp. 4464-4469.
[Bibtex]

@INPROCEEDINGS{JD:NK:MY:12,
author={Davey, J. and Ngai Kwok and Yim, M.},
booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},
title={Emulating self-reconfigurable robots - design of the SMORES system},
year={2012},
month={October 7-12},
address={Vilamoura, Algarve, Portugal},
pages={4464-4469},
keywords={robots;self-adjusting systems;SMORES system;chain style reconfiguration;lattice style reconfiguration;mobile reconfiguration;selfassembling modular robot for extreme shape-shifting;selfreconfigurable robots;universal modular robot;Connectors;Gears;Lattices;Mobile communication;Robot kinematics;Wheels},
doi={10.1109/IROS.2012.6385845},
ISSN={2153-0858},
pdf={http://modlabupenn.org/wp-content/uploads/SMORES.pdf},}

N. Eckenstein and M. Yim, “The x-face: an improved planar passive mechanical connector for modular self-reconfigurable robots,” in Intelligent robots and systems (iros), 2012 ieee/rsj international conference on, Vilamoura, Algarve, Portugal, 2012, pp. 3073-3078.
[Bibtex]

@INPROCEEDINGS{NE:MY:12,
author={Eckenstein, N. and Yim, M.},
booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},
title={The X-Face: An improved planar passive mechanical connector for modular self-reconfigurable robots},
year={2012},
month={October 7-12},
address={Vilamoura, Algarve, Portugal},
pages={3073-3078},
keywords={reliability;robots;self-adjusting systems;X-face;gendered mating faces;low-profile docking face;modular reconfigurable robot systems;modular self-reconfigurable robots;planar passive mechanical connector;reliability;Connectors;Face;Geometry;Measurement;Robot sensing systems;Robustness},
doi={10.1109/IROS.2012.6386150},
ISSN={2153-0858},
pdf={http://modlabupenn.org/wp-content/uploads/X-Face.pdf},
}

J. Kapadia and M. Yim, “Design and performance of nubbed fluidizing jamming grippers,” in Robotics and automation (icra), 2012 ieee international conference on, 2012, pp. 5301-5306.
[Bibtex]

@INPROCEEDINGS{JK:MY:12,
author={Kapadia, J. and Yim, M.},
booktitle={Robotics and Automation (ICRA), 2012 IEEE International Conference on}, title={Design and performance of nubbed fluidizing jamming grippers},
year={2012},
month={may},
volume={},
number={},
pages={5301 -5306},
keywords={granular media grasp jamming;nubbed fluidizing jamming grippers;object geometries;universal grippers;granular flow;grippers;manipulator dynamics;},
doi={10.1109/ICRA.2012.6225111},
ISSN={1050-4729},
}

J. Sastra, R. S., and M. Yim, “Softer legs allow a modular hexapod to run faster,” in Adaptive mobile robotics: proceedings of the 15th international conference on climbing and walking robots and the support technologies for mobile machines, Baltimore, MD, 2012.
[Bibtex]

@INPROCEEDINGS{JS:SR:MY:12,
author={Sastra, J. and Revzen S. and Yim, M.},
booktitle={Adaptive Mobile Robotics: Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines},
title={Softer legs allow a modular hexapod to run faster},
publisher={World Scientific Publishing Company},
year={2012},
address={Baltimore, MD},
month={July 23-26},
% pg 507 of the proceedings
}

C. Thorne and M. Yim, “Design and analysis of a gyroscopically controlled micro air vehicle,” Journal of intelligent & robotic systems, vol. 65, pp. 417-435, 2012.
[Bibtex]

@article{CT:MY:12,
year={2012},
issn={0921-0296},
journal={Journal of Intelligent \& Robotic Systems},
volume={65},
issue={1-4},
doi={10.1007/s10846-011-9644-7},
title={Design and Analysis of a Gyroscopically Controlled Micro Air Vehicle},
publisher={Springer Netherlands},
keywords={Micro air vehicle; Gyroscopic control; Vertical take-off and landing; Control moment gyroscope},
author={Thorne, ChrisE. and Yim, Mark},
pages={417-435},
language={English}
}

2011

S. Revzen, M. Bhoite, A. Macasieb, and M. Yim, “Structure synthesis on-the-fly in a modular robot,” in Intelligent robots and systems (iros), 2011 ieee/rsj international conference on, 2011, pp. 4797-4802.
[Bibtex]

@INPROCEEDINGS{SR:MR:AM:MY:11,
author={Revzen, S. and Bhoite, M. and Macasieb, A. and Yim, M.},
booktitle={Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on}, title={Structure synthesis on-the-fly in a modular robot},
year={2011},
month={sept.},
volume={},
number={},
pages={4797 -4802},
keywords={CKBot modules;foam generation device;foam structures;legged robot;mobile modular robot system;mobile platform;robot morphologies;snake-like robot;structural elements;structure synthesis on-the-fly;foams;legged locomotion;},
doi={10.1109/IROS.2011.6094575},
ISSN={2153-0858},
}

P. J. White, S. Latscha, S. Schlaefer, and M. Yim, “Dielectric elastomer bender actuator applied to modular robotics,” in Intelligent robots and systems (iros), 2011 ieee/rsj international conference on, 2011, pp. 408-413.
[Bibtex]

@INPROCEEDINGS{PW:SL:SS:MY:11,
author={White, Paul J. and Latscha, Stella and Schlaefer, Steve and Yim, Mark},
booktitle={Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on}, title={Dielectric elastomer bender actuator applied to modular robotics},
year={2011},
month={sept.},
volume={},
number={},
pages={408 -413},
keywords={},
doi={10.1109/IROS.2011.6094898},
ISSN={2153-0858},
}

J. Keller, K. Daniilidis, V. Kumar, C. Taylor, and M. Yim, “Robotics research in safety, security, and rescue at the university of pennsylvania grasp lab: a retrospective on a national science foundation cooperative research center,” in Ans eprrsd – 13th robotics & remote systems for hazardous environments 11th emergency preparedness & response, 2011.
[Bibtex]

@INPROCEEDINGS{JK:KD:VK:CT:MY:11,
author={Keller, J. and Daniilidis, K. and Kumar, V. and Taylor, CJ. and Yim, M.},
booktitle={ANS EPRRSD - 13th Robotics \& Remote Systems for Hazardous Environments 11th Emergency Preparedness \& Response},
title={Robotics Research in Safety, Security, and Rescue at the University of Pennsylvania GRASP Lab: A retrospective on a National Science Foundation Cooperative Research Center},
year={2011},
location={LaGrange Park, IL},
month={August 7-10},
volume={},
number={}
}

P. J. White and M. Yim, “Towards dielectric elastomer actuation for modular robots,” in Proc. of the ieee intl. conf. on robotics and automation workshop on biologically inspired actuation, 2011.
[Bibtex]

@INPROCEEDINGS{PW:MY:11,
author={White, P.J. and Yim, M.},
booktitle={Proc. of the IEEE Intl. Conf. on Robotics and Automation Workshop on Biologically Inspired Actuation},
title={Towards Dielectric Elastomer Actuation for Modular Robots},
year={2011},
month={may},
volume={},
number={},
doi={},
pdf={},
}

C. E. Thorne and M. Yim, “Towards the development of gyroscopically controlled micro air vehicles,” in Robotics and automation (icra), 2011 ieee international conference on, 2011, pp. 26-31.
[Bibtex]

@INPROCEEDINGS{CT:MY:11,
author={Thorne, C.E. and Yim, M.},
booktitle={Robotics and Automation (ICRA), 2011 IEEE International Conference on},
title={Towards the development of gyroscopically controlled micro air vehicles},
year={2011},
month={may},
volume={},
number={},
pages={26 -31},
keywords={aerodynamic control surface;angular momentum;attitude control;diverse robotic;flying machine;gyroscopically controlled microair vehicle;linear controller stabilization;rotary wing microair vehicle;system level perspective;teleoperated application;aerodynamics;aerospace components;aircraft control;angular momentum;attitude control;gyroscopes;microrobots;stability;telerobotics;},
doi={10.1109/ICRA.2011.5980439},
ISSN={1050-4729},
}

