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Refereed Journal Articles and Book Chapters
Walter G. Bircher, Andrew S. Morgan, and Aaron M. Dollar
Robust Whole-hand Spatial Manipulation via Energy maps with Caging, Rolling, and Sliding, Frontiers in Robotics and AI, 2023.

DexterousManipulation RoboticGrasping 2023 Vatsal V. Patel, Minas V. Liarokapis, and Aaron M. Dollar
Open Robot Hardware: Progress, Benefits, Challenges, and Best Practices, IEEE Robotics and Automation Magazine, 2023.

Education Benchmarking FabricationTechniques 2023 Michael T. Leddy and Aaron M. Dollar
The Yale MyoAdapt Hand: A Highly Functional and Adaptive Single Actuator Prosthesis, IEEE Transactions on Medical Robotics and Bionics, 2022.

Prosthetics BiologicalHands RoboticGrasping 2022 Yuri Gloumakov, Joao Bimbo, and Aaron M. Dollar
Trajectory Control - An Effective Strategy for Controlling Multi-DOF Upper Limb Prosthetic Devices, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2022.

VirtualReality Prosthetics 2022 Joao Bimbo, Andrew S. Morgan, and Aaron M. Dollar
Force-based Simultaneous Mapping and Object Reconstruction for Robotic Manipulation, IEEE Robotics and Automation Letters (with ICRA 2022 option), 2022.

DexterousManipulation 2022 Andrew S. Morgan*, Kaiyu Hang*, Bowen Wen, Kostas Bekris, and Aaron M. Dollar
Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning, IEEE Robotics and Automation Letters (with ICRA 2022 option), 2022.

DexterousManipulation 2022 Kaiyu Hang, Walter G. Bircher, Andrew S. Morgan, and Aaron M. Dollar
Manipulation for Self-Identification, and Self-Identification for Better Manipulation, Science Robotics, vol. 5, No. 54, 2021. Awarded in Editors' Top Picks of 2021

Dexterous Manipulation 2021 Walter G. Bircher, Andrew S. Morgan, and Aaron M. Dollar
Complex manipulation with a simple robotic hand through contact breaking and caging, Science Robotics, vol. 5, No. 54, 2021. Cover Article

Dexterous Manipulation 2021 Adam J. Spiers, Jillian Cochran, Linda Resnik, and Aaron M. Dollar
Quantifying Prosthetic and Intact Limb Use in Upper Limb Amputees via Egocentric Video: An Unsupervised, At-Home Study, IEEE Transactions on Medical Robotics and Bionics, 2021.

Prosthetics 2021 Connor M. McCann*, Vatsal V. Patel*, and Aaron M. Dollar
The Stewart Hand: A Highly Dexterous 6-DOF Manipulator Based on the Stewart-Gough Platform, IEEE Robotics and Automation Magazine, special issue on Emerging Paradigms for Robotic Manipulation: from the Lab to the Productive World, 2021.

DexterousManipulation ParallelManipulators 2021 Andrew S. Morgan, Walter G. Bircher, and Aaron M. Dollar
Towards Generalized Manipulation Learning through Grasp Mechanics-based Features and Self-Supervision, IEEE Transactions on Robotics, 2021.

DexterousManipulation 2021 Yuri Gloumakov, Adam J. Spiers, and Aaron M. Dollar
Dimensionality Reduction and Motion Clustering during Activities of Daily Living: Three-, Four-, and Seven-Degree-of-Freedom Arm Movements, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2020.

Human Grasping and Manipulation Prosthetics 2020 Yuri Gloumakov, Adam J. Spiers, and Aaron M. Dollar
Dimensionality Reduction and Motion Clustering during Activities of Daily Living: Decoupling Hand Location and Orientation, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2020.

Human Grasping and Manipulation Prosthetics 2020 Andrew S. Morgan*, Kaiyu Hang*, and Aaron M. Dollar
Object-Agnostic Dexterous Manipulation of Partially Constrained Trajectories, IEEE Robotics and Automation Letters (with IROS 2020 option), Vol. 5, No. 4, pp. 5494-5501, 2020.

Manipulation Compliant 2020 Thomas Feix, Ian M. Bullock, Yuri Gloumakov, and Aaron M. Dollar
Effect of Number of Digits on Human Precision Manipulation Workspaces, IEEE Transactions on Haptics, 2020.

Haptics DexterousManipulation HumanGraspingandManipulation 2020 Michael T. Leddy and Aaron M. Dollar
Examining the Frictional Behavior of Primitive Contact Geometries for Use as Robotic Finger Pads,IEEE Robotics and Automation Letters (with ICRA 2020 option), 2020.

BiologicalHands Prosthetics 2020 Kaiyu Hang*, Walter G. Bircher*, Andrew S. Morgan, and Aaron M. Dollar
Hand-object configuration estimation using particle filters for dexterous in-hand manipulation, The International Journal of Robotics Research, vol. 39(14), pp. 1760-1774, 2020.

Manipulation Compliant 2020 Minas V. Liarokapis and Aaron M. Dollar
Combining Analytical Modeling and Learning to Simplify Dexterous Manipulation With Adaptive Robot Hands, IEEE Transactions on Automation Science and Engineering, vol. 16(3), pp. 1361-1372, 2019.

DexterousManipulation RoboticGrasping 2019 Adam J. Spiers, Andrew S. Morgan, Krishnan Srinivasan, Berk Calli, and Aaron M. Dollar
Using a Variable-Friction Robot Hand to Determine Proprioceptive Features for Object Classification during Within-Hand Manipulation, IEEE Transactions on Haptics, vol. 13(3), pp. 600-610, 2019.

Haptics DexterousManipulation RoboticGrasping 2019 Andrew S. Morgan, Kaiyu Hang, Walter G. Bircher, Fadi M. Alladkani, Abhinav Gandhi, Berk Calli, and Aaron M. Dollar
Benchmarking Cluttered Robot Pick-and-Place Manipulation with the Box and Blocks Test, IEEE Robotics and Automation Letters, vol. 5(2), pp. 454-461, 2019.

