Balkcom @ Dartmouth

I'm an associate professor in the Dartmouth Computer Science department. I graduated with a Ph.D. in robotics from Carnegie Mellon University in 2004; my research advisor was Matt Mason. I was awarded an NSF CAREER grant in 2006, the Dartmouth McLane Family Fellowship in 2010, and the Dartmouth John M. Manley Huntington Award in 2010. I wrote an interactive Python textbook for CS 1, and with Tom Cormen and Pamela Fox, the Khan Academy algorithms tutorials. I co-direct the Reality and Robotics Lab.

News

2018.11.06: Josiah Putman has been awarded a Neukom Research scholarship to work on efficient representations of robot motion, and Christina Lu has been awarded a Junior Research scholarship to work on the Teaching Human Motion project.
2018.09.10: Xia Zhou, Devin Balkcom, David Kraemer, and Weifu Wang have been awarded an NSF grant to study devices and methods for teaching human motion.
2018.07.26: Devin Balkcom, Emily Whiting, and Weifu Wang have been awarded an NSF grant to study Computational Joinery, a construction method using interlocking puzzle pieces.

Research

I'm interested in efficient robot designs and motion. Research highlights include exact time-optimal motion for mobile robots, robot origami, knot-tying, laundry folding, and construction of interlocking structures. See the project pages for more detail:

Tying: simple devices that tie knots
Folding: robot origami and laundry folding
Assembly: building robust structures from smaller components
Geodesics: efficient motion and planning for robots
Human motion: technology for teaching humans how to move

Here are a few videos from our youtube channel:

Publications

2019

Reconstructing Human Joint Motion with Computational Fabrics

Ruibo Liu, Qijia Shao, Siqi Wang, Christina Ru, Devin Balkcom, Xia Zhou.

Proc. ACM Interact. Mob. Wearable Ubiquitous Technol., 3(1):19:1–19:26, March 2019.

@article{liu2019,
    author = "Liu, Ruibo and Shao, Qijia and Wang, Siqi and Ru, Christina and Balkcom, Devin and Zhou, Xia",
    title = "Reconstructing Human Joint Motion with Computational Fabrics",
    journal = "Proc. ACM Interact. Mob. Wearable Ubiquitous Technol.",
    issue_date = "March 2019",
    volume = "3",
    number = "1",
    month = "March",
    year = "2019",
    issn = "2474-9567",
    pages = "19:1–19:26",
    articleno = "19",
    numpages = "26"
}

2018

Interlocking block assembly

Yinan Zhang, Devin Balkcom.

Algorithmic Foundation of Robotics (WAFR), December 2018.

paper (4MB pdf)

@inproceedings{Zhang2018-interlocking,
    author = "Zhang, Yinan and Balkcom, Devin",
    title = "Interlocking block assembly",
    booktitle = "Algorithmic Foundation of Robotics ({WAFR})",
    year = "2018",
    month = "December"
}

Time-optimal motion of spatial Dubins systems

Weifu Wang, Devin Balkcom.

Algorithmic Foundation of Robotics (WAFR), December 2018.

paper (935KB pdf)

@inproceedings{Wang2018-time-optimal,
    author = "Wang, Weifu and Balkcom, Devin",
    title = "Time-optimal motion of spatial {D}ubins systems",
    booktitle = "Algorithmic Foundation of Robotics ({WAFR})",
    year = "2018",
    month = "December"
}

Assembling and disassembling planar structures with divisible and atomic components

Yinan Zhang, Emily Whiting, Devin Balkcom.

IEEE Transactions on Automation Science and Engineering, 15(3):945 – 954, July 2018.

@article{Zhang2018a,
    author = "Zhang, Yinan and Whiting, Emily and Balkcom, Devin",
    title = "Assembling and disassembling planar structures with divisible and atomic components",
    journal = "{IEEE} Transactions on Automation Science and Engineering",
    year = "2018",
    month = "July",
    volume = "15",
    number = "3",
    pages = "945 – 954",
    doi = "10.1109/TASE.2018.2809595"
}

The Dubins car and other arm-like mobile robots

Devin Balkcom, Andrei Furtuna, Weifu Wang.

IEEE International Conference on Robotics and Automation (ICRA), May 2018.

paper (827KB pdf)

@inproceedings{Balkcom2018,
    author = "Balkcom, Devin and Furtuna, Andrei and Wang, Weifu",
    title = "The Dubins car and other arm-like mobile robots",
    booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
    year = "2018",
    month = "May"
}

Knot grasping, folding, and re-grasping

Weifu Wang, Devin Balkcom.