K. C. Galloway, J. E. Clark, M. Yim, and D. Koditschek, “Experimental investigations into the role of passive variable compliant legs for dynamic robotic locomotion,” in Robotics and automation (icra), 2011 ieee international conference on, 2011.
[Bibtex]

@INPROCEEDINGS{KG:JC:MY:DK:11,
author={Galloway, K.C. and Clark, J.E. and Yim, M. and Koditschek, D.},
booktitle={Robotics and Automation (ICRA), 2011 IEEE International Conference on},
title={Experimental Investigations into the Role of Passive Variable Compliant Legs for Dynamic Robotic Locomotion},
year={2011},
month={may},
volume={},
number={},
doi={10.1109/ICRA.2011.5979941},
ISSN={1050-4729},
}

C. E. Thorne, P. J. White, and M. Yim, “On the development of a piezoelectric-actuated compliant brake mechanism for modular robots,” Asme conference proceedings, vol. 2011, iss. 54839, pp. 561-568, 2011.
[Bibtex]

@article{CT:PW:MY:11,
author = {Chris E. Thorne and Paul J. White and Mark Yim},
collaboration = {},
title = {On the Development of a Piezoelectric-Actuated Compliant Brake Mechanism for Modular Robots},
publisher = {ASME},
year = {2011},
journal = {ASME Conference Proceedings},
volume = {2011},
number = {54839},
pages = {561-568},
doi = {10.1115/DETC2011-48799}
}

M. Yim and J. Laucharoen, “Towards small robot aided victim manipulation,” Journal of intelligent & robotic systems, vol. 64, pp. 119-139, 2011.
[Bibtex]

@article{JL:MY:11,
year={2011},
issn={0921-0296},
journal={Journal of Intelligent \& Robotic Systems},
volume={64},
issue={1},
doi={10.1007/s10846-010-9519-3},
title={Towards Small Robot Aided Victim Manipulation},
publisher={Springer Netherlands},
keywords={Foam stabilization; Victim manipulation; Robot rescue; Automated harness},
author={Yim, Mark and Laucharoen, Jedtsada},
pages={119-139},
language={English}
}

P. J. White, S. Revzen, C. E. Thorne, and M. Yim, “A general stiffness model for programmable matter and modular robotic structures,” Robotica, vol. 29, iss. Special Issue 01, pp. 103-121, 2011.
[Bibtex]

@article{PW:SR:CT:MY:11,
author = {White,Paul J. and Revzen,Shai and Thorne,Chris E. and Yim,Mark},
title = {A general stiffness model for programmable matter and modular robotic structures},
journal = {Robotica},
volume = {29},
number = {Special Issue 01},
pages = {103-121},
year = {2011},
doi = {10.1017/S0263574710000743},
eprint = {http://journals.cambridge.org/article_S0263574710000743},
}

M. Yim, J. Sastra, and S. Kim, “The robot etudes,” in Proc. of the ieee intl. conf. on robotics and automation workshop on robots and art, Shanghai, China, 2011.
[Bibtex]

@conference{MY:JS:SK:11,
title={The Robot Etudes},
author={M. Yim and J. Sastra and Simon Kim},
booktitle={Proc. of the IEEE Intl. Conf. on Robotics and Automation Workshop on Robots and Art},
year={2011},
pdf={http://modlab.seas.upenn.edu/publications/2011_ICRA_RobotEtudes.pdf},
address={Shanghai, China}
}

2010

V. Orekhov, D. Hong, and M. Yim, “Mechanics of a fluid filled everting toroidal robot for propulsion and going through a hole,” in Proc. of asme intl. design engineering technical conferences & computers and information in engineering conference idetc/cie, 2010.
[Bibtex]

@INPROCEEDINGS{VO:DH:MY:10,
Author = {Orekhov, V. and Hong, D. and Yim, M.},
Title = {Mechanics of a Fluid Filled Everting Toroidal Robot for Propulsion and Going Through a Hole},
BookTitle = {Proc. of ASME Intl. Design Engineering Technical Conferences \& Computers and Information in Engineering Conference IDETC/CIE},
Year = {2010},
Month={August 15-18},
doi={10.1115/DETC2010-29053},
}

C. E. Thorne, N. Skorodinski, H. Tipton, T. Van Schoyck, and M. Yim, “Brake design for dynamic modular robots,” in Robotics and automation (icra), 2010 ieee international conference on, 2010, pp. 3135-3140.
[Bibtex]

@INPROCEEDINGS{CT:NS:HT:TV:MY:10,
author={Thorne, C.E. and Skorodinski, N. and Tipton, H. and Van Schoyck, T. and Yim, M.},
booktitle={Robotics and Automation (ICRA), 2010 IEEE International Conference on}, title={Brake design for dynamic modular robots},
year={2010},
month={may},
volume={},
number={},
pages={3135 -3140},
keywords={actuator;bio-inspired locomotion;brake design;chain-style modular reconfigurable robot;dynamic modular robots;dynamic motion;joint-locking mechanism;modular reconfigurable robot system;brakes;robots;},
doi={10.1109/ROBOT.2010.5509473},
ISSN={1050-4729},
}

D. Arney, S. Fischmeister, I. Lee, Y. Takashima, and M. Yim, “Model-based programming of modular robots,” in Proc. of the ieee intl. symp. on object/component/service-oriented real-time distributed computing, Carmona, Spain, 2010.
[Bibtex]

@INPROCEEDINGS{DA:SF:IL:YT:Y:10,
Author = {Arney, D. and Fischmeister, S. and Lee, I. and Takashima, Y. and Yim, M.},
Title = {Model-based Programming of Modular Robots},
BookTitle = {Proc. of the IEEE Intl. Symp. on Object/component/service-oriented Real-time distributed Computing},
Year = {2010},
Month ={May 5-6},
Address = {Carmona, Spain},
doi={10.1109/ISORC.2010.16},
}

K. C. Galloway, R. Jois, and M. Yim, “Factory floor: a robotically reconfigurable construction platform,” in Robotics and automation (icra), 2010 ieee international conference on, 2010, pp. 2467-2472.
[Bibtex]

@INPROCEEDINGS{KG:RJ:MY:10,
author={Galloway, K.C. and Jois, R. and Yim, M.},
booktitle={Robotics and Automation (ICRA), 2010 IEEE International Conference on}, title={Factory floor: A robotically reconfigurable construction platform},
year={2010},
month={may},
volume={},
number={},
pages={2467 -2472},
keywords={Mars;factory floor;mechanical design;microgravity;passive robotically-reconfigurable truss structures;passive robotically-reconfigurable truss system;robotically reconfigurable construction platform;robots;supports;zero gravity experiments;},
doi={10.1109/ROBOT.2010.5509878},
ISSN={1050-4729},
}

P. J. White, M. L. Posner, and M. Yim, “Strength analysis of miniature folded right angle tetrahedron chain programmable matter,” in Robotics and automation (icra), 2010 ieee international conference on, 2010, pp. 2785-2790.
[Bibtex]

@INPROCEEDINGS{PW:MP:MY:10,
author={White, P.J. and Posner, M.L. and Yim, M.},
booktitle={Robotics and Automation (ICRA), 2010 IEEE International Conference on}, title={Strength analysis of miniature folded right angle tetrahedron chain Programmable Matter},
year={2010},
month={may},
volume={},
number={},
pages={2785 -2790},
keywords={bonding mechanism;heterogeneous system;internal actuators;lattice style programmable matter system;mechanical strength;miniature folded right angle tetrahedron chain programmable matter;strength analysis;actuators;mechanical strength;programmable controllers;robots;},
doi={10.1109/ROBOT.2010.5509657},
ISSN={1050-4729},
}

S. R. Gray, J. Seo, P. J. White, N. J. Zeichner, M. Yim, and V. Kumar, “A toolchain for the design and simulation of foldable programmable matter,” Asme conference proceedings, vol. 2010, iss. 44106, pp. 1167-1176, 2010.
[Bibtex]

@article{SG:JS:PW:NZ:MY:VK:10,
author = {Steven R. Gray and Jungwon Seo and Paul J. White and Nathan J. Zeichner and Mark Yim and Vijay Kumar},
collaboration = {},
title = {A Toolchain for the Design and Simulation of Foldable Programmable Matter},
publisher = {ASME},
year = {2010},
journal = {ASME Conference Proceedings},
volume = {2010},
number = {44106},
pages = {1167-1176},
doi = {10.1115/DETC2010-28838}
}