Manipulation Benchmarking 2019 Kaiyu Hang, Ximin Lyu, Haoran Song, Johannes A. Stork, Aaron M. Dollar, Danica Kragic, and Fu Zhang
Perching and resting - A paradigm for UAV maneuvering with modularized landing gears, Science Robotics, vol. 4(28), eaau6637, March 2019. Cover Article

Manipulation Aerial Manipulation 2019 Kaiyu Hang, Andrew S. Morgan, and Aaron M. Dollar
Pre-Grasp Sliding Manipulation of Thin Objects Using Soft, Compliant, or Underactuated Hands, IEEE Robotics and Automation Letters (with ICRA 2019 option), vol. 4(2), pp. 662-669, 2019. Best Paper Award in Robot Manipulation - Finalist

Manipulation Compliant 2019 Raymond R. Ma, Walter G. Bircher, and Aaron M. Dollar
Modeling and Evaluation of Robust Whole-Hand Caging Manipulation, IEEE Transactions on Robotics, vol. 35(3), pp. 549-563, 2019.

Manipulation Caging 2019 Diego Sustaita, Yuri Gloumakov, Leah R. Tsang, and Aaron M. Dollar
Behavioral correlates of semi-zygodactyly in Ospreys (Pandion haliaetus) based on analysis of internet images, PeerJ, 7, p.e6243. (2019)

Biological Hands Grasping 2019 Avishai Sintov, Andrew S. Morgan, Andrew Kimmel, Aaron Dollar, Kostas Bekris, and Abdeslam Boularias
Learning a State Transition Model of an Underactuated Adaptive Hand, IEEE Robotics and Automation Letters (with ICRA 2019 option), vol. 4(2), pp. 1287-1294, 2019.

Manipulation Compliant 2019 Minas V. Liarokapis and Aaron M. Dollar
Post-Contact, In-Hand Object Motion Compensation With Adaptive Hands, IEEE Transactions on Automation Science and Engineering, vol. 15(2), pp. 456-467, 2018.

DexterousManipulation RoboticGrasping 2018 Neil Bajaj, Adam J. Spiers, and Aaron M. Dollar
State of the Art in Artificial Wrists: A Review of Prosthetic and Robotic Wrist Design, IEEE Transactions on Robotics, vol. 35(1), pp. 261-277, 2019.

Prosthetics Wrists 2018 Adam J. Spiers, Berk Calli, and Aaron M. Dollar
Variable-Friction Finger Surfaces to Enable Within-Hand Manipulation via Gripping and Sliding, IEEE Robotics and Automation Letters, vol. 3(4), pp. 4116-4123, 2018 (with IROS 2018 option).

DexterousManipulation RoboticGrasping 2018 Berk Calli and Aaron M. Dollar
Robust Precision Manipulation with Simple Process Models using Visual Servoing Techniques with Disturbance Rejection, IEEE Transactions on Automation Science and Engineering, 2018.

DexterousManipulation RoboticGrasping Education 2018 Spencer B. Backus and Aaron M. Dollar
A Prismatic-Revolute-Revolute Joint Hand for Grasping From Unmanned Aerial Vehicles and Other Minimally Constrained Vehicles, ASME Journal of Mechanisms and Robotics, vol. 10(2), 025006, 2018.

RoboticGrasping AerialManipulation UnderactuatedMechanisms 2018 Raymond R. Ma and Aaron M. Dollar
Yale OpenHand Project: Optimizing Open-Source Hand Designs for Ease of Fabrication and Adoption, IEEE Robotics & Automation Magazine, vol. 24(1), pp. 32-40, 2017.

DexterousManipulation RoboticGrasping 2017 Ahsan I. Nawroj, John P. Swensen, and Aaron M. Dollar
Toward Modular Active-Cell Robots (MACROs): SMA Cell Design and Modeling of Compliant, Articulated Meshes, IEEE Transactions on Robotics, vol. 33(4), pp. 796-806, 2017.

CellularRoboticsandMaterials 2017 Ahsan I. Nawroj and Aaron M. Dollar
Shape Control of Compliant, Articulated Meshes: Towards Modular Active-Cell Robots (MACROs), IEEE Robotics and Automation Letters, (with IROS 2017 option), vol. 2(4), pp. 1878-1884, 2017.

CellularRoboticsandMaterials 2017 Berk Calli, Arjun Singh, James Bruce, Aaron Walsman, Kurt Konolige, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M. Dollar
Yale-CMU-Berkeley Dataset for Robotic Manipulation Research, International Journal of Robotics Research, vol. 36(3), pp. 261-268, 2017.

DexterousManipulation RoboticGrasping Education 2017 Oren Y. Kanner, Nicolas Rojas, Lael U. Odhner, and Aaron M. Dollar
Adaptive Legged Robots Through Exactly Constrained and Non-Redundant Design, IEEE Access, vol. 5, pp. 11131-11141, 2017

LeggedRobots 2017 Zhe Xu, Connor M. McCann, and Aaron M. Dollar
Reconfigurable Modular Chain: A Reversible Material for Folding Three-Dimensional Lattice Structures, ASME Journal of Mechanisms and Robotics, vol. 9(2), 025002, 2017.

CellularRoboticsandMaterials 2017 Julia Borras-Sol and Aaron M. Dollar
Dimensional Synthesis of a Three-fingered Dexterous Hand for Maximal Manipulation Workspace, The International Journal of Robotics Research, vol. 34(14), pp.1731-1746, 2015.

ParallelManipulators DexterousManipulation 2015 Adam J. Spiers and Aaron M. Dollar
Design and Evaluation of Shape-changing Shape Changing Navigation Interfaces for Pedestrian Navigation Assistance, IEEE Transactions on Haptics, vol. 10(1), pp. 17-28, 2017.

Haptics 2017 Spencer B. Backus and Aaron M. Dollar
An adaptive three-fingered prismatic gripper with passive rotational joints, IEEE Robotics and Automation Letters, vol. 1(2), pp. 668-675, 2016.

RoboticGrasping 2016 Adam J. Spiers, Minas V. Liarokapis, Berk Calli, and Aaron M. Dollar
Single-Grasp Object Classification and Feature Extraction with Simple Robot Hands and Tactile Sensors, IEEE Transactions on Haptics, vol. 9(2), pp.207-220, 2016.

RoboticGrasping 2016 Nicolas Rojas and Aaron M. Dollar
The Coupler Surface of the RSRS Mechanism, ASME Journal of Mechanisms and Robotics, vol. 8(1), 014505, 2016.

ParallelManipulators 2016 Nicolas Rojas and Aaron M. Dollar
Classification and Kinematic Equivalents of Contact Types for Fingertip-Based Robot Hand Manipulation, ASME Journal of Mechanisms and Robotics, vol. 8(4), 041014, 2016.

