Publications

Notes: ROAM lab members are underlined in author lists. This list also contains relevant publications by current lab members on work performed while affiliated with previous labs or institutions; for such cases, the place where the work was performed is marked next to each entry. 

Peer Reviewed Journal Publications 
  • M. Ciocarlie, F. Hicks, R. Holmberg, J. Hawke, M. Schlicht, J. Gee, S. Stanford and R. Bahadur. “The Velo Gripper: A Versatile Single-actuator Design for Enveloping, Parallel and Fingertip Grasps”, International Journal of Robotics Research, 33(5), 2014 (work performed at Willow Garage, Inc.) [link]
  • T. Chen, M. Ciocarlie, S. Cousins, P. Grice, K. Hawkins, K. Hsiao, C. Kemp, C. King, D. Lazewatsky, A. Leeper,  H. Nguyen, A. Paepcke, C. Pantofaru, W. Smart, and L. Takayama. "Robots for Humanity: A Case Study in Assistive Mobile Manipulation", IEEE Robotics & Automation Magazine, Special Issue on Assistive Robotics, 20(1), 2013 (work performed at Willow Garage, Inc.) [pdf]
  • S. Chitta, E. G. Jones, M. Ciocarlie and K. Hsiao. “Perception, Planning, and Execution for Mobile Manipulation in Unstructured Environments”, IEEE Robotics & Automation Magazine Special Issue on Mobile Manipulation, 19(2), 2012 (work performed at Willow Garage, Inc.) [pdf]
  • M. Ciocarlie, C. Pantofaru, K. Hsiao, G. Bradski, P. Brook and E. Dreyfuss. “A Side of Data with My Robot: Three Datasets for Mobile Manipulation in Human Environments”, IEEE Robotics & Automation Magazine Special Issue: Towards a WWW for Robots, 18(2), 2011 (work performed at Willow Garage, Inc.) [pdf]
  • M. Ciocarlie and P. Allen. “A Constrained Optimization Framework for Compliant Underactuated Grasping”, Mechanical Sciences, 2, 17-26, 2011 [link]
  • M. Ciocarlie and P. Allen. “Hand Posture Subspaces for Dexterous Robotic Grasping”, International Journal of Robotics Research, 28(7), 2009 (IJRR Top Ten Impact Factor in 2011) [link]

Peer Reviewed Conference Publications

  • C. Meeker, S. Park, L. Bishop, J. Stein and M. Ciocarlie. “EMG Pattern Classification to Control a Hand Orthosis for Functional Grasp Assistance after Stroke”, IEEE International Conference on Rehabilitation Robotics, 2017 (in press, preprint)
  • I. Park, T. Smith, H. Sanchez, S. W. Wong, P. Piacenza and M. Ciocarlie. “Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station”, IEEE International Conference on Advanced Intelligent Mechatronics, 2017 (in press)
  • P. Piacenza, W. Dang, E. Hannigan, J. Espinal, I. Hussain, I. Kymissis and M. Ciocarlie. "Accurate Contact Localization and Indentation Depth Prediction With an Optics-based Tactile Sensor", IEEE Intl. Conference on Robotics and Automation, Singapore, May 2017 (in press, preprint)
  • M. Haas-Heger, G. Iyengar and M. Ciocarlie. “On the Distinction between Active and Passive Reaction in Grasp Stability Analysis”, 12th Intl. Workshop on the Algorithmic Foundations of Robotics, San Francisco, December 2016 [pdf]
  • P. Piacenza, Y. Xiao, S. Park, I. Kymissis and M. Ciocarlie. “Contact Localization through Spatially Overlapping Piezoresistive Signals”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Daejon, October 2016 [pdf]
  • S. Park, L. Bishop, T. Post, Y. Xiao, J. Stein, M. Ciocarlie. "On the Feasibility of Wearable Exotendon Networks for Whole-Hand Movement Patterns in Stroke Patients",  IEEE Intl. Conference on Robotics and Automation, Stockholm, May 2016 [pdf]
  • J. Mahler, S. Patil, B. Kehoe, J. van den Berg, M. Ciocarlie, P. Abbeel, K. Goldberg. “GP-GPIS-OPT: Grasp Planning Under Shape Uncertainty Using Gaussian Process Implicit Surfaces and Sequential Convex Programming”,  IEEE Intl. Conference on Robotics and Automation, Seattle, May 2015 [link]
  • A. Leeper, K. Hsiao, M. Ciocarlie, I. Sucan and K. Salisbury. “Methods for Collision-Free Arm Teleoperation in Clutter Using Constraints from 3D Sensor Data”, IEEE Intl. Conf. on Humanoid Robots, Atlanta, October 2013 (work partly performed at Willow Garage, Inc.) [pdf]
  • M. Ciocarlie, F. Hicks and S. Stanford. "Kinetic and Dimensional Optimization for a Tendon-driven Gripper", IEEE Intl. Conference on Robotics and Automation, Karlsruhe, May 2013 (work performed at Willow Garage, Inc.) [pdf]
  • H. Nguyen, M. Ciocarlie, K. Hsiao and C. Kemp. "ROS Commander: Flexible Behavior Creation for Home Robots", IEEE Intl. Conference on Robotics and Automation, Karlsruhe, May 2013 (work partly performed at Willow Garage, Inc.) [pdf]
  • M. Ciocarlie, K. Hsiao, A. Leeper and D. Gossow. “Mobile Manipulation Through An Assistive Home Robot”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Vilamoura, October 2012 (work performed at Willow Garage, Inc.) [pdf]
  • T. Chen, M. Ciocarlie, S. Cousins, P. Grice, K. Hawkins, K. Hsiao, C. Kemp, C. King, D. Lazewatsky, A. Leeper, H. Nguyen, A. Paepcke, C. Pantofaru, W. Smart and Leila Takayama. “Robots for Humanity: User-Centered Design for Assistive Mobile Manipulation”, Video Session Contribution, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Vilamoura, October 2012 (work partly performed at Willow Garage, Inc.)