International Journal of Robotics Research, 37(2-3):378 – 399, February 2018.

@article{Wang2018,
    author = "Wang, Weifu and Balkcom, Devin",
    title = "Knot grasping, folding, and re-grasping",
    journal = "International Journal of Robotics Research",
    year = "2018",
    month = "February",
    volume = "37",
    number = "2-3",
    pages = "378 – 399",
    doi = "10.1177/0278364918754676"
}

2017

Rearranging agents in a small space using global controls

Yinan Zhang, Xiaolei Chen, Hang Qi, Devin Balkcom.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

paper (652KB pdf)

@inproceedings{Zhang2017,
    author = "Zhang, Yinan and Chen, Xiaolei and Qi, Hang and Balkcom, Devin",
    title = "Rearranging agents in a small space using global controls",
    booktitle = "{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})",
    year = "2017"
}

A tactile shirt for teaching human motion tasks

Paritosh Kavathekar, Devin Balkcom.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

paper (3MB pdf)

@inproceedings{Kavathekar2017,
    author = "Kavathekar, Paritosh and Balkcom, Devin",
    title = "A tactile shirt for teaching human motion tasks",
    booktitle = "{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})",
    year = "2017"
}

Java for coders

Devin Balkcom.

On-line at www.educative.io, 2017.

@misc{javaCoders,
    author = "Balkcom, Devin",
    title = "Java for coders",
    howpublished = "On-line at www.educative.io",
    year = "2017",
    keywords = "onlinebook",
    note = "22 pages"
}

2016

Constraint-based robot knot tying

Weifu Wang.

Ph.D. Dissertation, Dartmouth Computer Science, May 2016.

paper (26MB pdf)

@phdthesis{WangPhD,
    author = "Wang, Weifu",
    title = "{Constraint-based robot knot tying}",
    school = "Dartmouth Computer Science",
    address = "Hanover, NH",
    number = "TR2016-792",
    year = "2016",
    month = "May",
    url = "http://www.cs.dartmouth.edu/reports/TR2016-792.pdf",
    comment = "Ph.D Dissertation. Advisor: Devin Balkcom",
    keywords = "phdthesis"
}

Implications of Motion Planning: Optimality and k-survivability

Yu-Han Lyu.

Ph.D. Dissertation, Dartmouth Computer Science, March 2016.

paper (7MB pdf)

@phdthesis{LyuPhD,
    author = "Lyu, Yu-Han",
    title = "{Implications of Motion Planning: Optimality and k-survivability}",
    school = "Dartmouth Computer Science",
    address = "Hanover, NH",
    number = "TR2016-791",
    year = "2016",
    month = "March",
    URL = "http://www.cs.dartmouth.edu/reports/TR2016-791.pdf",
    comment = "Ph.D Dissertation. Advisor: Devin J. Balkcom.",
    keywords = "phdthesis"
}

Assembling and disassembling planar structures with divisible and atomic components

Yinan Zhang, Emily Whiting, Devin Balkcom.

Algorithmic Foundations of Robotics (WAFR), 2016.

paper (978KB pdf)

@inproceedings{Zhang2016b,
    author = "Zhang, Yinan and Whiting, Emily and Balkcom, Devin",
    title = "Assembling and disassembling planar structures with divisible and atomic components",
    booktitle = "Algorithmic Foundations of Robotics ({WAFR})",
    year = "2016"
}

Re-configuring knots to simplify manipulation

Weifu Wang, Devin Balkcom.

Algorithmic Foundations of Robotics (WAFR), 2016.

paper (29MB pdf)

@inproceedings{Wang2016c,
    author = "Wang, Weifu and Balkcom, Devin",
    title = "Re-configuring knots to simplify manipulation",
    booktitle = "Algorithmic Foundations of Robotics ({WAFR})",
    year = "2016"
}

Interlocking structure assembly with voxels

Yinan Zhang, Devin Balkcom.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.

paper (3MB pdf)

@inproceedings{Zhang2016a,
    author = "Zhang, Yinan and Balkcom, Devin",
    title = "Interlocking structure assembly with voxels",
    booktitle = "{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})",
    year = "2016"
}

Grasping and folding knots

Weifu Wang, Devin Balkcom.

