Publications

Note: ROAM lab members at the time when the work was performed are underlined in author lists.

Preprints

T. Chen, L. Wang, M. Haas Heger and M. Ciocarlie. "Tendon-driven Underactuated Hand Design via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces", under review [arXiv]
M. Haas Heger and M. Ciocarlie. " 3D Grasp Stability Analysis with Coulomb Friction with Hierarchical Convex Relaxations", under review [arXiv]
P. Piacenza, C. Baumgart, E. Hannigan, Y. Xiao, S. Park, W. Dang, J. Espinal, I. Hussein, I. Kymissis and M. Ciocarlie. “Data-driven Tactile Sensing using Spatially Overlapping Signals”, under review [arXiv]

2019

C. Meeker and M. Ciocarlie. "EMG-Controlled Hand Teleoperation Using a Continuous Teleoperation Subspace", IEEE Intl. Conference on Robotics and Automation, 2019 [arXiv, video]
S. Park, C. Meeker, L. Weber, L. Bishop, J. Stein and M. Ciocarlie. "Multimodal Sensing and Interaction for a Robotic Hand Orthosis", IEEE Robotics and Automation Letters, 4(2), 2019 [arXiv]

2018

T. Chen and M. Ciocarlie. “Grasping Unknown Objects with Proprioception Using a Series-Elastic-Actuated Gripper”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018 (in press) [arXiv, video]
M. Haas Heger, C. Papadimitriou, M. Yannakakis, G. Iyengar and M. Ciocarlie. “Passive Static Equilibrium with Frictional Contacts and Application to Grasp Stability Analysis”, Robotics: Science and Systems Conference, 2018 [arXiv, video of 5-minute RSS presentation]
P. Piacenza, S. Sherman and M. Ciocarlie. “Data-driven super resolution on a tactile dome”, IEEE Robotics & Automation Letters, 3(3), 2018 [arXiv, video]
M. Haas Heger, G. Iyengar and M. Ciocarlie. “Passive Reaction Analysis for Grasp Stability”, IEEE Transactions on Automation Science and Engineering, 15(3), 2018 [arXiv]
S. Park, L. Bishop, L. Weber, J. Stein and M. Ciocarlie. “Design and Development of Effective Transmission Mechanisms on a Tendon Driven Orthosis for Stroke Patients”, IEEE Intl. Conference on Robotics and Automation, 2018 [arXiv, video]
C. Meeker, T. Rasmussen and M. Ciocarlie. “Intuitive Hand Teleoperation by Novice Operators Using a Continuous Teleoperation Subspace”, IEEE Intl. Conference on Robotics and Automation, 2018 [arXiv, video]
T. Chen , M. Haas Heger and M. Ciocarlie. “Underactuated Hand Design Using Mechanically Realizable Manifolds”, IEEE Intl. Conference on Robotics and Automation, 2018 [arXiv, video]

2017

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 [pdf]
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 [IEEE Xplore]
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 [pdf, see also journal preprint]

2016

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, see also journal version]
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 [arXiv, see also journal preprint]
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 [arXiv]
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, see also conference version and journal preprint]
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, see also journal version]
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, see also conference version and journal preprint]
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 [see also conference version and journal preprint]

2015

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]
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 [video, see also conference version]

2014 and before: for Matei Ciocarlie's publications before starting the ROAM Lab (including work done at Willow Garage Inc. and doctoral work) please see this page.