J. Seo, S. R. Gray, V. Kumar, and M. Yim, “Reconfiguring chain-type modular robots based on the carpenters rule theorem,” in Proc. of the ninth intl. workshop on the algorithmic foundations of robotics (wafr), 2010.
[Bibtex]

@INPROCEEDINGS{JS:SG:VK:MY:10,
author = {Jungwon Seo and Steven R. Gray and Vijay Kumar and Mark Yim},
booktitle={Proc. of the Ninth Intl. Workshop on the Algorithmic Foundations of Robotics (WAFR)},
title = {Reconfiguring Chain-type Modular Robots Based on the Carpenters Rule Theorem},
year = {2010},
doi={10.1007/978-3-642-17452-0_7},
}

S. R. Gray, N. J. Zeichner, V. Kumar, and M. Yim, “A simulator for origami-inspired self-reconfigurable robots,” , 2010.
[Bibtex]

@article{SG:NZ:VK:MY:10,
author = {Gray, S.R. and Zeichner, N. J. and Kumar, V. and Yim, M.},
booktitle={Origami 5: Fifth International Meeting of Origami Science, Mathematics, and Education},
title = {A Simulator for Origami-Inspired Self-Reconfigurable Robots},
year = {2010},
editor = {Wang-Iverson, P. and Lang, R.J. and Yim, M.},
publisher = {AK Peters Ltd}
% Paper found in book collection
}

2009

T. W. Mather and M. Yim, “Modular configuration design for a controlled fall,” in Intelligent robots and systems, 2009. iros 2009. ieee/rsj international conference on, 2009, pp. 5905-5910.
[Bibtex]

@INPROCEEDINGS{TM:MY:09,
author={Mather, T.W. and Yim, M.},
booktitle={Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on}, title={Modular configuration design for a controlled fall},
year={2009},
month={oct.},
volume={},
number={},
pages={5905 -5910},
keywords={CKbot;climbing robot;controlled fall;dynamic motion;falling cat problem;modular configuration design;modular robot;posture error;robust orientation correction;mobile robots;motion control;position control;},
doi={10.1109/IROS.2009.5354027},
ISSN={},
}

M. Park and M. Yim, “Distributed control and communication fault tolerance for the ckbot,” in Asme/iftomm international conference on reconfigurable mechanisms and robots (remar 2009), London, UK, 2009, pp. 682-688.
[Bibtex]

@inproceedings{MP:MY:09,
author = {M. Park and M. Yim},
title = {Distributed Control and Communication Fault Tolerance for the CKBot},
booktitle = {ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2009)},
year = {2009},
pages = {682-688},
month = {June},
address = {London, UK},
pdf = {http://modlab.seas.upenn.edu/publications/CKBot_Distributed_IR_Submit_Final.pdf}
% doi not found
}

J. Sastra, S. Chitta, and M. Yim, “Dynamic rolling for a modular loop robot,” The international journal of robotics research, vol. 28, iss. 6, p. 758, 2009.
[Bibtex]

@article{JS:SC:MY:09,
author = {Sastra, J. and Chitta, S. and Yim, M.},
title = {Dynamic Rolling for a Modular Loop Robot},
journal = {The International Journal of Robotics Research},
volume = {28},
number = {6},
pages = {758},
month = {June},
year = {2009},
doi={10.1177/0278364908099463},
}

M. Yim, T. Cragg, and S. -K. Hayat, “Towards small robot aided victim manipulation,” in Safety, security rescue robotics (ssrr), 2009 ieee international workshop on, 2009, pp. 1-6.
[Bibtex]

@INPROCEEDINGS{MY:TC:SH:09,
author={Yim, M. and Cragg, T. and Hayat, S.-K.},
booktitle={Safety, Security Rescue Robotics (SSRR), 2009 IEEE International Workshop on},
title={Towards small robot aided victim manipulation},
year={2009},
pages={1-6},
keywords={emergency services;health care;human-robot interaction;medical robotics;mobile robots;cervical spine immobilization;human limb manipulation;human victims;incapacitated victim transportation;limb pose forces;limb pose statistics;man portable robots;robot aided victim manipulation;wristlet mechanism;Data analysis;Gases;Humans;Injuries;Motion analysis;Personnel;Protection;Robot kinematics;Robotics and automation;Statistical analysis;automated harness;c-spine;rescue;victim manipulation},
doi={10.1109/SSRR.2009.5424147},}

P. J. White, C. E. Thorne, and M. Yim, “Right Angle Tetrahedron Chain Externally-actuated Testbed (RATCHET): A Shape Changing System,” in Proc. of asme intl. design engineering technical conferences & computers and information in engineering conference idetc/cie, San Diego, CA, USA, 2009.
[Bibtex]

@inproceedings{PJW:CET:MY:09,
title={{Right Angle Tetrahedron Chain Externally-actuated Testbed (RATCHET): A Shape Changing System}},
author={P. J. White and C. E. Thorne and M. Yim},
BookTitle = {Proc. of ASME Intl. Design Engineering Technical Conferences \& Computers and Information in Engineering Conference IDETC/CIE},
year={2009},
pdf={http://modlab.seas.upenn.edu/publications/white_detc2009-87657.pdf},
address={San Diego, CA, USA},
doi={10.1115/DETC2009-87657},
}

K. C. Galloway, J. E. Clark, and D. E. Koditschek, “Design of a tunable stiffness composite leg for dynamic locomotion,” in Proc. of asme intl. design engineering technical conferences & computers and information in engineering conference idetc/cie, 2009.
[Bibtex]

@inproceedings{KCG:JEC:DEK:09,
Author = {Galloway, K.C. and Clark, J.E. and Koditschek, D.E.},
Title = {Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion},
BookTitle = {Proc. of ASME Intl. Design Engineering Technical Conferences \& Computers and Information in Engineering Conference IDETC/CIE},
Year = {2009},
pdf={http://modlab.seas.upenn.edu/publications/galloway_ASME2009_Preprint.pdf},
doi={10.1115/DETC2009-86847},
}

M. Yim, P. J. White, M. Park, and J. Sastra, “Modular self-reconfigurable robots,” in Encyclopedia of complexity and systems science, , 2009, pp. 5618-5631.
[Bibtex]

@incollection{MY:PJW:MP:JS:09,
author = {M. Yim and P. J. White and M. Park and J. Sastra},
title = {Modular Self-Reconfigurable Robots},
booktitle = {Encyclopedia of Complexity and Systems Science},
year = {2009},
pages = {5618-5631},
ee = {http://dx.doi.org/10.1007/978-0-387-30440-3_334},
bibsource = {DBLP, http://dblp.uni-trier.de},
doi={10.1007/978-0-387-30440-3_334},
}

P. J. White and M. Yim, “Reliable External Actuation for Full Reachability in Robotic Modular Self-Reconfiguration,” The international journal of robotics research, p. 13–23, 2009.
[Bibtex]

@article{PJW:MY:09,
author = {White, P J and Yim, M},
title = {{Reliable External Actuation for Full Reachability in Robotic Modular Self-Reconfiguration}},
journal = {The International Journal of Robotics Research},
volume = {},
number = {},
pages = {13--23},
doi = {10.1177/0278364909351942},
year = {2009},
}

2008

J. Sastra, W. G. Bernal-Heredia, J. Clark, and M. Yim, “A biologically-inspired dynamic legged locomotion with a modular reconfigurable robot,” , Ann Arbor, Michigan, USA, 2008.
[Bibtex]

@conference{sastra2008bid,
Author = {J. Sastra and W. G. Bernal-Heredia and J. Clark and M. Yim},
Address = {Ann Arbor, Michigan, USA},
Month = {October},
Title={A Biologically-inspired Dynamic Legged Locomotion with a Modular Reconfigurable Robot},
Year = {2008},
pdf = {http://modlab.seas.upenn.edu/publications/2008_DSCC_Centipede.pdf},
doi={10.1115/DSCC2008-2402},
}

M. Yim, “Planetary contingency [education],” Robotics automation magazine, ieee, vol. 15, iss. 4, pp. 14-16, 2008.
[Bibtex]