Dexterous Manipulation 2016 Raymond R. Ma, Nicolas Rojas, and Aaron M. Dollar
Spherical Hands: Toward Underactuated, In-Hand Manipulation Invariant to Object Size and Grasp Location, ASME Journal of Mechanisms and Robotics, vol. 8(6), 061021, 2016.

Dexterous Manipulation Parallel Manipulators Robotic Grasping Underactuated Mechanisms 2016 Nicolas Rojas, Raymond R. Ma, and Aaron M. Dollar
The GR2 Gripper: An Underactuated Hand for Open-Loop In-Hand Planar Manipulation IEEE Transactions on Robotics, vol. 32(3), pp. 763-770, 2016.

Dexterous Manipulation Robotic Grasping 2016 Nicolas Rojas and Aaron M. Dollar
Gross Motion Analysis of Fingertip-Based Within-Hand Manipulation IEEE Transactions on Robotics, vol. 32(4), pp. 1009-1016, 2016.

Dexterous Manipulation Robotic Grasping 2016 Thomas Feix, Javier Romero, Heinz-Bodo Schmiedmayer, Aaron M. Dollar, and Danica Kragic
The GRASP Taxonomy of Human Grasp Types, IEEE Transactions on Human-Machine Systems, vol. 46(1), pp.66-77, 2016

HumanGraspingandManipulation 2016 Nicolas Rojas, Aaron M. Dollar, and Federico Thomas
A Unified Position Analysis of the Dixon and the Generalized Peaucellier Linkages, Mechanism and Machine Theory, vol. 94, pp. 28-40, 2015.

ParallelManipulators 2015 Berk Calli, Aaron Walsman, Arjun Singh, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M. Dollar
Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols, IEEE Robotics and Automation Magazine, vol. 22(3), pp. 36-52, 2015.

DexterousManipulation RoboticGrasping Benchmarking 2015 Kamran Shamaei, Massimo Cenciarini, Albert A. Adams, Karen N. Gregorczyk, Jeffrey M. Schiffman, and Aaron M. Dollar
Biomechanical Effects of Stiffness in Parallel with the Knee Joint during Walking, IEEE Transactions on Biomedical Engineering, vol. 62(10), pp. 2389-2401, 2015.

LegBiomechanics ActiveOrthoses 2015 Ian M. Bullock, Thomas Feix, and Aaron M. Dollar
Workspace Shape and Characteristics for Human Two- and Three-Fingered Precision Manipulation, IEEE Transactions on Biomedical Engineering, vol. 62(9), pp. 2196-2207, 2015.

HumanGraspingandManipulation DexterousManipulation 2015 Lael U. Odhner and Aaron M. Dollar
Stable, Open-Loop Precision Manipulation with Underactuated Hands, International Journal of Robotics Research, vol. 34(11), pp. 1347-1360, 2015.

DexterousManipulation RoboticGrasping UnderactuatedMechanisms 2015 John P. Swensen, L.U. Odhner, Brandon Araki, and Aaron M. Dollar
Printing 3D Electrical Traces in Additive Manufactured Parts via Low Melting Temperature Metals, ASME Journal of Mechanisms and Robotics, vol. 7(2), 021004, 2015.

FabricationTechniques 2015 Ian M. Bullock, Thomas Feix, and Aaron M. Dollar
The Yale Human Grasping Data Set: Grasp, Object, and Task Data in Household and Machine Shop Environments, International Journal of Robotics Research, vol. 34(3), pp. 251-255, 2015.

HumanGraspingandManipulation RoboticGrasping 2015 Raymond R. Ma, Joseph T. Belter, and Aaron M. Dollar
Hybrid Deposition Manufacturing: Design Strategies for Multi-Material Mechanisms via 3D-Printing and Material Deposition, ASME Journal of Mechanisms and Robotics, vol. 7(2), 021002, 2015.

FabricationTechniques 2015 Hari Vasudevan, Aaron M. Dollar, and John B. Morrell
Design for Control of Wheeled Inverted Pendulum Platforms, ASME Journal of Mechanisms and Robotics, vol. 7(4), 041005, 2015.

MobileRobots 2015 Thomas Feix, Tracy L. Kivell, Emmanuelle Pouydebat, and Aaron M. Dollar
Estimating Thumb-Index Finger Precision Grip and Manipulation Potential in Extant and Fossil Primates, Journal of the Royal Society Interface, vol. 12, 20150176, 2015.

HumanGraspingandManipulation BiologicalHands 2015 Joseph T. Belter and Aaron M. Dollar
Strengthening of 3D Printed Fused Deposition Manufactured Parts using the Fill Composing Technique, PLOS ONE, vol. 10(4): e0122915, 2015.

FabricationTechniques 2015 Spencer B. Backus, Diego Sustaita, Lael U. Odhner and Aaron M. Dollar
Mechanical Analysis of Avian Feet: Multiarticular Muscles in Grasping and Perching, Royal Society Open Science, vol. 2(2), 140350, 2015.

BiologicalHands 2015 Pauline E.I. Pounds and Aaron M. Dollar
Stability of Helicopters in Compliant Contact under PD-PID Control IEEE Transactions on Robotics, vol. 30(6), pp. 1472-1486, 2014.

AerialManipulation 2014 Joseph T. Belter and Aaron M. Dollar
A Passively Adaptive Rotary-to-Linear Continuously Variable Transmission, IEEE Transactions on Robotics, vol. 30(5), pp. 1148- 1160, 2014.

UnderactuatedMechanisms Robust Robotic Mechanisms 2014 Thomas Feix, Ian M. Bullock, and Aaron M. Dollar
Analysis of Human Grasping Behavior: Correlating Tasks, Objects and Grasps, IEEE Transactions on Haptics, vol. 7(4), pp. 430-441, 2014.

HumanGraspingandManipulation RoboticGrasping 2014 Thomas Feix, Ian M. Bullock, and Aaron M. Dollar
Analysis of Human Grasping Behavior: Object Characteristics and Grasp Type, IEEE Transactions on Haptics, vol. 7(3), pp. 311-323, 2014.

HumanGraspingandManipulation RoboticGrasping 2014 John P. Swensen, Ahsan I. Nawroj, and Aaron M. Dollar
Active Cells for Redundant and Configurable Articulated Structures, Smart Materials and Structures, vol. 23(10), 104003, 2014.

