Show/hide filters Select Category: All Research Categories Active Orthoses Aerial Manipulation Cellular Materials Dexterous Manipulation Education Human Grasping and Manipulation Leg Biomechanics Legged Robots Modeling of Flexural Joints Parallel Mechanisms Prosthetics Robotic Grasping Robust Robotic Mechanisms Sensors Underactuated Mechanisms Select Author: All Authors Ravi Balasubramanian Spencer B. Backus Joseph T. Belter Daniel R. Bersak Julia Borras-Sol Ian M. Bullock Massimo Cenciarini Aaron M. Dollar Thomas Feix Oren Y. Kanner Raymond R. Ma Lael U. Odhner Paul E.I. Pounds Kamran Shamaei John P. Swensen Select Year: All years 2012 2011 2010 2009 2008 2007 2006 Refereed Journal Articles Ian M. Bullock, Joshua Z. Zheng, Sara De La Rosa, Charlotte Guertler, and Aaron M. Dollar Grasp Frequency and Usage in Daily Household and Machine Shop Tasks, IEEE Transactions on Haptics, 2013 (in press). Human Grasping and Manipulation Robotic Grasping 2013 Oren Y. Kanner and Aaron M. Dollar Kinematic Design of an Underactuated Robot Leg for Passive Terrain Adaptability and Stability, ASME Journal of Mechanisms and Robotics, 2013 (in press). Legged Robots 2013 Lael U. Odhner, Raymond R. Ma, and Aaron M. Dollar Open-Loop Precision Grasping with Underactuated Hands Inspired by a Human Manipulation Strategy, IEEE Transactions on Automation Science and Engineering, 2013 (in press). Human Grasping and Manipulation Dexterous Manipulation 2013 Ian M. Bullock, Raymond R. Ma, and Aaron M. Dollar A Hand-Centric Classification of Human and Robot Dexterous Manipulation, IEEE Transactions on Haptics, 2013 (in press). Human Grasping and Manipulation Dexterous Manipulation 2013 Joseph T. Belter, J. Segil, Aaron M. Dollar, and R.F. Weir The Mechanical Design and Performance Specifications of Anthropomorphic Prosthetic Hands, Journal of Rehabilitation Research and Development, 2013 (in press). Prosthetics 2013 Kamran Shamaei, Gregory S. Sawicki, and Aaron M. Dollar Estimation of Quasi-Stiffness and Propulsive Work of the Human Ankle in the Stance Phase of Walking, PLOS ONE 8(3): e59935, 2013. Leg Biomechanics 2013 Kamran Shamaei, Gregory S. Sawicki, and Aaron M. Dollar Estimation of Quasi-Stiffness of the Human Knee in the Stance Phase of Walking, PLOS ONE 8(3): e59993, 2013. Leg Biomechanics 2013 John P. Swensen and Aaron M. Dollar The Connectedness of Packed Circles and Spheres with Application to Conductive Cellular Materials, PLOS ONE, vol. 7(12), e51695, 2012. Cellular Materials 2012 Lael U. Odhner and Aaron M. Dollar The Smooth Curvature Model: An Efficient Representation of Euler-Bernoulli Flexures as Robot Joints, IEEE Transactions on Robotics, vol. 28(4), pp. 761-772, 2012. Modeling of Flexural Joints 2012 Ravi Balasubramanian, Joseph T. Belter, and Aaron M. Dollar Disturbance Response of Two-link Underactuated Serial-link Chains, ASME Journal of Mechanisms and Robotics, vol.4(2), 2012. Underactuated Mechanisms 2012 Paul E.I. Pounds, Daniel R. Bersak, and Aaron M. Dollar Stability of small-scale UAV helicopters and quadrotors with added payload mass under PID control, Autonomous Robots, 2012. Aerial Manipulation 2012 Aaron M. Dollar and Robert D. Howe Joint Coupling Design of Underactuated Hands for Unstructured Environments, International Journal of Robotics Research, vol. 30, pp. 1157-1169, 2011. Robotic Grasping 2011 Aaron M. Dollar and Robert D. Howe The Highly Adaptive SDM Hand: Design and Performance Evaluation, International Journal of Robotics Research, vol. 29(5), pp. 585–597,2010. Robotic Grasping 2010 Aaron M. Dollar, Leif Jentoft, Jason H. Gao, and Robert D. Howe Contact Sensing and Grasping Performance of Compliant Hands, Autonomous Robots, vol. 28(1), pp. 65-75, 2010. Robotic Grasping Sensors 2010 Aaron M. Dollar and Hugh Herr Lower Extremity Exoskeletons and Active Orthoses: Challenges and State of the Art, IEEE Transactions on Robotics, vol. 24(1), February 2008. Active Orthoses 2008 Aaron M. Dollar and Robert D. Howe A Robust Compliant Grasper via Shape Deposition Manufacturing, IEEE/ASME Transactions on Mechatronics, vol. 11(2), pp.154-161, 2006. Robotic Grasping 2006 Aaron M. Dollar