@ARTICLE{MY:08,
author={Yim, M.},
journal={Robotics Automation Magazine, IEEE},
title={Planetary contingency [Education]},
year={2008},
volume={15},
number={4},
pages={14-16},
keywords={Collaborative work;Discrete event simulation;Educational robots;Hardware;Orbital robotics;Robotic assembly;Robotics and automation;Software tools;Space technology;Vents},
doi={10.1109/MRA.2008.930405},
ISSN={1070-9932},}

N. Ayanian, P. J. White, A. Halasz, M. Yim, and V. Kumar, “Stochastic Control for Self-Assembly of XBots,” in Proc. of asme intl. design engineering technical conferences & computers and information in engineering conference idetc/cie, New York, NY, USA, 2008.
[Bibtex]

@inproceedings{NA:PJW:AH:MY:VK:08,
author={N. Ayanian and P. J. White and A. Halasz and M. Yim and V. Kumar},
year={2008},
title={{Stochastic Control for Self-Assembly of XBots}},
BookTitle = {Proc. of ASME Intl. Design Engineering Technical Conferences \& Computers and Information in Engineering Conference IDETC/CIE},
pdf = {http://modlab.seas.upenn.edu/publications/Ayanian_2008_ASME_IDETC.pdf},
address={New York, NY, USA},
doi={10.1115/DETC2008-49535},
}

P. J. White and M. Yim, “Reliable external actuation for extending reachable robotic modular self-reconfiguration,” in Proc. of intl. symp. on experimental robotics, Athens, Greece, 2008.
[Bibtex]

@conference{PJW:MY:08,
author={P.J. White and M. Yim},
title = {Reliable External Actuation for Extending Reachable Robotic Modular Self-Reconfiguration},
booktitle = {Proc. of Intl. Symp. on Experimental Robotics},
address = {Athens, Greece},
pdf = {http://modlab.seas.upenn.edu/publications/white_iser2008.pdf},
year = {2008},
doi = {10.1007/978-3-642-00196-3_3},
}

M. Park, S. Chitta, A. Teichman, and M. Yim, “Automatic configuration recognition methods in modular robots,” International journal for robotics research, vol. 27, iss. 3-4, pp. 403-421, 2008.
[Bibtex]

@article{MP:SC:AT:MY:08,
author = {M. Park and S. Chitta and A. Teichman and M. Yim},
title = {Automatic Configuration Recognition Methods in Modular Robots},
journal = {International Journal for Robotics Research},
volume = {27},
number = {3-4},
month = {March/April},
year = {2008},
pages = {403-421},
pdf = {http://modlab.seas.upenn.edu/publications/2007_IJRR_ConfigRecog.pdf},
doi={10.1177/0278364907089350},
}

2007

M. Yim, B. Shirmohammadi, and D. Benelli, “Amphibious modular robot astrobiologist,” in Proc. of spie, unmanned systems technology ix, 2007.
[Bibtex]

@conference{MY:BS:DB:07,
author = {M. Yim and B. Shirmohammadi and D. Benelli},
title = {Amphibious Modular Robot Astrobiologist},
booktitle = {Proc. of SPIE, Unmanned Systems Technology IX},
volume = {6561},
month = {April},
year = {2007},
doi={10.1117/12.719944},
}

M. Yim, W. Shen, B. Salemi, M. Moll, H. Lipson, E. Klavins, and G. Chirikjian, “Modular self-reconfigurable robot systems; challenges and opportunities for the future,” Ieee robotics and automation magazine, 2007.
[Bibtex]

@article{MY:WS:BS:MM:HL:EK:GC:07,
author = {M. Yim and W. Shen and B. Salemi and M. Moll and H. Lipson and E. Klavins and G. Chirikjian},
title = {Modular Self-Reconfigurable Robot Systems; Challenges and Opportunities for the Future},
journal = {IEEE Robotics and Automation Magazine},
month = {March},
year = {2007},
doi = {10.1109/MRA.2007.339623}
}

J. Sastra, S. Chitta, and M. Yim, “Dynamic rolling for a modular loop robot,” Intl. j. of robotics research (invited), 2007.
[Bibtex]

@article{JS:SC:MY:07,
author = {J. Sastra and S. Chitta and M. Yim},
title = {Dynamic Rolling for a Modular Loop Robot},
journal = {Intl. J. of Robotics Research (invited)},
month = {January},
year = {2007},
pdf = {http://modlab.seas.upenn.edu/publications/2007_IJRR_DynamicRolling.pdf}
}

M. Yim, B. Shirmohammadi, J. Sastra, M. Park, M. Dugan, and C. J. Taylor, “Robustness and self-repair in modular robots,” in Proc. of the ieee/rsj intl. conf. on intelligent robots and systems (iros), San Diego CA, 2007.
[Bibtex]

@conference{MY:BS:JS:MP:MD:CJT:07,
author = {M. Yim and B. Shirmohammadi and J. Sastra and M. Park and M. Dugan and C.J. Taylor},
title = {Robustness and self-repair in modular robots},
booktitle = {Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
address = {San Diego CA},
year = {2007},
doi = {10.1109/IROS.2007.4399535},
}

M. Yim, B. Shirmohammadi, J. Sastra, M. Park, M. Dugan, and C. J. Taylor, “Towards robotic self-reassembly after explosion,” in Video proc. of the ieee/rsj intl. conf. on intelligent robots and systems (iros), San Diego CA, 2007.
[Bibtex]

@conference{MY:BS:JS:MP:MD:CJT:07:video,
author = {M. Yim and B. Shirmohammadi and J. Sastra and M. Park and M. Dugan and C.J. Taylor},
title = {Towards Robotic Self-reassembly After Explosion},
booktitle = {Video Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
address = {San Diego CA},
year = {2007},
pdf = {http://modlab.seas.upenn.edu/publications/2007_IROS_SAE.pdf}
}

P. J. White and M. Yim, “Scalable modular self-reconfigurable robots using external actuation,” in Proceedings of ieee/rsj international conference on intelligent robots and systems, San Diego, CA, 2007, pp. 2773-2778.
[Bibtex]

@conference{PJW:MY:07,
author = {P.J. White and M. Yim},
title = {Scalable Modular Self-reconfigurable Robots Using External Actuation},
booktitle = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems},
address = {San Diego, CA},
pages = {2773-2778},
year = {2007},
pdf = {http://modlab.seas.upenn.edu/publications/white_iros2007.pdf},
doi={10.1109/IROS.2007.4399606},
}

B. Shirmohammadi, C. J. Taylor, M. Yim, J. Sastra, and M. Park, “Using smart cameras to localize self-assembling modular robots,” in Proc. of acm/ieee interantional conference on distributed smart cameras (icdsc07), 2007.
[Bibtex]

@conference{BS:CJT:MY:JS:MP:07,
author = {B. Shirmohammadi and C.J. Taylor and M. Yim and J. Sastra and M. Park},
title = {Using Smart Cameras to Localize Self-Assembling Modular Robots},
booktitle = {Proc. of ACM/IEEE Interantional Conference on Distributed Smart Cameras (ICDSC07)},
year = {2007},
pdf = {http://modlab.seas.upenn.edu/publications/2007_ICDSC_SmartCamera.pdf},
doi = {10.1109/ICDSC.2007.4357508},
}

K. C. Galloway, J. E. Clark, and D. E. Koditschek, “Design of a multi-directional variable stiffness leg for dynamic runnings,” in Asme int. mech. eng. congress and exposition, 2007.
[Bibtex]

@inproceedings{KCG:JEC:DEK:07,
Author = {Galloway, K.C. and Clark, J.E. and Koditschek, D.E.},
Title = {Design of a Multi-Directional Variable Stiffness Leg for Dynamic Runnings},
BookTitle = {ASME Int. Mech. Eng. Congress and Exposition},
Year = {2007},
pdf = {http://modlab.seas.upenn.edu/publications/galloway_IMECE_2007_VI_Preprint.pdf},
doi={10.1115/IMECE2007-41318},
}

S. Chitta, M. Karabas, K. Galloway, and V. Kumar, “Robotrikke: design, modeling and experimentation with a robotic trikke,” in Proc. of asme intl. design engineering technical conferences & computers and information in engineering conference idetc/cie, 2007.
[Bibtex]