CellularRoboticsandMaterials 2014 Lael U. Odhner, Raymond R. Ma, and Aaron M. Dollar
Exploring Dexterous Manipulation Workspaces with the iHY Hand, Journal of the Robotics Society of Japan, special issue on Ingenious Mechanisms in Robotics, vol. 32(4) pp. 318-322, 2014.

DexterousManipulation RoboticGrasping UnderactuatedMechanisms 2014 Kamran Shamaei, Massimo Cenciarini, Albert A. Adams, Karen N. Gregorczyk, Jeffrey M. Schiffman, and Aaron M. Dollar
Design and Evaluation of a Quasi-Passive Knee Exoskeleton for Investigation of Motor Adaptation in Lower Extremity Joints, IEEE Transactions on Biomedical Engineering, vol. 61(6), pp. 1809-1821, 2014.

LegBiomechanics ActiveOrthoses 2014 Spencer B. Backus and Aaron M. Dollar
Robust Resonant Frequency-Based Contact Detection with Applications in Robotic Reaching and Grasping, ASME/IEEE Transactions on Mechatronics, vol. 19(5), pp. 1552-1561, 2014.

Sensors Robust Robotic Mechanisms 2014 Lael U. Odhner, Leif P. Jentoft, Mark R. Claffee, Nicholas Corson, Yaroslav Tenzer, Raymond R. Ma, Martin Buehler, Robert Kohout, Robert D. Howe, and Aaron M. Dollar
A Compliant, Underactuated Hand for Robust Manipulation, International Journal of Robotics Research, vol. 33(5), pp. 736-752, 2014.

DexterousManipulation RoboticGrasping UnderactuatedMechanisms 2014 Julia Borras-Sol and Aaron M. Dollar
Actuation Torque Reduction in Parallel Robots using Joint Compliance, ASME Journal of Mechanisms and Robotics, vol. 6(2), 021006, 2014.

ParallelManipulators UnderactuatedMechanisms 2014 Kamran Shamaei, Paul Napolitano, and Aaron M. Dollar
Design and Functional Evaluation of a Quasi-Passive Complaint Stance Control Knee-Ankle-Foot Orthosis, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 22(2), pp. 258-268, 2014.

LegBiomechanics ActiveOrthoses 2014 Julia Borras-Sol and Aaron M. Dollar
Analyzing Dexterous Hands using a Parallel Robots Framework, Autonomous Robots, Special Issue on Modern Approaches for Dexterous Manipulation, Vol. 26 (1-2), pp. 169-180, 2014.

ParallelManipulators DexterousManipulation UnderactuatedMechanisms 2014 Leif Jentoft, Aaron M. Dollar, Christopher R. Wagner, and Robert D. Howe
Intrinsic Embedded Sensors for Polymeric Mechatronics: Flexure and Force Sensing, Sensors, Special Issue on Tactile Sensing, vol. 14(3), pp. 3861-3870, 2014.

Sensors 2014 Aaron M. Dollar
Classifying Human Hand Use and the Activities of Daily Living, The Human Hand as an Inspiration for Robot Hand Development, Springer International Publishing, pp. 201-216, 2014.

HumanGraspingandManipulation DexterousManipulation 2014 Raymond R. Ma and Aaron M. Dollar
Linkage-Based Analysis and Optimization of an Underactuated Planar Manipulator for In-Hand Manipulation, ASME Journal of Mechanisms and Robotics, vol. 6(1), 011002, 2014.

DexterousManipulation RoboticGrasping UnderactuatedMechanisms 2014 Ahsan I. Nawroj, John P. Swensen, and Aaron M. Dollar
Electrically Conductive Bulk Composites through a Contact-Connected Aggregate, PLOS ONE, vol. 8(12), e82260, 2013.

CellularRoboticsandMaterials 2013 Kamran Shamaei, Gregory S. Sawicki, and Aaron M. Dollar
Estimation of Quasi-Stiffness of the Human Hip in the Stance Phase of Walking, PLOS ONE 8(12): e81841, 2013.

LegBiomechanics 2013 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, vol. 6(3), pp. 296-308, 2013.

HumanGraspingandManipulation RoboticGrasping 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, vol. 5, Aug. 2013, 031006, 2013.

LeggedRobots 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, vol. 10(3), pp. 625-633, 2013.

HumanGraspingandManipulation DexterousManipulation 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, vol. 6(2), pp. 129-144, 2013.

HumanGraspingandManipulation DexterousManipulation 2013 Joseph T. Belter, J. Segil, Aaron M. Dollar, and R.F. Weir
The Mechanical Design and Performance Specifications of Anthropomorphic Prosthetic Hands: A Review, Journal of Rehabilitation Research and Development, vol. 50(5), pp.599-618, 2013.

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.

LegBiomechanics 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.

LegBiomechanics 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.

CellularRoboticsandMaterials 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.

ModelingofFlexuralJoints 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), 021013, 2012.

UnderactuatedMechanisms 2012 Pauline 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, vol. 33(1-2), pp.129-142, 2012.

AerialManipulation 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.

RoboticGrasping 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.

RoboticGrasping 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.

RoboticGrasping 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. 4(1) pp.144-158, 2008.

ActiveOrthoses 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.

RoboticGrasping 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. RoboticGrasping 2005
Refereed Conference Papers
Connor Pan, Vatsal V. Patel, Jonathan Gewirtzman, Ian Richardson, Ravish Dubey, Kelly Caylor, Aaron M. Dollar, and Elizabeth Forbes
Fluxbot: The Next Generation - Design and Validation of a Wireless, Open-Source Mechatronic CO2 Flux Sensing Chamber, proceedings of the 7th ACM SIGCAS/SIGCHI Conference on Computing and Sustainable Societies (COMPASS), 2024.

2024 Joshua T. Grace, Podshara Chanrungmaneekul, Kaiyu Hang, and Aaron M. Dollar
Direct Self-Identification of Inverse Jacobians for Dexterous Manipulation Through Particle Filtering, proceedings of the 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024.

DexterousManipulation 2024 Adam Seewald, Cameron J. Lerch, Marvin Chancan, Aaron M. Dollar, and Ian Abraham
Energy-aware Ergodic Search: Continuous Exploration for Multi-agent Systems with Battery Constraints, proceedings of the 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024.