  • M. Dogar, K. Hsiao, M. Ciocarlie and S. Srinivasa. “Physics-based Grasp Planning Through Clutter”, Robotics: Science and Systems, Sydney, July 2012 (work partly performed at Willow Garage, Inc.) [pdf]
  • A. Leeper, K. Hsiao, M. Ciocarlie, D. Gossow and L. Takayama. “Strategies for Human-in-the-Loop Robotic Grasping”, IEEE/ACM Intl. Conf. on Human-Robot Interaction, Boston, March 2012 (work performed at Willow Garage, Inc.) [pdf]
  • A. Leeper, S. Chan, K. Hsiao, M. Ciocarlie and K. Salisbury. “Constraint-based Haptic Rendering of Point Data for Teleoperated Robot Grasping”, IEEE Haptics Symposium, Vancouver, March 2012 (work partly performed at Willow Garage, Inc.)
  • P. Brook, M. Ciocarlie and K. Hsiao. “Collaborative Grasp Planning with Multiple Object Representations”, IEEE Intl. Conference on Robotics and Automation, Shanghai, May 2011 (work performed at Willow Garage, Inc.) [pdf]
  • M. Ciocarlie, K. Hsiao, E. G. Jones, S. Chitta, R. B. Rusu and I. A. Sucan. “Towards Reliable Grasping and Manipulation in Household Environments”, Intl. Symp. on Experimental Robotics, Delhi, December 2010 (work performed at Willow Garage, Inc.) [pdf]
  • K. Hsiao, S. Chitta, M. Ciocarlie and E. Gil Jones. “Contact-Reactive Grasping of Objects with Partial Shape Information”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Taipei, October 2010 (work performed at Willow Garage, Inc.) [pdf]
  • M. Ciocarlie and P. Allen. “Data-driven Optimization for Underactuated Robotic Hands”, IEEE Intl. Conference on Robotics and Automation, Anchorage, May 2010 [pdf]
  • M. Ciocarlie and P. Allen. “A Design and Analysis Tool for Underactuated Compliant Hands”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, St. Louis, October 2009 [pdf]
  • C. Goldfeder, M. Ciocarlie, J. Peretzman, H. Dang and P. Allen. “Data-Driven Grasping with Partial Sensor Data”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, St. Louis, October 2009 [link]
  • C. Goldfeder, M. Ciocarlie, H. Dang and P. Allen. “The Columbia Grasp Database”, IEEE Intl. Conference on Robotics and Automation, Kobe, May 2009 [link]
  • M. Ciocarlie, H. Dang, J. Lukos, M. Santello and P. Allen. “Functional Analysis of Finger Contact Locations during Grasping”, 3rd Joint EuroHaptics Conference and IEEE Symposium on Haptic Interfaces, Salt Lake City, March 2009 [pdf]
  • M. Ciocarlie, S. Clanton, M. Spalding and P. Allen. “Biomimetic Grasp Planning for Cortical Control of a Robotic Hand”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Nice, September 2008 [pdf]
  • M. Ciocarlie and P. Allen. “On-Line Interactive Dexterous Grasping”, EuroHaptics Conference, Madrid, June 2008 [pdf]
  • M. Ciocarlie, C. Goldfeder and P. Allen. “Dimensionality Reduction for Hand-Independent Dexterous Robotic Grasping”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, October 2007 [pdf]
  • M. Ciocarlie, C. Lackner and P. Allen. “Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks”, 2nd Joint EuroHaptics Conference and IEEE Symposium on Haptic Interfaces, Tsukuba, March 2007 (Best Student Paper Award) [pdf]
  • M. Ciocarlie, A. Miller and P. Allen. “Grasp Analysis Using Deformable Fingers”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Edmonton, August 2005 [pdf]
Workshop Papers, Abstracts and Presentations
  • P. Piacenza, W. Dang, E. Hannigan, J. Espinal, I. Hussein, I. Kymissis and M. Ciocarlie. “An Optics-based Tactile Sensor: Design and Operation”, Workshop on Tactile Sensing for Manipulation: New Progress and Challenges, IEEE Intl. Conf. on Humanoid Robots, Cancun, November 2016 [pdf]