IEEE International Conference on Robotics and Automation (ICRA), 2016.

@inproceedings{Wang2016b,
    author = "Wang, Weifu and Balkcom, Devin",
    title = "Grasping and folding knots",
    booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
    year = "2016",
    doi = "10.1109/ICRA.2016.7487549"
}

Towards tying knots precisely

Weifu Wang, Devin Balkcom.

IEEE International Conference on Robotics and Automation (ICRA), 2016.

Finalist for best manipulation paper.

paper (19MB pdf)

@inproceedings{Wang2016a,
    author = "Wang, Weifu and Balkcom, Devin",
    title = "Towards tying knots precisely",
    booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
    year = "2016"
}

Optimal trajectories for planar rigid bodies with switching costs

Yu-Han Lyu, Devin Balkcom.

International Journal of Robotics Research, 35(5):454–475, 2016.

paper (1MB pdf)

@article{Lyu2016c,
    author = "Lyu, Yu-Han and Balkcom, Devin",
    title = "Optimal trajectories for planar rigid bodies with switching costs",
    journal = "International Journal of Robotics Research",
    year = "2016",
    volume = "35",
    number = "5",
    pages = "454–475"
}

k-survivability: diversity and survival of expendable robots

Yu-Han Lyu, Yining Chen, Devin Balkcom.

Robotics and Automation Letters, 1(2):1164 – 1171, 2016.

paper (4MB pdf)

@article{Lyu2016a,
    author = "Lyu, Yu-Han and Chen, Yining and Balkcom, Devin",
    title = "k-survivability: diversity and survival of expendable robots",
    journal = "Robotics and Automation Letters",
    year = "2016",
    volume = "1",
    number = "2",
    pages = "1164 – 1171",
    note = "Also published as ICRA article by the same name."
}

2015

Towards arranging and tightening knots and unknots with fixtures

Weifu Wang, Devin Balkcom.

IEEE Transactions on Automation Science and Engineering, 12(4):1318–1331, 2015.

paper (26MB pdf)

@article{Wang2015c,
    author = "Wang, Weifu and Balkcom, Devin",
    title = "Towards arranging and tightening knots and unknots with fixtures",
    journal = "IEEE Transactions on Automation Science and Engineering",
    year = "2015",
    volume = "12",
    number = "4",
    pages = "1318–1331"
}

Metric cells: towards complete search for optimal trajectories

Devin Balkcom, Ajay Kannan, Yu-Han Lyu, Weifu Wang, Yinan Zhang.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

paper (953KB pdf)

@inproceedings{Balkcom2015,
    author = "Balkcom, Devin and Kannan, Ajay and Lyu, Yu-Han and Wang, Weifu and Zhang, Yinan",
    title = "Metric cells: towards complete search for optimal trajectories",
    year = "2015",
    booktitle = "{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})"
}

An online method for tight-tolerance insertion tasks for string and rope

Weifu Wang, Dmitry Berenson, Devin Balkcom.

IEEE International Conference on Robotics and Automation (ICRA), 2015.

paper (3MB pdf)

@inproceedings{Wang2015b,
    author = "Wang, Weifu and Berenson, Dmitry and Balkcom, Devin",
    title = "An online method for tight-tolerance insertion tasks for string and rope",
    booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
    year = "2015"
}

A fast online spanner for roadmap construction

Weifu Wang, Devin Balkcom, Amit Chakrabarti.

International Journal of Robotics Research, 34(11):1418–1432, 2015.

paper (974KB pdf)

@article{Wang2015a,
    author = "Wang, Weifu and Balkcom, Devin and Chakrabarti, Amit",
    title = "A fast online spanner for roadmap construction",
    journal = "International Journal of Robotics Research",
    year = "2015",
    volume = "34",
    number = "11",
    pages = "1418–1432"
}

Algorithms Tutorials

Devin Balkcom, Tom Cormen.

On-line at Khan Academy, 2015.

@misc{khanAlgorithms,
    author = "Balkcom, Devin and Cormen, Tom",
    title = "Algorithms Tutorials",
    howpublished = "On-line at Khan Academy",
    year = "2015",
    note = "60 pages"
}

2014

The bench mover's problem: minimum-time trajectories, with cost for switching between controls

Yu-Han Lyu, Andrei A. Furtuna, Weifu Wang, Devin Balkcom.