and Robert D. Howe Towards Grasping in Unstructured Environments: Grasper Compliance and Configuration Optimization, Advanced Robotics, vol. 19(5), pp. 523-543, 2005. Robotic Grasping 2005 Refereed Conference Papers Kamran Shamaei, Pablo Napolitano, and Aaron M. Dollar A Quasi-Passive Compliant Stance Control Knee-Ankle-Foot Orthosis., proceedings of the 2013 IEEE International Conference on Rehabilitation Robotics (ICORR), Seattle, Washington USA, 2013, in press Leg Biomechanics 2013 Julia Borras-Sol and Aaron M. Dollar Framework Comparison Between a Multifingered Hand and a Parallel Manipulator, proceedings of the 2013 International Workshop on Computational Kinematics, Barcelona, Spain, May 12-15, 2013. Parallel Mechanisms Dexterous Manipulation 2013 Ian M. Bullock, Thomas Feix, and Aaron M. Dollar Finding Small, Versatile Sets of Human Grasps to Span Common Objects, proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013. Human Grasping and Manipulation 2013 Raymond R. Ma, Lael U. Odhner, and Aaron M. Dollar A Modular, Open-Source 3D Printed Underactuated Hand, proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013. Robotic Grasping Education 2013 Zhong Li, Devin Balkcom, and Aaron M. Dollar Rigid 2D Space-Filling Folds of Unbroken Linear Chains, proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013. Cellular Materials 2013 Julia Borras-Sol and Aaron M. Dollar A Parallel Robots Framework to Study Precision Grasping and Dexterous Manipulation, proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013. Parallel Mechanisms Dexterous Manipulation 2013 Lael U. Odhner, Chad Walker, and Aaron M. Dollar Simplifying Robot Hands using Recursively Scaled Power Grasps, proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. Robotic Grasping 2012 Julia Borras-Sol and Aaron M. Dollar Static Analysis of Parallel Robots with Compliant Joints for In-Hand Manipulation, proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. Parallel Mechanisms Dexterous Manipulation 2012 Stefan A.J. Spanjer, Ravi Balasubramanian, Just Herder, and Aaron M. Dollar Improved Grasp Robustness through Variable Transmission Ratios in Underactuated Fingers, proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. Underactuated Mechanisms Robotic Grasping 2012 Ian M. Bullock, Julia Borras-Sol, and Aaron M. Dollar Assessing Assumptions in Kinematic Hand Models: A Review, proceedings of the 2012 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012. Human Grasping and Manipulation 2012 Oren Y. Kanner and Aaron M. Dollar Optimization of Coupling Ratio and Kinematics of an Underactuated Robot Leg for Passive Terrain Adaptability, proceedings of the 2012 ASME Internation Design Engineering Technical Conferences (IDETC), Mechanisms and Robotics Conference, 2012. Underactuated Mechanisms Legged Robots 2012 Stefan A.J. Spanjer, Ravi Balasubramanian, Aaron M. Dollar, and Just Herder Underactuated Gripper that is able to Convert from Precision to Power Grasp by a Variable Transmission Ratio, proceedings of the 2012 IEEE International Conference on Reconfigurable Mechanisms and Robotics (ReMAR), 2012. Underactuated Mechanisms Robotic Grasping 2012 Spencer B. Backus and Aaron M. Dollar Robust, Inexpensive Resonant Frequency Based Contact Detection for Robotic Manipulators, proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), Minneapolis, MN, May 14-18, 2012. Sensors 2012 Lael U. Odhner, Raymond R. Ma, and Aaron M. Dollar Precision Grasping and Manipulation of Small Objects from Flat Surfaces Using Underactuated Fingers, proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), Minneapolis, MN, May 14-18, 2012. Dexterous Manipulation 2012 Ravi Balasubramanian and Aaron M. Dollar Performance of Serial Underactuated Mechanisms: Number of Degrees of Freedom and Actuators, proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, Sept. 25-30, 2011. Underactuated Mechanisms 2011 Lael U. Odhner and Aaron M. Dollar Toward Simpler Models of Bending Sheet Joints, proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, Sept. 25-30, 2011. Modeling of Flexural Joints 2011 Paul E.I. Pounds and Aaron M. Dollar