@inproceedings{SC:MK:KG:VK:06,
Author = {Chitta, Sachin and Karabas, Mustafa and Galloway, Kevin and Kumar,Vijay},
Title = {RoboTrikke: Design, Modeling and Experimentation with a Robotic Trikke},
BookTitle = {Proc. of ASME Intl. Design Engineering Technical Conferences \& Computers and Information in Engineering Conference IDETC/CIE},
Year = {2007},
pdf = {http://modlab.seas.upenn.edu/publications/chitta_asme06.pdf},
doi={10.1115/DETC2006-99602},
}

2006

M. Park, S. Chitta, A. Teichman, and M. Yim, “Automatic configuration recognition methods in modular robots,” Intl j. of robotics research (invited), 2006.
[Bibtex]

@article{MP:SC:AT:MY:06,
author = {M. Park and S. Chitta and A. Teichman and M. Yim},
title = {Automatic Configuration Recognition Methods in Modular Robots},
journal = {Intl J. of Robotics Research (invited)},
month = {November},
year = {2006},
pdf = {http://modlab.seas.upenn.edu/publications/2007_IJRR_ConfigRecog.pdf}
}

M. Yim, “Earthbound robotic astrobiology: first experiments,” in Proc. of 3rd intl. conf. on ubiquitous robots and ambient intelligence (urai 2006), Seoul Korea, 2006.
[Bibtex]

@conference{MY:06,
author = {M. Yim},
title = {Earthbound Robotic Astrobiology: First Experiments},
booktitle = {Proc. of 3rd Intl. Conf. on Ubiquitous Robots and Ambient Intelligence (URAI 2006)},
address = {Seoul Korea},
year = {2006}
}

J. Sastra, S. Chitta, and M. Yim, “Dynamic rolling for a modular loop robot,” in Proc. of intl. symp. on experimental robotics, Rio de Janeiro Brazil, 2006.
[Bibtex]

@conference{JS:SC:MY:06,
author = {J. Sastra and S. Chitta and M. Yim},
title = {Dynamic Rolling for a Modular Loop Robot},
booktitle = {Proc. of Intl. Symp. on Experimental Robotics},
address = {Rio de Janeiro Brazil},
year = {2006},
pdf = {http://modlab.seas.upenn.edu/publications/2006_ISER_DynamicRolling.pdf}
}

M. Yim, “Astronauts must program robots,” in Proc. ~aaai spring symposium: to boldly go where no human-robot team has gone before, Stanford CA, 2006.
[Bibtex]

@conference{MY;06,
author = {M. Yim},
title = {Astronauts Must Program Robots},
booktitle = {Proc. ~AAAI Spring Symposium: To Boldly Go Where No Human-Robot Team Has Gone Before},
address = {Stanford CA},
year = {2006}
}

M. Yim, R. Hinden, C. Conley, C. K. Wang, K. Roufas, and C. Eldershaw, “Open loop climbing with modular robots,” in Video proc. of the ieee intl. conf. on robotics and automation (icra), Orlando, FL, 2006.
[Bibtex]

@conference{MY:RH:CC:CKW:KR:CE:06,
author = {M. Yim and R. Hinden and C. Conley and C.K. Wang and K. Roufas and C. Eldershaw},
title = {Open Loop Climbing with Modular Robots},
booktitle = {Video Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
address = {Orlando, FL},
year = {2006}
}

2005

W-M. Shen, J. Bogdanowicz, W. Chun, M. Yim, P. M. Will, M. Sims, S. Colombano, D. Kortenkamp, S. Vanderzyl, E. Baumgartener, and T. J., “Superbots: modular, multifunctional, reconfigurable robotic system for space exploration,” in Proc. of leag-2005 conference on lunar exploration, Houston TX, 2005.
[Bibtex]

@inproceedings{WS:JB:WC:MY:PW:MS:SC:DK:SV:EB:JT:05,
Author = {Shen, W-M. and Bogdanowicz, J. and Chun, W. and Yim, M. and Will, P.M. and Sims, M. and Colombano, S. and Kortenkamp, D. and Vanderzyl, S. and Baumgartener, E. and Taylor J.},
Title = {Superbots: Modular, Multifunctional, Reconfigurable Robotic System for Space Exploration},
BookTitle = {Proc. of LEAG-2005 Conference on Lunar Exploration},
Year = {2005},
Address = {Houston TX},
Month = {October}
}

M. Yim, C. Eldershaw, Y. Zhang, and D. Duff, “Limbless conforming gaits with modular robots,” in Experimental robotics ix, advanced robotics series, M. H. Ang and O. S. Khatib, Eds., , 2005.
[Bibtex]

@incollection{MY:CE:YZ:DD:05,
author = {M. Yim and C. Eldershaw and Y. Zhang and D. Duff},
title = {Limbless Conforming Gaits with Modular Robots},
booktitle = {Experimental Robotics IX, Advanced Robotics Series},
editor = {M.H. Ang and O.S. Khatib},
year = {2005},
doi={10.1007/11552246_44},
}

2004

Y. Zhang, M. Yim, L. Ackerson, D. Duff, and C. Eldershaw, “Stam: a system of tracking and mapping in real encironments,” Ieee j. on wireless communications, vol. 11, iss. 6, pp. 87-96, 2004.
[Bibtex]

@article{YZ:MY:LA:DD:CE:04,
author = {Y. Zhang and M. Yim and L. Ackerson and D. Duff and C. Eldershaw},
title = {STAM: A system of tracking and mapping in real encironments},
journal = {IEEE J. on Wireless Communications},
volume = {11},
number = {6},
pages = {87-96},
month = {December},
year = {2004},
doi = {10.1109/MWC.2004.1368901}
}

A. Golovinsky, M. Yim, Y. Zhang, C. Eldershaw, and D. Duff, “Polybot and PolyKineticTM system: a modular robotic platform for education,” in Proc. of the ieee intl. conf. on robotics and automation (icra), New Orleans, 2004.
[Bibtex]

@conference{AG:MY:YZ:CE:DD:04,
author = {A. Golovinsky and M. Yim and Y. Zhang and C. Eldershaw and D. Duff},
title = {PolyBot and {P}oly{K}inetic{TM} System: A Modular Robotic Platform for Education},
booktitle = {Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
address = {New Orleans},
month = {April 26-30},
year = {2004},
doi={10.1109/ROBOT.2004.1308017},
}

Y. Zhang, A. Golovinsky, M. Yim, and C. Eldershaw, “An xml-based scripting language for chain-type modular robotic systems,” in 8th conf. on intelligent autonomous systems, Amsterdam, Netherlands, 2004.
[Bibtex]

@conference{YZ:AG:MY:CE:04,
author = {Y. Zhang and A. Golovinsky and M. Yim and C. Eldershaw},
title = {An XML-based scripting language for chain-type modular robotic systems},
booktitle = {8th Conf. on Intelligent Autonomous Systems},
address = {Amsterdam, Netherlands},
year = {2004}
}

2003

M. Yim, C. Eldershaw, Y. Zhang, and D. Duff, “Self-reconfigurable robot systems: polybot,” J. of the robotics society of japan, vol. 21, iss. 8, 2003.
[Bibtex]

@article{MY:CE:YZ:DD:03,
author = {M. Yim and C. Eldershaw and Y. Zhang and D. Duff},
title = {Self-reconfigurable Robot Systems: PolyBot},
journal = {J. of the Robotics Society of Japan},
volume = {21},
number = {8},
month = {Nov.},
year = {2003},
doi={10.7210/jrsj.21.851},
}

Y. Zhang, M. Yim, C. Eldershaw, D. Duff, and K. Roufas, “Scalable and reconfigurable configurations and locomotion gaits for chain-type modular reconfigurable robots,” in Proc. of the ieee symp. on computational intelligence in robotics and automation (cira), Japan, 2003.
[Bibtex]

@conference{YZ:MY:CE:DD:KR:03a,
author = {Y. Zhang and M. Yim and C. Eldershaw and D. Duff and K. Roufas},
title = {Scalable and reconfigurable configurations and locomotion gaits for chain-type modular reconfigurable robots},
booktitle = {Proc. of the IEEE Symp. on Computational Intelligence in Robotics and Automation (CIRA)},
address = {Japan},
year = {2003},
doi={10.1109/CIRA.2003.1222298},
}