IEEE International Conference on Robotics and Automation (ICRA), 2014.

publisher's version

@inproceedings{Lyu2014b,
    author = "Lyu, Yu{-}Han and Furtuna, Andrei A. and Wang, Weifu and Balkcom, Devin",
    title = "The bench mover's problem: minimum-time trajectories, with cost for switching between controls",
    booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
    year = "2014",
    pages = "106–112",
    doi = "10.1109/ICRA.2014.6906596"
}

Knot-tying with four-piece fixtures

Matthew P. Bell, Weifu Wang, Jordan Kunzika, Devin Balkcom.

International Journal of Robotics Research, 33(11):1481–1489, 2014.

@article{Bell2014,
    author = "Bell, Matthew P. and Wang, Weifu and Kunzika, Jordan and Balkcom, Devin",
    title = "Knot-tying with four-piece fixtures",
    journal = "International Journal of Robotics Research",
    year = "2014",
    volume = "33",
    number = "11",
    pages = "1481–1489",
    doi = "10.1177/0278364914532217"
}

Towards arranging and tightening knots and unknots with fixtures

Weifu Wang, Matthew Bell, Devin Balkcom.

Algorithmic Foundations of Robotics (WAFR), 2014.

Invited to TASE journal; superceded by 2015 TASE article.

@inproceedings{Wang2014,
    author = "Wang, Weifu and Bell, Matthew and Balkcom, Devin",
    title = "Towards arranging and tightening knots and unknots with fixtures",
    booktitle = "Algorithmic Foundations of Robotics ({WAFR})",
    year = "2014"
}

Optimal trajectories for planar rigid bodies with switching costs

Yu-Han Lyu, Devin Balkcom.

Algorithmic Foundations of Robotics (WAFR), 2014.

Invited to IJRR journal; superceded by 2016 IJRR article.

@inproceedings{Lyu2014a,
    author = "Lyu, Yu-Han and Balkcom, Devin",
    title = "Optimal trajectories for planar rigid bodies with switching costs",
    booktitle = "Algorithmic Foundations of Robotics ({WAFR})",
    year = "2014"
}

2013

A fast streaming spanner algorithm for incrementally constructing sparse roadmaps

Weifu Wang, Devin Balkcom, Amit Chakrabarti.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.

Superceded by 2015 IJRR article.

publisher's version

@inproceedings{Wang2013,
    author = "Wang, Weifu and Balkcom, Devin and Chakrabarti, Amit",
    title = "A fast streaming spanner algorithm for incrementally constructing sparse roadmaps",
    booktitle = "{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})",
    year = "2013",
    pages = "1257–1263",
    doi = "10.1109/IROS.2013.6696511"
}

Rigid 2D space-filling folds of unbroken linear chains

Zhong Li, Devin Balkcom, Aaron M. Dollar.

IEEE International Conference on Robotics and Automation (ICRA), 2013.

@inproceedings{Li2013,
    author = "Li, Zhong and Balkcom, Devin and Dollar, Aaron M.",
    title = "Rigid 2D space-filling folds of unbroken linear chains",
    booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
    year = "2013",
    pages = "551–557",
    doi = "10.1109/ICRA.2013.6630628"
}

Structure and geometry of minimum-time trajectories for planar rigid bodies

Andrei A. Furtuna, Weifu Wang, Yu-Han Lyu, Devin Balkcom.

Allerton Conference on Communication, Control, and Computing, 2013.

publisher's version

@inproceedings{Furtuna2013,
    author = "Furtuna, Andrei A. and Wang, Weifu and Lyu, Yu-Han and Balkcom, Devin",
    title = "Structure and geometry of minimum-time trajectories for planar rigid bodies",
    booktitle = "Allerton Conference on Communication, Control, and Computing",
    year = "2013",
    pages = "1584–1591",
    doi = "10.1109/Allerton.2013.6736717"
}

2012

Sampling extremal trajectories for planar rigid bodies

Weifu Wang, Devin Balkcom.

Algorithmic Foundations of Robotics (WAFR), 2012.

@inproceedings{Wang2012b,
    author = "Wang, Weifu and Balkcom, Devin",
    title = "Sampling extremal trajectories for planar rigid bodies",
    booktitle = "Algorithmic Foundations of Robotics ({WAFR})",
    year = "2012",
    pages = "331–347",
    doi = "10.1007/978-3-642-36279-8\_20"
}

Analytical time-optimal trajectories for an omni-directional vehicle

Weifu Wang, Devin Balkcom.

