News and events....

Publications

Optimal Trajectories

Devin J. Balkcom, Paritosh A. Kavathekar, and Matthew T. Mason. The local structure of time-optimal trajectories for a bounded-velocity omni-directional vehicle.
Submitted for review, 2006.

Paritosh A. Kavathekar, Devin J. Balkcom, and Matthew T. Mason. The global structure of time-optimal trajectories for a bounded-velocity omni-directional vehicle.
Submitted for review, 2006.

Hamidreza Chitsaz, Steven M. LaValle, Devin J. Balkcom, and Matthew T. Mason. Minimum wheel-rotation paths for differential-drive mobile robots.
Submitted for review, 2006.

Devin J. Balkcom and Matthew T. Mason. Time optimal trajectories for differential drive vehicles.
International Journal of Robotics Research, 21(3):199-217, 2002. pdf.

Devin J. Balkcom and Matthew T. Mason. Extremal trajectories for bounded velocity mobile robots.
In IEEE International Conference on Robotics and Automation, 2002. pdf.

Devin J. Balkcom and Matthew T. Mason. Time optimal trajectories for bounded velocity differential drive robots.
In IEEE International Conference on Robotics and Automation, 2000. pdf.

Devin J. Balkcom and Matthew T. Mason. Extremal trajectories for bounded velocity differential drive robots.
In IEEE International Conference on Robotics and Automation, 2000. pdf.

Devin J. Balkcom and Matthew T. Mason. Geometric construction of time optimal trajectories for differential drive robots.
In Workshop on the Algorithmic Foundations of Robotics, 2000. pdf.

Folding Manipulation and Robot Origami

Devin J. Balkcom, Erik Demaine, and Martin Demaine. Folding paper bags.
In Annual Workshop on Computational Geometry, November 2004. pdf.

Devin J. Balkcom. Robotic origami folding.
Ph.D. Thesis, published as Carnegie Mellon University RI TR 04-43, August 2004. pdf.

Devin J. Balkcom and Matthew T. Mason. Introducing robotic origami folding.
In IEEE International Conference on Robotics and Automation, pages 3245-3250, April 2004. pdf.

Flexible Object Manipulation

Matthew P. Bell and Devin J. Balkcom. Knot Tying with Single Piece Fixtures.
In IEEE International Conference on Robotics and Automation, May 2008. pdf.

Rigid-body Mechanics

Anne H. Loomis. Computation reuse in stacking and unstacking.
Master's thesis proposal, TR2005-563, Dartmouth College, 2005. pdf.

Anne H. Loomis and Devin J. Balkcom. Towards efficient planning of stacking and unstacking sequences.
Submitted for review, 2006.

Devin J. Balkcom and Jeffrey C. Trinkle. Computing wrench cones for planar contact tasks.
International Journal of Robotics Research, pages 1053-1066, 2002. pdf.

Devin J. Balkcom, Eric J. Gottlieb, and Jeffrey C. Trinkle. A sensorless insertion strategy for rigid planar parts.
In IEEE International Conference on Robotics and Automation, 2002. pdf.

Devin J. Balkcom, Jeffrey C. Trinkle, and Eric J. Gottlieb. Computing wrench cones for planar contact tasks.
In IEEE International Conference on Robotics and Automation, 2002. pdf.

Manipulation with Wheels

Devin J. Balkcom and Matthew T. Mason. Progress in desktop robotics.
In The Eleventh Yale Workshop on Adaptive and Learning Systems, 2001. pdf.

Undergraduate Research

Matthew P. Bell and Devin J. Balkcom. A toy rock-climbing robot.
In IEEE International Conference on Robotics and Automation, 2006. pdf.

 

Nelson Rosa Jr., Joshua Pyke, and Devin J. Balkcom. Digging with wheels: preliminary work.
2006. Poster accepted to ICRA '06.

 

Matthew P. Bell. A toy rock-climbing robot.
Senior honors thesis. Published as Dartmouth CS TR 2005-542, 2005. pdf.