Y. Zhang, M. Yim, C. Eldershaw, D. Duff, and K. Roufas, “Phase automata: a programming model of locomotion gaits for scalable chain-type modular robots,” in Proc. of the ieee/rsj intl. conf. on intelligent robots and systems (iros), Las Vegas, 2003.
[Bibtex]

@conference{YZ:MY:CE:DD:KR:03b,
author = {Y. Zhang and M. Yim and C. Eldershaw and D. Duff and K. Roufas},
title = {Phase Automata: a programming model of locomotion gaits for scalable chain-type modular robots},
booktitle = {Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
address = {Las Vegas},
year = {2003},
doi = {10.1109/IROS.2003.1249236},
}

C. Eldershaw, M. Yim, Y. Zhang, K. Roufas, and D. Duff, “Motion planning with narrow c-space passages,” in Proc. of the ieee/rsj intl. conf. on intelligent robots and systems (iros), Las Vegas, 2003.
[Bibtex]

@conference{CE:MY:YZ:KR:DD:03,
author = {C. Eldershaw and M. Yim and Y. Zhang and K. Roufas and D. Duff},
title = {Motion planning with narrow C-space passages},
booktitle = {Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
address = {Las Vegas},
year = {2003},
doi={10.1109/IROS.2003.1248874},
}

M. Yim, Y. Zhang, K. Roufas, D. Duff, and C. Eldershaw, “Connecting and disconnecting for self-reconfiguration with polybot,” , 2003.
[Bibtex]

@article{MY:YZ:KR:DD:CE:03,
author = {M. Yim and Y. Zhang and K. Roufas and D. Duff and C. Eldershaw},
title = {Connecting and disconnecting for self-reconfiguration with PolyBot},
booktitle = {IEEE/ASME Transactions on Mechatronics},
issue = {special issue on Information Technology in Mechatronics},
year = {2003},
pdf = {http://modlab.seas.upenn.edu/publications/asme.pdf},
doi={10.1109/TMECH.2002.806221},
}

M. Yim, K. Roufas, D. Duff, Y. Zhang, C. Eldershaw, and S. Homans, “Modular reconfigurable robots in space applications,” Autonomous robot journal, 2003.
[Bibtex]

@article{MY:KR:DD:YZ:CE:SH:03,
author = {M. Yim and K. Roufas and D. Duff and Y. Zhang and C. Eldershaw and S. Homans},
title = {Modular Reconfigurable Robots in Space Applications},
journal = {Autonomous Robot Journal},
issue = {special issue for Robots in Space},
year = {2003},
pdf = {http://modlab.seas.upenn.edu/publications/space.pdf},
doi={10.1023/A:1022287820808},
}

Y. Zhang, K. Roufas, C. Eldershaw, M. Yim, and D. Duff, “Sensor computations in modular self reconfigurable robots,” in Experimental robotics viii, Springer, 2003, p. 276–286.
[Bibtex]

@incollection{YZ:KR:CE:MY:DD:03,
title={Sensor computations in modular self reconfigurable robots},
author={Zhang, Ying and Roufas, Kimon and Eldershaw, Craig and Yim, Mark and Duff, Dave},
booktitle={Experimental Robotics VIII},
pages={276--286},
year={2003},
publisher={Springer},
doi={10.1007/3-540-36268-1_24},
}

2002

M. Yim, Y. Zhang, K. Roufas, D. Duff, and C. Eldershaw, “Connecting and disconnecting for chain self-reconfiguration with polybot,” , vol. 7, iss. 4, pp. 431-441, 2002.
[Bibtex]

@article{MY:YZ:KR:DD:CE:02,
author = {M. Yim and Y. Zhang and K. Roufas and D. Duff and C. Eldershaw},
title = {Connecting and Disconnecting for Chain Self-Reconfiguration with PolyBot},
booktitle = {IEEE/ASME Transactions on Mechatronics},
issue = {Special Issue on Self-Reconfigurable Robots},
volume = {7},
number = {4},
pages = {431-441},
month = {Dec.},
year = {2002},
doi = {10.1109/TMECH.2002.806221},
}

M. Yim, D. Duff, and K. Roufas, “Walk on the wild side,” , vol. 8, iss. 4, 2002.
[Bibtex]

@article{MY:DD:KR:02,
author = {M. Yim and D. Duff and K. Roufas},
title = {Walk on the wild side},
magazine = {IEEE Robotics and Automation Magazine},
issue = {Special Issue on Distributed Robotics},
volume = {8},
number = {4},
month = {Dec.},
year = {2002},
doi = {10.1109/MRA.2002.1160071},
}

Y. Zhang, M. Yim, K. Roufas, C. Eldershaw, and D. Duff, “Attribute/service model: design patterns for efficient coordination of distributed sensors, actuators and tasks in embedded systems,” in Proc. of ieee workshop on embedded system codesign (escodes), San Jose, CA, 2002.
[Bibtex]

@conference{YZ:MY:KR:CE:DD:02,
author = {Y. Zhang and M. Yim and K. Roufas and C. Eldershaw and D. Duff},
title = {Attribute/Service Model: Design Patterns for Efficient Coordination of Distributed Sensors, Actuators and Tasks in Embedded Systems},
booktitle = {Proc. of IEEE Workshop on Embedded System Codesign (ESCODES)},
address = {San Jose, CA},
month = {September 24},
year = {2002},
pdf = {http://modlab.seas.upenn.edu/publications/escodes02.pdf}
}

S. K. Agrawal, S. Kumar, and M. Yim, “Polyhedral single degree-of-freedom expanding sutrcutres: design and prototypes,” Asme j. of mechanical design, vol. 124, iss. 3, pp. 361-590, 2002.
[Bibtex]

@article{SKA:SK:MY:02,
author = {S.K. Agrawal and S. Kumar and M. Yim},
title = {Polyhedral Single Degree-of-freedom Expanding Sutrcutres: Design and Prototypes},
journal = {ASME J. of Mechanical Design},
volume = {124},
number = {3},
pages = {361-590},
month = {Sept.},
year = {2002},
doi = {10.1109/ROBOT.2001.933133},
}

C. Eldershaw, M. Yim, D. Duff, K. Roufas, and Y. Zhang, “Modular self-reconfigurable robots,” in Proc. of robotics for future land warfare workshop, DSTO Edinburgh, Australia, 2002.
[Bibtex]

@conference{CE:MY:DD:KR:YZ:02,
author = {C. Eldershaw and M. Yim and D. Duff and K. Roufas and Y. Zhang},
title = {Modular self-reconfigurable robots},
booktitle = {Proc. of Robotics for Future Land Warfare Workshop},
address = {DSTO Edinburgh, Australia},
month = {May 23-24},
year = {2002},
pdf = {http://modlab.seas.upenn.edu/publications/dsto.pdf}
}

S. Vassilvitskii, J. W. Suh, and M. Yim, “A complete, local and parallel reconfiguration algorithm for cube style modular robots,” in Proc. of the ieee intl. conf. on robotics and automation (icra), Washington D.C., 2002.
[Bibtex]

@conference{SV:JWS:MY:02,
author = {S. Vassilvitskii and J.W. Suh and M. Yim},
title = {A Complete, Local and Parallel Reconfiguration Algorithm for Cube Style Modular Robots},
booktitle = {Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
address = {Washington D.C.},
month = {May 11-15},
year = {2002},
pdf = {http://modlab.seas.upenn.edu/publications/vassilvitskii_ICRA2002b.pdf},
doi={10.1109/ROBOT.2002.1013348},
}

J. W. Suh, S. Homans, and M. Yim, “Telecubes: mechanical design of a module for self-reconfigurable robotics,” in Proc. of the ieee intl. conf. on robotics and automation (icra), Washington D.C., 2002.
[Bibtex]

@conference{JWS:SH:MY:02,
author = {J.W. Suh and S. Homans and M. Yim},
title = {Telecubes: Mechanical Design of a Module for Self-Reconfigurable Robotics},
booktitle = {Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
address = {Washington D.C.},
month = {May 11-15},
year = {2002},
pdf = {http://modlab.seas.upenn.edu/publications/telecubes.pdf},
doi={10.1109/ROBOT.2002.1014385},
}