IEEE International Conference on Robotics and Automation (ICRA), 2012.

@inproceedings{Wang2012a,
    author = "Wang, Weifu and Balkcom, Devin",
    title = "Analytical time-optimal trajectories for an omni-directional vehicle",
    booktitle = "{IEEE} International Conference on Robotics and Automation ({ICRA})",
    year = "2012",
    pages = "4519–4524",
    doi = "10.1109/ICRA.2012.6224602",
    num = "22"
}

2011

Assisting Human Motion-Tasks with Minimal, Real-time Feedback

Paritosh A. Kavathekar.

Ph.D. Dissertation, Dartmouth Computer Science, June 2011.

paper (2MB pdf)

@phdthesis{KavathekarPhD,
    author = "Kavathekar, Paritosh A.",
    title = "{Assisting Human Motion-Tasks with Minimal, Real-time Feedback }",
    school = "Dartmouth Computer Science",
    address = "Hanover, NH",
    number = "TR2011-695",
    year = "2011",
    month = "June",
    URL = "http://www.cs.dartmouth.edu/reports/TR2011-695.pdf",
    comment = "Ph.D Dissertation. Advisor: Devin Balkcom",
    keywords = "phdthesis"
}

Minimum time kinematic trajectories for self-propelled rigid bodies in the unobstructed plane

Andrei A. Furtuna.

Ph.D. Dissertation, Dartmouth Computer Science, June 2011.

paper (2MB pdf)

@phdthesis{FurtunaPhD,
    author = "Furtuna, Andrei A.",
    title = "{Minimum time kinematic trajectories for self-propelled rigid bodies in the unobstructed plane}",
    school = "Dartmouth Computer Science",
    address = "Hanover, NH",
    number = "TR2011-694",
    year = "2011",
    month = "June",
    URL = "http://www.cs.dartmouth.edu/reports/TR2011-694.pdf",
    comment = "Ph.D Dissertation. Advisor: Devin Balkcom.",
    keywords = "phdthesis"
}

Minimum-time trajectories for kinematic mobile robots and other planar rigid bodies with finite control sets

Andrei A. Furtuna, Wenyu Lu, Weifu Wang, Devin Balkcom.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.

@inproceedings{Furtuna2011,
    author = "Furtuna, Andrei A. and Lu, Wenyu and Wang, Weifu and Balkcom, Devin",
    title = "Minimum-time trajectories for kinematic mobile robots and other planar rigid bodies with finite control sets",
    booktitle = "{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})",
    year = "2011",
    pages = "4321–4328",
    doi = "10.1109/IROS.2011.6094923"
}

Project Python: an interactive introduction to Computer Science

Devin Balkcom.

On-line at projectpython.net, 2011.

@misc{projectpython,
    author = "Balkcom, Devin",
    title = "Project Python: an interactive introduction to Computer Science",
    howpublished = "On-line at projectpython.net",
    year = "2011",
    note = "170 pages"
}

2010

Flexible Object Manipulation

Matthew P. Bell.

Ph.D. Dissertation, Dartmouth Computer Science, February 2010.

paper (2MB pdf)

@phdthesis{BellPhD,
    author = "Bell, Matthew P.",
    title = "{Flexible Object Manipulation}",
    school = "Dartmouth Computer Science",
    address = "Hanover, NH",
    number = "TR2010-663",
    year = "2010",
    month = "February",
    URL = "http://www.cs.dartmouth.edu/reports/TR2010-663.pdf",
    comment = "Ph.D. Dissertation. Advisor: Devin Balkcom.",
    keywords = "phdthesis"
}

Characterizing the space of interatomic distance distribution functions consistent with solution scattering data

Paritosh A. Kavathekar, Bruce A. Craig, Alan M. Friedman, Chris Bailey-Kellogg, Devin Balkcom.

Journal of Bioinformatics and Computational Biology, 8(2):315–335, 2010.

@article{Kavathekar2010,
    author = "Kavathekar, Paritosh A. and Craig, Bruce A. and Friedman, Alan M. and Bailey{-}Kellogg, Chris and Balkcom, Devin",
    title = "Characterizing the space of interatomic distance distribution functions consistent with solution scattering data",
    journal = "Journal of Bioinformatics and Computational Biology",
    year = "2010",
    volume = "8",
    number = "2",
    pages = "315–335",
    doi = "10.1142/S0219720010004781"
}

Grasping non-stretchable cloth polygons

Matthew P. Bell, Devin Balkcom.