UAV Rotorcraft in Compliant Contact: Stability Analysis and Simulation, proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, Sept. 25-30, 2011. Aerial Manipulation 2011 Kamran Shamaei, Massimo Cenciarini, and Aaron M. Dollar On the Mechanics of the Ankle in the Stance Phase of the Gait, proceedings of the 2011 International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC ’11), Boston, MA, Aug. 30-Sept. 3, 2011. Leg Biomechanics 2011 Joseph T. Belter and Aaron M. Dollar Performance Characteristics of Anthropomorphic Prosthetic Hands, proceedings of the 2011 IEEE International Conference on Rehabilitation Robotics (ICORR), Zurich, Switzerland, June 29-July 1, 2011. Prosthetics 2011 Ian M. Bullock and Aaron M. Dollar Classifying Human Manipulation Behavior, proceedings of the 2011 IEEE International Conference on Rehabilitation Robotics (ICORR), Zurich, Switzerland, June 29-July 1, 2011. Human Grasping and Manipulation 2011 Massimo Cenciarini and Aaron M. Dollar Biomechanical Considerations in the Design of Lower Limb Exoskeletons, proceedings of the 2011 IEEE International Conference on Rehabilitation Robotics (ICORR), Zurich, Switzerland, June 29-July 1, 2011. Leg Biomechanics 2011 Kamran Shamaei and Aaron M. Dollar On the Mechanics of the Knee during the Stance Phase of the Gait, proceedings of the 2011 IEEE International Conference on Rehabilitation Robotics (ICORR), Zurich, Switzerland, June 29-July 1, 2011. Active Orthoses 2011 Raymond R. Ma and Aaron M. Dollar On Dexterity and Dexterous Manipulation, proceedings of the 2011 IEEE International Conference on Advanced Robotics (ICAR), Tallinn, Estonia, June 20-23, 2011. Dexterous Manipulation Human Grasping and Manipulation 2011 Ravi Balasubramanian and Aaron M. Dollar A Comparison of Workspace and Force Capabilities between Classes of Underactuated Mechanisms, proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011. Underactuated Mechanisms 2011 Ravi Balasubramanian and Aaron M. Dollar Variation in Compliance In Two Classes of Two-Link Underactuated Mechanisms, proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011. Underactuated Mechanisms 2011 Joseph T. Belter and Aaron M. Dollar Underactuated Grasp Acquisition and Stability using Friction Based Coupling Mechanisms, proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011. Robotic Grasping 2011 Lael U. Odhner and Aaron M. Dollar Dexterous Manipulation with Underactuated Elastic Hands, proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011. Dexterous Manipulation 2011 Paul E.I. Pounds, Daniel R. Bersak, and Aaron M. Dollar Grasping From the Air: Hovering Capture and Load Stability, proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011. Aerial Manipulation 2011 Joshua Z. Zheng, Sara De La Rosa, and Aaron M. Dollar An Investigation of Grasp Type and Frequency in Daily Household and Machine Shop Tasks, proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011. Human Grasping and Manipulation 2011 Kayla Matheus and Aaron M. Dollar Benchmarking Grasping and Manipulation: Properties of the Objects of Daily Living, proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010). Human Grasping and Manipulation 2010 Paul E.I. Pounds and Aaron M. Dollar Hovering Stability of Helicopters with Elastic Constraints, proceedings of the 2010 ASME Dynamics Systems and Control Conference (DSCC 2010). Aerial Manipulation 2010 Lael U. Odhner and Aaron M. Dollar Fast, Accurate Models for Predicting the Compliance of Elastic Flexure-Jointed Robots, proceedings of the 2010 ASME International Design Engineering Technical Conferences, Mechanisms and Robotics Conference (IDETC 2010). Modeling of Flexural Joints 2010 Ravi Balasubramanian, Joseph T. Belter, and Aaron M. Dollar External Disturbances and Coupling Mechanisms in Underactuated Hands, proceedings of the 2010 ASME International Design Engineering Technical Conferences, Mechanisms and Robotics Conference (IDETC 2010). Robotic Grasping 2010 Lael U. Odhner and Aaron M. Dollar The Smooth Curvature Flexure Model: An Accurate, Low-Dimensional Approach for Robot Analysis, proceedings of the 2010 Robotics: Science and