Y. Zhang, K. Roufas, and M. Yim, “Massively distributed control nets for modular, self-reconfigurable robots,” in Proc. of aaai spring symposium series, 2002.
[Bibtex]

@conference{YZ:KR:MY:02,
author = {Y. Zhang and K. Roufas and M. Yim},
title = {Massively Distributed Control Nets for Modular, Self-Reconfigurable Robots},
booktitle = {Proc. of AAAI Spring Symposium Series},
month = {March 25-27},
year = {2002},
pdf = {http://modlab.seas.upenn.edu/publications/aaai_ides.pdf}
}

M. Yim, Y. Zhang, and D. Duff, “Modular reconfigurable robots, machines that shift their shape to suit the task at hand,” , 2002.
[Bibtex]

@article{MY:YZ:DD:02,
author = {M. Yim and Y. Zhang and D. Duff},
title = {Modular Reconfigurable Robots, Machines that shift their shape to suit the task at hand},
booktitle = {IEEE Spectrum Magazine (cover article)},
month = {Feb.},
year = {2002}
}

Y. Zhang, C. Eldershaw, M. Yim, K. Roufas, and D. Duff, “A platform for studying locomotion systems: modular self-reconfigurable robots,” in Proc. of nist workshop on performance metrics for intelligent systems (permis), Gaithersburg, MD, Aug 13-15 2002.
[Bibtex]

@conference{YZ:CE:MY:KR:DD:02,
author = {Y. Zhang and C. Eldershaw and M. Yim and K. Roufas and D. Duff},
title = {A Platform for studying locomotion systems: Modular Self-Reconfigurable Robots},
booktitle = {Proc. of NIST workshop on Performance Metrics for Intelligent Systems (PerMIS)},
address = {Gaithersburg, MD},
date = {Aug 13-15},
year = {2002}
}

2001

M. Yim, D. Duff, K. Roufas, Y. Zhang, and C. Eldershaw, “Evolution of polybot: a modular reconfigurable robot,” in Proc. of coe/super-mechano-systems workshop (invited), Tokyo, Japan, 2001.
[Bibtex]

@conference{MY:DD:KR:YZ:CE:01,
author = {M. Yim and D. Duff and K. Roufas and Y. Zhang and C. Eldershaw},
title = {Evolution of PolyBot: A modular reconfigurable robot},
booktitle = {Proc. of COE/Super-Mechano-Systems Workshop (invited)},
address = {Tokyo, Japan},
month = {Nov.},
year = {2001},
pdf = {http://modlab.seas.upenn.edu/publications/HDSISymp2001Duff.pdf}
}

Y. Zhang, K. Roufas, and M. Yim, “Software architecture for modular self-reconfigurable robots,” in Proc. of the ieee/rsj intl. conf. on intelligent robots and systems (iros), Maui, HI, 2001.
[Bibtex]

@conference{YZ:KR:MY:01,
author = {Y. Zhang and K. Roufas and M. Yim},
title = {Software architecture for modular self-reconfigurable robots},
booktitle = {Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
address = {Maui, HI},
month = {Oct. 29 - Nov. 3},
year = {2001},
pdf = {http://modlab.seas.upenn.edu/publications/IROS01.pdf},
doi={10.1109/IROS.2001.976422},
}

M. Yim, K. Roufas, D. Duff, Y. Zhang, and S. Homans, “Modular reconfigurable robots in space applications,” in Proc. of the 10th intl. conf. on advanced robotics (icar), Budapest, Hungary, 2001.
[Bibtex]

@conference{MY:KR:DD:YZ:SH:01,
author = {M. Yim and K. Roufas and D. Duff and Y. Zhang and S. Homans},
title = {Modular Reconfigurable Robots in Space Applications},
booktitle = {Proc. of the 10th Intl. Conf. on Advanced Robotics (ICAR)},
address = {Budapest, Hungary},
month = {Aug 22-25},
year = {2001},
pdf = {http://modlab.seas.upenn.edu/publications/icar01.pdf}
}

S. K. Agrawal, S. Kumar, M. Yim, and J. W. Suh, “Polyhedral single degree-of-freedom expanding structures,” in Proc. of the ieee intl. conf on robotics and automation (icra), Seoul, Korea, 2001.
[Bibtex]

@conference{SKA:SK:MY:JWS:01,
author = {S.K. Agrawal and S. Kumar and M. Yim and J.W. Suh},
title = {Polyhedral Single Degree-of-freedom Expanding Structures},
booktitle = {Proc. of the IEEE Intl. Conf on Robotics and Automation (ICRA)},
address = {Seoul, Korea},
month = {May 21-26},
year = {2001},
pdf = {http://modlab.seas.upenn.edu/publications/icra01sunil.pdf},
doi={10.1109/ROBOT.2001.933133},
}

M. Yim, S. Homans, and K. Roufas, “Climbing with snake-like robots,” in Proc. of the ifac workshop on mobile robot technology, Jejudo, Kora, 2001.
[Bibtex]

@conference{MY:SH:KR:01,
author = {M. Yim and S. Homans and K. Roufas},
title = {Climbing with Snake-like Robots},
booktitle = {Proc. of the IFAC Workshop on Mobile Robot Technology},
address = {Jejudo, Kora},
month = {May 21-22},
year = {2001},
pdf = {http://modlab.seas.upenn.edu/publications/gsviewa01416.pdf}
}

S. K. Agrawal, L. Kissner, and M. Yim, “Joint solutions of many degrees-of-freedom systems using dextrous workspaces,” in Proc. of the ieee intl. conf. on robotics and automation (icra), Seoul, Korea, 2001.
[Bibtex]

@conference{SKA:LK:MY:01,
author = {S.K. Agrawal and L. Kissner and M. Yim},
title = {Joint Solutions of Many Degrees-of-freedom Systems Using Dextrous Workspaces},
booktitle = {Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
address = {Seoul, Korea},
month = {May 21-26},
year = {2001},
pdf = {http://modlab.seas.upenn.edu/publications/icra01lea.pdf},
doi={10.1109/ROBOT.2001.932995},
}

C. Eldershaw and M. Yim, “Motion planning of legged vehicles in an unstructured environment,” in Proc. of the ieee intl. conf. on robotics and automation (icra), Seoul, Korea, 2001.
[Bibtex]

@conference{CE:MY:01,
author = {C. Eldershaw and M. Yim},
title = {Motion planning of legged vehicles in an unstructured environment},
booktitle = {Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
address = {Seoul, Korea},
month = {May 21-26},
year = {2001},
pdf = {http://modlab.seas.upenn.edu/publications/icra01eldersh.pdf},
doi={10.1109/ROBOT.2001.933140},
}

J. W. Suh, M. Yim, and S. Homans, “Design tradeoffs for a modular, self-reconfigurable robot, the mechanical design of telecubes,” in Proc. of workshop on self-reconfigurable robots, at icra 2001 (invited), Seoul, Korea, 2001.
[Bibtex]

@conference{JWS:MY:SH:01,
author = {J.W. Suh and M. Yim and S. Homans},
title = {Design Tradeoffs for a Modular, Self-reconfigurable Robot, The Mechanical Design of Telecubes},
booktitle = {Proc. of Workshop on Self-reconfigurable Robots, at ICRA 2001 (invited)},
address = {Seoul, Korea},
month = {May 22},
year = {2001}
}

M. Yim, Y. Zhang, J. Lamping, and E. Mao, “Distributed control for 3d shape metamorphosis,” Autonomous robots, vol. 10, iss. 1, pp. 41-56, 2001.
[Bibtex]

@article{MY:YZ:JL:EM:01,
author = {M. Yim and Y. Zhang and J. Lamping and E. Mao},
title = {Distributed control for 3D Shape Metamorphosis},
journal = {Autonomous Robots},
volume = {10},
number = {1},
pages = {41-56},
month = {Jan.},
year = {2001},
pdf = {http://modlab.seas.upenn.edu/publications/arj_final.pdf},
doi={10.1023/A:1026544419097},
}