MobileRobots 2024 Adam Seewald, Marvin Chancan, Connor M. McCann, Seonghoon Noh, Omeed Fallahi, Hector Castillo, Ian Abraham, and Aaron M. Dollar
RB5 Low-cost Explorer: Implementing Autonomous Long-term Exploration on Low-cost Robotic Hardware, proceedings of the 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024.

MobileRobots 2024 Podshara Chanrungmaneekul, Kejia Ren, Joshua T. Grace, Aaron M. Dollar, and Kaiyu Hang
Non-Parametric Self-Identification and Model Predictive Control of Dexterous In-Hand Manipulation, proceedings of the 2023 IEEE International Conference on Intelligent Robots and Systems (IROS), 2023.

DexterousManipulation 2023 Andrew S. Morgan, Quentin Bateux, Mei Hao, and Aaron M. Dollar
Towards Generalized Robot Assembly through Compliance-Enabled Contact Formations, proceedings of the 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023.

DexterousManipulation 2023 Vatsal V. Patel, Daniel Rakita, and Aaron M. Dollar
An Analysis of Unified Manipulation with Robot Arms and Dexterous Hands via Optimization-based Motion Synthesis, proceedings of the 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023.

DexterousManipulation 2023 Weiyao Wang, Andrew S. Morgan, Aaron M. Dollar, and Gregory D. Hager
Dynamical Scene Representation and Control with Keypoint-Conditioned Neural Radiance Field, proceedings of the 2022 IEEE International Conference on Automation Science and Engineering (CASE), 2022.

DexterousManipulation 2022 Vatsal V. Patel, and Aaron M. Dollar
Robot Hand based on a Spherical Parallel Mechanism for Within-Hand Rotations about a Fixed Point, proceedings of the 2021 IEEE International Conference on Intelligent Robots and Systems (IROS), 2021.

DexterousManipulation 2021 Andrew S. Morgan*, Bowen Wen*, Junchi Liang, Abdeslam Boularias, Aaron M. Dollar, and Kostas Bekris
Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks, proceedings of Robotics: Science and Systems, 2021.

DexterousManipulation 2021 Andrew S. Morgan*, Daljeet Nandha*, Georgia Chalvatzaki, Carlo D'Eramo, Aaron M. Dollar, and Jan Peters
Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning, proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021.

DexterousManipulation 2021 Neil M. Bajaj and Aaron M. Dollar
Design of a Large Workspace Passive Spherical Joint Via Contact Edge Design, proceedings of the ASME 2020 International Design Engineering Technical Conferences (IDETC), 2020.

Wrist Prosthetics 2020 Vatsal V. Patel, Andrew S. Morgan, and Aaron M. Dollar
Highly Underactuated Radial Gripper for Automated Planar Grasping and Part Fixturing, proceedings of the 2020 IEEE International Conference on Intelligent Robots and Systems (IROS), 2020.

Hand Grasping Caging 2020 Seonghoon Noh, and Aaron M. Dollar
Pinbot: A Walking Robot with Locking Pin Arrays for Passive Adaptability to Rough Terrains, proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020.

LeggedRobots MobileRobots 2020 Yuri Gloumakov, Joao Bimbo, and Aaron M. Dollar
Trajectory Control for 3 Degree of Freedom Wrist Prosthesis in Virtual Reality: A Pilot Study,IEEE proceedings of the International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020.

VirtualReality Prosthetics 2020 Jimin Hong and Aaron M. Dollar
Towards Understanding Complex Human Dexterous Manipulation Strategies: Kinematics of Gaiting-based Object Rotations, proceedings of the 42nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2020.

DexterousManipulation HumanGraspingandManipulation 2020 Seonghoon Noh and Aaron M. Dollar
Design of an Underactuated Legged Robot with Prismatic Legs for Passive Adaptability to Terrain, proceedings of the ASME 2019 International Design Engineering Technical Conferences (IDETC), Computers and Information in Engineering Conference (CIE), 2019.

LeggedRobots MobileRobots UnderactuatedMechanisms 2019 Andrew S. Morgan, Kaiyu Hang, Walter G. Bircher, and Aaron M. Dollar
A Data-Driven Framework for Learning Dexterous Manipulation of Unknown Objects, proceedings of the 2019 IEEE International Conference on Intelligent Robots and Systems (IROS), 2019.

Manipulation Learning 2019 Walter G. Bircher, Andrew S. Morgan, Kaiyu Hang, and Aaron M. Dollar
Energy Gradient-Based Graphs for Planning Within-Hand Caging Manipulation, proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2019.

Manipulation Caging 2019 Walter G. Bircher and Aaron M. Dollar
Design Principles and Optimization of a Planar Underactuated Hand for Caging Grasps, proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2019.

Grasping Caging 2019 Michael T. Leddy and Aaron M. Dollar
Stability Optimization of Two-Fingered Anthropomorphic Hands for Precision Grasping with a Single Actuator, proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2019.

Grasping Prosthetics 2019 Yuri Gloumakov, Adam J. Spiers, and Aaron M. Dollar
A Clustering Approach to Categorizing 7 Degree-of-Freedom Arm Motions during Activities of Daily Living, proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2019.

Grasping Prosthetics 2019 Andrew S. Morgan, Walter G. Bircher, Berk Calli, and Aaron M. Dollar
Learning from Transferable Mechanics Models: Generalizable Online Mode Detection in Underactuated Dexterous Manipulation, proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2019.

Manipulation Learning 2019 Michael T. Leddy and Aaron M. Dollar
Preliminary Design and Evaluation of a Single-Actuator Anthropomorphic Prosthetic Hand with Multiple Distinct Grasp Types, proceedings of the International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2018.

Hand Prosthetics 2018 Berk Calli, Andrew Kimmel, Kaiyu Hang, Kostas Bekris, and Aaron M. Dollar
Path Planning for Within-Hand Manipulation over Learned Representations of Safe States, International Symposium on Experimental Robotics (ISER), Buenos Aires, Argentina, 2018

Manipulation Compliant 2019 Connor M. McCann and Aaron M. Dollar
Analysis and Dimensional Synthesis of a Robotic Hand based on the Stewart-Gough Platform, proceedings of the 2018 ASME IDETC Mechanisms and Robotics Conference, 2018.