Systems Conference (RSS 2010). Modeling of Flexural Joints 2010 Aaron M. Dollar and Hugh Herr Design of a Quasi-Passive Knee Exoskeleton to Assist Running, proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008). Active Orthoses 2008 Peter Deckers, Aaron M. Dollar, and Robert D. Howe Guiding Grasping with Proprioception and Markov Models, proceedings of the Workshop on Robot Manipulation: Sensing and Adapting to the Real World, Robotics: Science and Systems Conference (RSS), Atlanta, GA, June 30, 2007. Robotic Grasping 2007 Aaron M. Dollar and Hugh Herr Active Orthoses for the Lower Limbs: Challenges and State of the Art, proceedings of the 2007 IEEE International Conference on Rehabilitation Robotics (ICORR), Noordwijk, Netherlands, June 12-15, 2007. Active Orthoses 2007 Aaron M. Dollar and Robert D. Howe The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study, Winner of the Best Student Paper Award, proceedings of the 2007 IEEE International Conference on Rehabilitation Robotics (ICORR), Noordwijk, Netherlands, June 12-15, 2007. Prosthetics 2007 Aaron M. Dollar and Robert D. Howe Simple, Robust Autonomous Grasping in Unstructured Environments, proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, April 10-14, 2007. Robotic Grasping 2007 Aaron M. Dollar and Robert D. Howe Joint Coupling Design of Underactuated Grippers, proceedings of the ASME 30th Annual Mechanisms and Robotics Conference, 2006 International Design Engineering Technical Conferences (IDETC), Philadelphia, PA, Sept. 10-13, 2006. Robotic Grasping 2006 Aaron M. Dollar and Robert D. Howe Designing Robust Robotic Graspers for Unstructured Environments, proceedings of the Workshop on Manipulation for Human Environments, 2006 Robotics: Science and Systems Conference (RSS), Philadelphia, PA, Aug. 19, 2006. Robotic Grasping 2006 Aaron M. Dollar, Christopher R. Wagner, and Robert D. Howe Embedded Sensors for Biomimetic Robotics via Shape Deposition Manufacturing, proceedings of the first IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), selected for a single-track podium presentation, Pisa, Italy, Feb. 20-22, 2006. Sensors 2006 Aaron M. Dollar, Amy E. Kerdok, Solomon Gilbert Diamond, Paul M. Novotny, and Robert D. Howe Starting on the Right Track: Introducing Students to Mechanical Engineering with a Project-Based Machine Design Course, Proceedings of the 2005 ASME International Mechanical Engineering Congress and Exposition (IMECE), Mechanical Engineering Education Symposium, 2005. Education 2005 Aaron M. Dollar and Robert D. Howe Design and Evaluation of a Robust Compliant Grasper using Shape Deposition Manufacturing, Proceedings of the 2005 ASME International Mechanical Engineering Congress and Exposition (IMECE), Robotics panel of the Dynamic Systems and Control Division, 2005. Robotic Grasping 2005 Aaron M. Dollar and R.D. Howe Towards Grasping in Unstructured Environments: Optimization of Grasper Compliance and Configuration, Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Las Vegas, NV, October 27-31, 2003. Robotic Grasping 2003 Other Publications Aaron M. Dollar, Daniela Rus, Paolo Fiorini RoboticsCourseWare.org: An Open Repository for Robotics Pedagogical Materials, IEEE Robotics and Automation Magazine, pp. 14-15, June 2008. Education 2008 Aaron M. Dollar Design Principles for Robust Grasping in Unstructured Environments, Ph.D. Dissertation, Harvard University, Division of Engineering and Applied Sciences, October, 2006. Robotic Grasping 2006 Aaron M. Dollar A Robust Robotic Hand for Unstructured Environments, First Place, 2006 ASME Student Mechanism Design Competition, Graduate Division, 2006 International Design Engineering Technical Conferences (IDETC), Philadelphia, PA, Sept. 10-13, 2006. Robotic Grasping 2006 Aaron M. Dollar and Daniela Rus Teaching Robotics Everywhere: Spotlight on the Robotics Curriculum Clearinghouse, IEEE Robotics and Automation Magazine, Education Editorial Column, vol. 13(2), pp. 7-8, 2006. Education 2006 Aaron M. Dollar Arthropod Grasping and Manipulation: A Literature Review, Harvard BioRobotics Laboratory Technical Report, April 5, 2001. 2001 © Copyright 2012.