K. Roufas, Y. Zhang, D. Duff, and M. Yim, “Six degree of freedom sensing for docking using ir red emitters and receivers,” in Experimental robotics vii, lecture notes in cotrol and information science 271, D. Rus and S. Singh, Eds., Springer, 2001.
[Bibtex]

@incollection{KR:YZ:DD:MY:01,
author = {K. Roufas and Y. Zhang and D. Duff and M. Yim},
title = {Six Degree of Freedom Sensing for Docking Using IR RED Emitters and Receivers},
booktitle = {Experimental Robotics VII, Lecture Notes in Cotrol and Information Science 271},
editor = {Daniela Rus and Sanjiv Singh},
publisher = {Springer},
year = {2001},
pdf = {http://modlab.seas.upenn.edu/publications/ISERfinalpub.pdf},
doi={10.1007/3-540-45118-8_10},
}

A. Nguyen, L. J. Guibas, and M. Yim, “Controlled module density helps reconfiguration planning,” , 2001.
[Bibtex]

@article{AN:LJG:MY:01,
author = {A. Nguyen and L.J. Guibas and M. Yim},
title = {Controlled Module Density Helps Reconfiguration Planning},
booktitle = {Algorithmic and Computational Robotics: New Directions: The Fourth Workshop on the Algorithmic Foundations (WAFR)},
editor = {Donald, B. and Lynch, K. and Rus, D. and Peters, A.K.},
year = {2001},
pdf = {http://modlab.seas.upenn.edu/publications/proteo12.pdf}
}

2000

M. Yim, D. Goldberg, and A. Casal, “Connectivity planning for closed-chain reconfiguration,” , vol. 4196, 2000.
[Bibtex]

@article{MY:DG:AC:00,
author = {M. Yim and D. Goldberg and A. Casal},
title = {Connectivity Planning for Closed-Chain Reconfiguration},
booktitle = {SPIE, Sensor Fusion and Decentralized Control in Robotic Systems III},
volume = {4196},
month = {Nov.},
year = {2000},
pdf = {http://modlab.seas.upenn.edu/publications/treepaper.ps.gz},
doi={10.1117/12.403738},
}

M. Yim, D. Duff, K. Roufas, and L. Kissner, “Polybot: demonstrations of a modular reconfigurable robot,” in Video proc. of the ieee intl. conf. on robotics and automation (icra), San Francisco, CA, 2000.
[Bibtex]

@conference{MY:DD:KR:LK:00,
author = {M. Yim and D. Duff and K. Roufas and L. Kissner},
title = {PolyBot: Demonstrations of a modular reconfigurable robot},
booktitle = {Video Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
address = {San Francisco, CA},
month = {April 24-27},
year = {2000}
}

M. Yim, D. Duff, and K. Roufas, “Polybot: a modular reconfigurable robot,” in Proc. of the ieee intl. conf. on robotics and automation (icra), San Francisco CA, 2000, pp. 514-520.
[Bibtex]

@conference{MY:DD:KR:00a,
author = {M. Yim and D. Duff and K. Roufas},
title = {PolyBot: A Modular Reconfigurable Robot},
booktitle = {Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
pages = {514-520},
address = {San Francisco CA},
month = {April 24-27},
year = {2000},
pdf = {http://modlab.seas.upenn.edu/publications/icra00.pdf},
doi={10.1109/ROBOT.2000.844106},
}

M. Yim, D. Duff, and K. Roufas, “Modular reconfigurable robots, an approach to urban search and rescue,” in Proc. of the human welfare-friendly robotic systems workshop (hwrs), (invited), Taejon, Korea, 2000.
[Bibtex]

@conference{MY:DD:KR:00b,
author = {M. Yim and D. Duff and K. Roufas},
title = {Modular Reconfigurable Robots, An Approach to Urban Search and Rescue},
booktitle = {Proc. of the HUman Welfare-friendly Robotic Systems Workshop (HWRS), (invited)},
address = {Taejon, Korea},
month = {January},
year = {2000},
pdf = {http://modlab.seas.upenn.edu/publications/HWRSpaper2.pdf},
}

M. Yim, J. Reich, and A. A. Berlin, “Two approaches to distributed manipulation,” in Distributed manipulation, Springer, 2000, p. 237–261.
[Bibtex]

@incollection{MY:JR:AB:00,
title={Two approaches to distributed manipulation},
author={Yim, Mark and Reich, Jim and Berlin, Andrew A},
booktitle={Distributed Manipulation},
pages={237--261},
year={2000},
publisher={Springer},
doi={10.1007/978-1-4615-4545-3_12},
}

1999

A. Casal and M. Yim, “Self-reconfiguration planning for a class of modular robots,” Spie sensor fusion and decentralized control in robotic systems ii, 1999.
[Bibtex]

@article{AC:MY:99,
author = {A. Casal and M. Yim},
title = {Self-Reconfiguration Planning For a Class of Modular Robots},
journal = {SPIE Sensor Fusion and Decentralized Control in Robotic Systems II},
month = {September},
year = {1999},
pdf = {http://modlab.seas.upenn.edu/publications/SPIE99final.pdf},
doi={10.1117/12.360345},
}

J. Chase, M. Yim, and A. Berlin, “Optimal stabilization of column buckling,” Asce j. of engineering mechanics, vol. 125, iss. 9, pp. 987-993, 1999.
[Bibtex]

@article{JC:MY:AB:99,
author = {J. Chase and M. Yim and A. Berlin},
title = {Optimal Stabilization of column Buckling},
journal = {ASCE J. of engineering Mechanics},
volume = {125},
number = {9},
pages = {987-993},
year = {1999},
doi={10.1061/(ASCE)0733-9399(1999)125:9(987)},
}

J. Chase, M. Yim, and A. Berlin, “Integrated centering control of inertially actuated systems,” Control engineering practice, vol. 7, iss. 9, pp. 1079-1084, 1999.
[Bibtex]

@article{JC:MY:AB:99b,
author = {J. Chase and M. Yim and A. Berlin},
title = {Integrated Centering Control of Inertially Actuated Systems},
journal = {control Engineering Practice},
volume = {7},
number = {9},
pages = {1079-1084},
year = {1999},
doi={10.1016/S0967-0661(99)00075-1},
}

1998

J. Chase, M. Yim, A. Berlin, M. Olivier, B. MacLean, and S. Jacobsen, “Mems-based control of structural dynamic instability,” J. of intelligent material systems and structures, vol. 9, iss. 7, pp. 547-586, 1998.
[Bibtex]

@article{CJ:MY:AB:MO:BM:SJ:99,
author = {J. Chase and M. Yim and A. Berlin and M. Olivier and B. MacLean and S. Jacobsen},
title = {MEMS-Based Control of Structural Dynamic Instability},
journal = {J. of Intelligent Material Systems and Structures},
volume = {9},
number = {7},
pages = {547-586},
month = {July},
year = {1998},
doi={10.1177/1045389X9800900709},
}

1994

M. Yim, “New locomotion gaits,” in Proc. of the ieee intl. conf. on robotics and automation (icra), San Diego, CA, 1994.
[Bibtex]

@conference{MY:94,
author = {M. Yim},
title = {New Locomotion Gaits},
booktitle = {Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
address = {San Diego, CA},
year = {1994},
doi = {10.1109/ROBOT.1994.351134}
}

M. Yim, “Locomotion gaits with polypod,” in Video proc of the ieee intl. conf. on robotics and automation (icra), best video award, San Diego, CA, 1994.
[Bibtex]

@conference{MY:94:video,
author = {M. Yim},
title = {Locomotion Gaits with Polypod},
booktitle = {Video Proc of the IEEE Intl. Conf. on Robotics and Automation (ICRA), Best Video Award},
address = {San Diego, CA},
year = {1994}
}

1993

M. Yim, “A reconfigurable modular robot with many modes of locomotion,” in Porc. of jsme intl. conf. on advanced mechatronics, Tokyo, Japan, 1993.
[Bibtex]

@conference{MY:93,
author = {M. Yim},
title = {A Reconfigurable Modular Robot with Many Modes of Locomotion},
booktitle = {Porc. of JSME Intl. Conf. on Advanced Mechatronics},
address = {Tokyo, Japan},
year = {1993}
}

ModLab UPenn the modular robotics laboratory at the university of pennsylvania