Hand Manipulation Design 2018 Neil Bajaj and Aaron M. Dollar
Design and Preliminary Evaluation of a 3-DOF Powered Prosthetic Wrist Device, proceedings of the International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2018.

Wrist Prosthetics 2018 Adam J. Spiers, Yuri Gloumakov, and Aaron M. Dollar
Examining the Impact of Wrist Mobility on Reaching Motion Compensation across a Discretely Sampled Workspace, proceedings of the International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2018.

Amputees Wrist 2018 Jillian Cochran, Adam J. Spiers, and Aaron M. Dollar
Analyzing At-Home Exfordance Use by Unilateral Upper-Limb Amputees, proceedings of the International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2018.

Amputees Exfordance 2018 Berk Calli, Krishnan Srinivasan, Andrew S. Morgan and Aaron M. Dollar
Learning Modes of Within-hand Manipulation, proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2018. Best Paper Award in Robot Manipulation - Finalist

Machine Learning Manipulation 2018 Neil Bajaj and Aaron M. Dollar
Kinematic Optimization of a Novel Partially Decoupled Three Degree of Freedom Hybrid Wrist Mechanism, proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2018.

Wrist Prosthetics 2018 Connor M. McCann and Aaron M. Dollar
Design of a Stewart Platform-Inspired Dexterous Hand for 6-DOF Within-Hand Manipulation, proceedings of the 2017 IEEE International Conference on Intelligent Robots and Systems (IROS), 2017.

DexterousManipulation UnderactuatedMechanisms 2017 Minas V. Liarokapis and Aaron M. Dollar
Deriving Dexterous, In-Hand Manipulation Primitives for Adaptive Robot Hands, proceedings of the 2017 IEEE International Conference on Intelligent Robots and Systems (IROS), 2017.

DexterousManipulation 2017 Ahsan I. Nawroj and Aaron M. Dollar
Evaluation of Regular Planar Meshes for Modular Active Cell Robots (MACROs), proceedings of the 2017 IEEE International Conference on Intelligent Robots and Systems (IROS), 2017.

CellularRoboticsandMaterials 2017 Minas V. Liarokapis and Aaron M. Dollar
Learning the Post-Contact Reconfiguration of the Hand Object System for Adaptive Grasping Mechanisms, proceedings of the 2017 IEEE International Conference on Intelligent Robots and Systems (IROS), 2017.

DexterousManipulation UnderactuatedMechanisms RoboticGrasping 2017 Spencer B. Backus and Aaron M. Dollar
Design Optimization of a Prismatic-Revolute-Revolute Joint Hand for Grasping from Unconstrained Vehicles, proceedings of the 2017 ASME IDETC Mechanisms and Robotics Conference, 2017.

AerialManipulation RoboticGrasping UnderactuatedMechanisms 2017 Jillian Cochran, Jimin Hong, and Aaron M. Dollar
Fusion Clutch: A Bi-Stable Latching Mechanism for Human-Safe Robots, proceedings of the 2017 ASME IDETC Mechanisms and Robotics Conference, 2017.

Human-SafeRobots 2017 Nicolas Rojas and Aaron M. Dollar
Distance-Based Kinematics of the Five-Oblique-Axis Thumb Model with Intersecting Axes at the Metacarpophalangeal Joint, proceedings of the 2017 IEEE International Conference on Rehabilitation Robotics (ICORR), 2017.

HumanGraspingandManipulation 2017 Adam J. Spiers, L. Resnick, and Aaron M. Dollar
Analyzing At-Home Prosthesis Use in Unilateral Upper-Limb Amputees to Inform Treatment & Device Design, proceedings of the 2017 IEEE International Conference on Rehabilitation Robotics (ICORR), 2017.

Prosthetics HumanGraspingandManipulation 2017 Walter G. Bircher, Aaron M. Dollar, and Nicolas Rojas
A Two-Fingered Robot Gripper with Large Object Reorientation Range, proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017. Best Paper Award in Robot Manipulation - Finalist

RoboticGrasping DexterousManipulation 2017 Berk Calli and Aaron M. Dollar
Vision-Based Model Predictive Control for Within-Hand Precision Manipulation with Underactuated Grippers, proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017.

DexterousManipulation UnderactuatedMechanisms 2017 Raymond R. Ma, Walter G. Bircher, and Aaron M. Dollar
Toward Robust, Whole-hand Caging Manipulation with Underactuated Hands, proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017.

DexterousManipulation 2017 Raymond R. Ma and Aaron M. Dollar
In-Hand Manipulation Primitives for a Minimal, Underactuated Gripper with Active Surfaces, proceedings of the ASME 2016 International Design Engineering Technical Conferences (IDETC), Computers and Information in Engineering Conference (CIE), 2016.

DexterousManipulation RoboticGrasping UnderactuatedMechanisms 2016 Yuri Gloumakov, Thomas Feix, Ian M. Bullock, and Aaron M. Dollar
Object Stability during Human Precision Fingertip Manipulation, proceedings of the Haptics Symposium, 2016.

HumanGraspingandManipulation 2016 Berk Calli and Aaron M. Dollar
Vision-based Precision Manipulation with Underactuated Hands: Simple and Effective Solutions for Dexterity, proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.

DexterousManipulation UnderactuatedMechanisms 2016 Zhe Xu, Connor M. McCann, and Aaron M. Dollar
Design of a Reconfigurable Modular Chain for Folding 3D Lattice Structures, proceedings of the ASME 2016 International Design Engineering Technical Conferences (IDETC), Mechanisms and Robotics Conference, 2016.

CellularRoboticsandMaterials 2016 Joseph T. Belter, Michael T. Leddy, Kevin D. Gemmell, and Aaron M. Dollar
Comparative Clinical Evaluation of the Yale Multigrasp Hand, proceedings of the 6th Annual IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016. Best Student Paper - Finalist

Prosthetics 2016 Kevin D. Gemmell, Michael T. Leddy, Joseph T. Belter, and Aaron M. Dollar
Investigation of a Passive Capstan Based Grasp Enhancement Feature in a Voluntary-Closing Prosthetic Terminal Device, proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Orlando, FL, 2016

Prosthetics 2016 Adam J. Spiers and Aaron M. Dollar
Outdoor Pedestrian Navigation Assistance with a Shape-Changing Haptic Interface and Comparison with a Vibrotactile Device, proceedings of the Haptics Symposium, 2016.

