Previous Publications

Matei Ciocarlie's publications from Willow Garage:

  • Gripper design (including Velo Gripper)
    • 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 [link]
    • 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 [pdf]
  • Human-in-the-Loop manipulation, Assistive Robotics and the Robots for Humanity project:
    • 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 [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 [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 L. Takayama. "Robots for Humanity: A Case Study in Assistive Mobile Manipulation", IEEE Robotics & Automation Magazine, Special Issue on Assistive Robotics, 20(1), 2013 [pdf]
    • 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 [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 [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 
    • 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 [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 
  • Grasp planning, mobile manipulation, ROS Manipulation Pipeline:
    • M. Dogar, K. Hsiao, M. Ciocarlie and S. Srinivasa. “Physics-based Grasp Planning Through Clutter”, Robotics: Science and Systems, Sydney, July 2012 [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 [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 [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, 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 [pdf]
    • P. Brook, M. Ciocarlie and K. Hsiao. “Collaborative Grasp Planning with Multiple Object Representations”, IEEE Intl. Conference on Robotics and Automation, Shanghai, May 2011 [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 [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 [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 [pdf]

Matei Ciocarlie's publications from Columbia University CS (doctoral work)

  • Doctoral thesis
    • M. Ciocarlie. “Low-Dimensional Robotic Grasping: Eigengrasp Subspaces and Optimized Underactuation”, Department of Computer Science, Columbia University, February 2010 [pdf]
  • Eigengrasps
    • 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]
    • 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]
  • Underactuated hand design
    • 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. “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]
  • Data-driven grasping
    • 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]
  • Grasping with soft fingers
    • 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, 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]
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