@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}
}
@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}
}
@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}
}
@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}
}
@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 (to be presented)},
address = {Brisbane, Australia},
year = {2018},
pdf={http://www.modlabupenn.org/wp-content/uploads/2018/03/gabrich_modquad_icra2018.pdf}
}
@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 (to be presented)},
address = {Brisbane, Australia},
year = {2018},
pdf={http://www.modlabupenn.org/wp-content/uploads/2018/03/gabrich_modquad_gripper_icra2018.pdf}
}
@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}
}
@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}
}
@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}
}
@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}
}
@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},
}
@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}
}
@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}
}
@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}
}
@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},
}
@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},
}
@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}
}
@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}
}
@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
}
@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}
}
@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}
}
@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/2018/08/chao_config_recognition_ISRR_2017.pdf}
}
@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.},
}
@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}
}
@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}
}
@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}
}
@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},
}
@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}
}
@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}
}
@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}
}
@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}
}
@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}
}
@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}
}
@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}
}
@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}
}
@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}
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},}
@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},
}
@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},
}
@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},
}
@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}
}
@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
}
@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},
}
@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},
}
@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={}
}
@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},
}
@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},
}
@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={},
}
@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}
}
@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},
}
@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}
}
@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}
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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
}
@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}
}
@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},
}
@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={},
}
@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
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},}
@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},
}
@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},
}
@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},
}
@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},}
@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},
}
@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},
}
@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}
}
@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}
}
@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},
}
@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},
}
@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},
}
@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},
}
@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}
}
@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},
}
@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}
}
@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}
}
@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}
}
@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}
}
@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}
}
@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}
}
@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},
}
@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}
}
@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},
}
@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}
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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}
}
@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},
}
@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},
}
@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}
}
@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}
}
@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}
}
@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}
}
@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}
}
@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},
}
@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}
}
@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},
}
@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}
}
@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},
}
@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},
}
@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}
}
@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},
}
@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}
}
@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},
}
@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},
}
@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},
}
@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}
}
@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},
}
@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},
}
@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},
}
@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},
}
@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)},
}
@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},
}
@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}
}
@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}
}
@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}
}