Haptics 2016 Ian M. Bullock and Aaron M. Dollar
A Two-fingered Underactuated Anthropomorphic Manipulator Based on Human Precision Manipulation Motions, proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2016

HumanGraspingandManipulation 2016 Adam J. Spiers, Janet van Der Linden, Maria Oshodi, and Aaron M. Dollar
Development and experimental validation of a minimalistic shape-changing haptic navigation device, proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2016.

Haptics 2016 Adam J. Spiers, Janet van Der Linden, Maria Oshodi, Sarah Wiseman, and Aaron M. Dollar
Flatland: An Immersive Theatre Experience Centered on Shape Changing Haptic Navigation Technology, proceedings of the IEEE World Haptics Conference, 2015.

Haptics 2015 Ahsan I. Nawroj, John P. Swensen, and Aaron M. Dollar
Design of Mesoscale Active Cells for Networked, Compliant Robotic Structures, proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

CellularRoboticsandMaterials 2015 Minas V. Liarokapis, Berk Calli, Adam J. Spiers, and Aaron M. Dollar
Unplanned, Model-Free, Single Grasp Object Classification with Underactuated Hands and Force Sensors, proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

RoboticGrasping Sensors UnderactuatedMechanisms 2015 Thomas Feix, Ian M. Bullock, Yuri Gloumakov, and Aaron M. Dollar
Rotational Ranges of Human Precision Manipulation When Grasping Objects With Two to Five Digits, proceedings of the 2015 International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015), Milan, Italy, 2015.

HumanGraspingandManipulation DexterousManipulation 2015 Michael T. Leddy, Joseph T. Belter, Kevin D. Gemmell, and Aaron M. Dollar
Lightweight Custom Composite Prosthetic Components Using an Additive Manufacturing-based Molding Technique, proceedings of the 2015 International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015), Milan, Italy, 2015.

Prosthetics FabricationTechniques 2015 Ian M. Bullock, Thomas Feix, and Aaron M. Dollar
Human Precision Manipulation Workspace: Effects of Object Size and Number of Fingers Used, proceedings of the 2015 International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015), Milan, Italy, 2015.

HumanGraspingandManipulation DexterousManipulation 2015 Neil Bajaj, Adam J. Spiers, and Aaron M. Dollar
State of the Art in Prosthetic Wrists: Commercial and Research Devices, proceedings of the 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), Singapore, 2015.

Prosthetics 2015 Berk Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M. Dollar
The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research, proceedings of the 2015 IEEE International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 2015.

DexterousManipulation RoboticGrasping Benchmarking 2015 Minas V. Liarokapis, Aaron M. Dollar, and Kostas Kyriokpoulos
Humanlike, Task-Specific Reaching and Grasping with Redundant Arms and Low-Complexity Hands, proceedings of the 2015 IEEE International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 2015.

RoboticGrasping 2015 Adam J. Spiers, Janet van der Linden, Maria Oshodi, and Aaron M. Dollar
First Validation of the Haptic Sandwich: A Shape Changing Handheld Haptic Navigation Aid, proceedings of the 2015 IEEE International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 2015.

Haptics 2015 Oren Y. Kanner, Nicolas Rojas, and Aaron M. Dollar
Design of a Passively-adaptive Three Degree-of-Freedom Multi-legged Robot with Underactuated Legs, proceedings of the 2015 ASME International Design Engineering Technical Conferences (IDETC), Mechanisms and Robotics Conference, 2015.

UnderactuatedMechanisms LeggedRobots 2015 Raymond R. Ma, Nicolas Rojas, and Aaron M. Dollar
Towards Predictable Precision Manipulation of Unknown Objects with Underactuated Fingers, proceedings of the 2015 IEEE International Conference on Reconfigurable Mechanisms and Robotics (ReMAR), 2015.

RoboticGrasping DexterousManipulation 2015 Raymond R. Ma, Adam J. Spiers, and Aaron M. Dollar
M2 Gripper: Extending the Dexterity of a Simple, Underactuated Gripper, proceedings of the 2015 IEEE International Conference on Reconfigurable Mechanisms and Robotics (ReMAR), 2015.

RoboticGrasping DexterousManipulation 2015 John P. Swensen, L.U. Odhner, Brandon Araki, and Aaron M. Dollar
Injected 3D Electrical Traces in Additive Manufactured Parts with Low Melting Temperature Metals, proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015.

FabricationTechniques 2015 Ian M. Bullock, Charlotte Guertler, and Aaron M. Dollar,
Patterned Compliance in Robotic Finger Pads for Versatile Surface Usage in Dexterous Manipulation, proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015.

DexterousManipulation 2015 Kamran Shamaei, Massimo Cenciarini, Albert Adams, Karen Gregorczyk, Jeffrey Schiffman, and Aaron M. Dollar,
Effects of Exoskeletal Stiffness in Parallel with the Knee on the Motion of the Human Body Center of Mass during Walking, proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015.

ActiveOrthoses LegBiomechanics 2015 Hari Vasudevan, Aaron M.Dollar, and John B. Morrell
Design of Cluster Geometries for Clusterwheel IP Robots: Obstacle size and Controllability, proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2014.

2014 Raymond R. Ma and Aaron M. Dollar
An Underactuated Hand for Efficient Finger-Gaiting-Based Dexterous Manipulation, proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2014.

RoboticGrasping DexterousManipulation 2014 Nicolas Rojas and Aaron M. Dollar
Characterization of the Precision Manipulation Capabilities of Robot Hands via the Continuous Group of Displacements, proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.

ParallelManipulators DexterousManipulation 2014 Spencer B. Backus, Lael U. Odhner, and Aaron M. Dollar
Design of Hands for Aerial Manipulation: Actuator Number and Routing for Grasping and Perching, proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.

AerialManipulation RoboticGrasping 2014 Joseph T. Belter and Aaron M. Dollar
Strengthening of 3D Printed Robotic Parts via Fill Compositing, proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.

FabricationTechniques Robust Robotic Mechanisms 2014 Ian M. Bullock, Thomas Feix, and Aaron M. Dollar
Analyzing Human Fingertip Usage in Dexterous Precision Manipulation: Implications for Robotic Finger Design, proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.

Human Manipulation DexterousManipulation 2014 Joseph T. Belter, Bo C. Reynolds, and Aaron M. Dollar
Grasp and Force Based Taxonomy of Split-Hook Prosthetic Terminal Devices proceedings of the 2014 International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2014), Chicago, IL, 2014.