  • M. Haas-Heger, G. Iyengar and M. Ciocarlie. “Active and Passive Reaction in Grasp Stability Analysis of Underactuated Hands”, Workshop on Evaluation and Benchmarking of Underactuated and Soft Robotic Hands, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Daejon, October 2016 [pdf]
  • P. Piacenza, W. Dang, E. Hannigan, J. Espinal, I. Hussein, I. Kymissis and M. Ciocarlie. “Tactile Sensing with Overlapping Optical Signals”, Workshop on Closed-loop Grasping and Manipulation: Challenges and Progress, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Daejon, October 2016 [pdf]
  • P. Piacenza, Y. Xiao, S. Park, I. Kymissis and M. Ciocarlie. “An Investigation of Contact Localization through Overlapping Signals”, Workshop on Exploiting Contact and Dynamics in Manipulation,  IEEE Intl. Conference on Robotics and Automation, Stockholm, May 2016 [superseded by conference paper]
  • I. Park, T. Smith, H. Sanchez, S. Wong, P. Piacenza and M. Ciocarlie. “Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station”, Late-breaking Result Abstract, IEEE Intl. Conference on Robotics and Automation, Seattle, May 2015
  • A. Leeper, K. Hsiao, M. Ciocarlie, I. Sucan and K. Salisbury. “Assisted Arm Teleoperation in Clutter Using Constraints from 3D Sensor Data”, Workshop on Robots in Clutter, Robotics: Science and Systems Conference, Berlin, June 2013 (work partly performed at Willow Garage, Inc.) [pdf]
  • L. Zhang, M. Ciocarlie and K. Hsiao. “Grasp Evaluation With Graspable Feature Matching”, Workshop on Mobile Manipulation, Robotics: Science and Systems Conference, Los Angeles, June 2011 (work performed at Willow Garage, Inc.) [pdf]
  • K. Hsiao, M. Ciocarlie and P. Brook. “Bayesian Grasp Planning”, Workshop on Mobile Manipulation, IEEE Intl. Conference on Robotics and Automation, Shanghai, May 2011 (work performed at Willow Garage, Inc.) [pdf]
  • M. Ciocarlie, G. Bradski, K. Hsiao and P. Brook. “A Dataset for Grasping and Manipulation using ROS”, RoboEarth Workshop, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Taipei, October 2010 (work performed at Willow Garage, Inc.) [pdf]
  • M. Ciocarlie and P. Allen. “A Constrained Optimization Framework for Compliant Underactuated Grasping”, Workshop on Underactuated Grasping, Montreal, August 2010
  • M. Ciocarlie, K. Hsiao, E. Gil Jones, S. Chitta, R. B. Rusu and I. A. Sucan. “Towards Reliable Grasping and Manipulation in Household Environments”, Robotics: Science and Systems Manipulation Workshop, Zaragoza, June 2010 (work performed at Willow Garage, Inc.)
  • K. Hsiao, S. Chitta, M. Ciocarlie and Gil E. Jones. “Contact-reactive Grasping of Objects with Partial Shape Information”, Workshop on Mobile Manipulation, IEEE Intl. Conference on Robotics and Automation, Anchorage, May 2010 (work performed at Willow Garage, Inc.)
  • M. Ciocarlie and P. Allen. “Low-Dimensional Dexterous Grasping for Robotic and Prosthetic Hands”, IEEE Intl. Conf. on Robotics and Automation Full-Day Tutorial on Dexterous Manipulation, Pasadena, May 2008
  • M. Ciocarlie, C. Goldfeder, and P. Allen. “Dexterous Grasping via Eigengrasps: a Low-Dimensional Approach to a High-Complexity Problem,” Robotics: Science and Systems Manipulation Workshop - Sensing and Adapting to the Real World, Atlanta, June 2007.
Theses and Technical Reports
  • M. Ciocarlie. “Low-Dimensional Robotic Grasping: Eigengrasp Subspaces and Optimized Underactuation”, Doctoral Thesis, Department of Computer Science, Columbia University, February 2010 [pdf]
©2014 ROAM Lab