Prosthetics 2014 Kamran Shamaei, Albert A. Adams, Massimo Cenciarini, Karen N. Gregorczyk, and Aaron M. Dollar
Preliminary Investigation of Effects of a Quasi-Passive Knee Exoskeleton on Gait Energetics , proceedings of the 2014 International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2014), Chicago, IL, 2014.

ActiveOrthoses LegBiomechanics 2014 John P. Swensen and Aaron M. Dollar
Optimization of Parallel Spring Antagonists for Nitinol Shape Memory Alloy Actuators, proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, May 31-June 7, 2014.

CellularRoboticsandMaterials 2014 John P. Swensen, Ahsan I. Nawroj, and Aaron M. Dollar
Simple, Scalable Active Cells for Articulated Robot Structures, proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, May 31-June 7, 2014.

CellularRoboticsandMaterials 2014 Oren Y. Kanner, Lael U. Odhner, and Aaron M. Dollar
The Design of Exactly Constrained Walking Robots, proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, May 31-June 7, 2014.

UnderactuatedMechanisms LeggedRobots 2014 Ian M. Bullock, Thomas Feix, and Aaron M. Dollar
Dexterous Workspace of Human Two- and Three-Fingered Precision Manipulation, proceedings of the 2014 IEEE Haptics Symposium, Houston, Texas, February 23-26, 2014.

HumanGraspingandManipulation 2014 Hari Vasudevan, Aaron M.Dollar, John B.Morrell
Energy-based limit cycle compensation for dynamically balancing wheeled inverted pendulum machines, Proceedings of ASME 6th Annual Dynamic Systems and Control Conference (DSCC-2013), Stanford, CA, USA, 2013.

2013 Joseph T. Belter and Aaron M. Dollar
Novel Differential Mechanism Enabling Two DOF from a Single Actuator: Application to a Prosthetic Hand, proceedings of the 2013 IEEE International Conference on Rehabilitation Robotics (ICORR), Seattle, Washington USA, 2013.

Prosthetics 2013 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.

LegBiomechanics 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.

ParallelManipulators DexterousManipulation 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.

HumanGraspingandManipulation 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.

RoboticGrasping 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.

CellularRoboticsandMaterials 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.

ParallelManipulators DexterousManipulation 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.

RoboticGrasping 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.

ParallelManipulators DexterousManipulation 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.

UnderactuatedMechanisms RoboticGrasping 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.

HumanGraspingandManipulation 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 International Design Engineering Technical Conferences (IDETC), Mechanisms and Robotics Conference, 2012.

UnderactuatedMechanisms LeggedRobots 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.

UnderactuatedMechanisms RoboticGrasping 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.

DexterousManipulation 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.

UnderactuatedMechanisms 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.

ModelingofFlexuralJoints 2011 Pauline 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.

AerialManipulation 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.

LegBiomechanics 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.

HumanGraspingandManipulation 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.

LegBiomechanics 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.

ActiveOrthoses 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.

DexterousManipulation HumanGraspingandManipulation 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.

UnderactuatedMechanisms 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.

UnderactuatedMechanisms 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.

RoboticGrasping 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.

DexterousManipulation 2011 Pauline 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.

AerialManipulation 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.

HumanGraspingandManipulation 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).

HumanGraspingandManipulation Benchmarking 2010 Pauline 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).

AerialManipulation 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).

ModelingofFlexuralJoints 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).

RoboticGrasping 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).

ModelingofFlexuralJoints 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).

ActiveOrthoses 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.

RoboticGrasping 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.

ActiveOrthoses 2007 Aaron M. Dollar and Robert D. Howe
The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study, proceedings of the 2007 IEEE International Conference on Rehabilitation Robotics (ICORR), Noordwijk, Netherlands, June 12-15, 2007. Winner of the Best Student Paper Award

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.

RoboticGrasping 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.

RoboticGrasping 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.

RoboticGrasping 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.

RoboticGrasping 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. RoboticGrasping 2003
Other Publications
Joao Bimbo, Andrew S. Morgan, and Aaron M. Dollar
Using Contacts During Robot Manipulation to Map and Reconstruct a Scene, Robotics: Science and Systems Workshop on "The Science of Bumping Into Things: Towards Robots That Aren’t Afraid of Contact", 2022.

DexterousManipulation 2022 Andrew S. Morgan
Learning to Visually Observe, Plan, and Control Compliant Robot In-Hand Manipulation, Robotics: Science and Systems Pioneers Wokshop, 2022.

DexterousManipulation 2022 Yuri Gloumakov, Joao Bimbo, and Aaron M. Dollar
Trajectory Control for a Myoelectric Prosthetic Wrist, Myoelectric Controls Symposium, 2020.

VirtualReality 2020 Michael T. Leddy and Aaron M. Dollar
The Yale Multigrasp Prosthetic Hand (abstract). Proceedings of the Myoelectric Control and Upper Limb Prosthesis Symposium (MEC), 2017. 2nd Place Student Paper / Presentation

CellularRoboticsandMaterials 2017 Ahsan I. Nawroj, John P. Swensen, and Aaron M. Dollar
Development of Active-Cells for Macroscopically Deformable Structures, proceedings of the ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), 2014.

CellularRoboticsandMaterials 2014 Ahsan I. Nawroj, John P. Swensen, and Aaron M. Dollar
Design of a Bulk Conductive Polymer using Embedded Macroscopic Copper Cells, proceedings of the ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), 2013.

CellularRoboticsandMaterials 2013 Kamran Shamaei
Compliant Knee Exoskeletons and Their Effects on Gait Biomechanics Ph.D. Dissertation, Yale University, December, 2014

ActiveOrthoses LegBiomechanics 2014 Robert D. Howe, Aaron M. Dollar, and Mark Claffee
Robots get a Grip, IEEE Spectrum, pp. 42-47, Dec. 2014.

RoboticGrasping DexterousManipulation 2014 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.

RoboticGrasping 2006 Aaron M. Dollar
A Robust Robotic Hand for Unstructured Environments, 2006 International Design Engineering Technical Conferences (IDETC), Philadelphia, PA, Sept. 10-13, 2006. First Place, 2006 ASME Student Mechanism Design Competition, Graduate Division

RoboticGrasping 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
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