International Journal of Robotics Research, 29(6):775–784, 2010.

@article{Bell2010,
    author = "Bell, Matthew P. and Balkcom, Devin",
    title = "Grasping non-stretchable cloth polygons",
    journal = "International Journal of Robotics Research",
    year = "2010",
    volume = "29",
    number = "6",
    pages = "775–784",
    doi = "10.1177/0278364909344634"
}

Generalizing Dubins curves: minimum-time sequences of body-fixed rotations and translations in the plane

Andrei A. Furtuna, Devin Balkcom.

International Journal of Robotics Research, 29(6):703–726, 2010.

@article{Furtuna2010,
    author = "Furtuna, Andrei A. and Balkcom, Devin",
    title = "Generalizing {D}ubins curves: minimum-time sequences of body-fixed rotations and translations in the plane",
    journal = "International Journal of Robotics Research",
    year = "2010",
    volume = "29",
    number = "6",
    pages = "703–726",
    doi = "10.1177/0278364910365093"
}

2009

Minimum wheel-rotation paths for differential-drive mobile robots

Hamid Reza Chitsaz, Steven M. LaValle, Devin Balkcom, Matthew T. Mason.

International Journal of Robotics Research, 28(1):66–80, 2009.

@article{Chitsaz2009,
    author = "Chitsaz, Hamid Reza and LaValle, Steven M. and Balkcom, Devin and Mason, Matthew T.",
    title = "Minimum wheel-rotation paths for differential-drive mobile robots",
    journal = "International Journal of Robotics Research",
    year = "2009",
    volume = "28",
    number = "1",
    pages = "66–80",
    doi = "10.1177/0278364908096750",
    num = "17"
}

2008

Generalizing the Dubins and Reeds-Shepp cars: fastest paths for bounded-velocity mobile robots

Andrei A. Furtuna, Devin Balkcom, Hamid Reza Chitsaz, Paritosh A. Kavathekar.

IEEE International Conference on Robotics and Automation (ICRA), 2008.

@inproceedings{Furtuna2008,
    author = "Furtuna, Andrei A. and Balkcom, Devin and Chitsaz, Hamid Reza and Kavathekar, Paritosh A.",
    title = "Generalizing the {D}ubins and {R}eeds-{S}hepp cars: fastest paths for bounded-velocity mobile robots",
    booktitle = "{IEEE} International Conference on Robotics and Automation ({ICRA})",
    year = "2008",
    pages = "2533–2539",
    doi = "10.1109/ROBOT.2008.4543594"
}

Knot tying with single piece fixtures

Matthew P. Bell, Devin Balkcom.

IEEE International Conference on Robotics and Automation, (ICRA), 2008.

@inproceedings{Bell2008,
    author = "Bell, Matthew P. and Balkcom, Devin",
    title = "Knot tying with single piece fixtures",
    booktitle = "{IEEE} International Conference on Robotics and Automation, ({ICRA})",
    year = "2008",
    pages = "379–384",
    doi = "10.1109/ROBOT.2008.4543237",
    num = "15"
}

Robotic origami folding

Devin Balkcom, Matthew T. Mason.

International Journal of Robotics Research, 27(5):613–627, 2008.

@article{Balkcom2008,
    author = "Balkcom, Devin and Mason, Matthew T.",
    title = "Robotic origami folding",
    journal = "International Journal of Robotics Research",
    year = "2008",
    volume = "27",
    number = "5",
    pages = "613–627",
    doi = "10.1177/0278364908090235"
}

2006

Dynamic mobile robots for emergency surveillance and situational awareness

Laura Ray, James Joslin, John Murphy, Jon Barlow, Devin Brande, Devin Balkcom.

IEEE International Workshop on Safety, Security, and Rescue Robotics, 2006.

paper (3MB pdf)

@inproceedings{Ray2006,
    author = "Ray, Laura and Joslin, James and Murphy, John and Barlow, Jon and Brande, Devin and Balkcom, Devin",
    title = "Dynamic mobile robots for emergency surveillance and situational awareness",
    booktitle = "IEEE International Workshop on Safety, Security, and Rescue Robotics",
    year = "2006"
}

Folding paper shopping bags

Devin Balkcom, Erik Demaine, Martin Demaine, John Ochsendorf, Zhong You.

International Meeting of Origami Science, Math, and Education (OSME), 2006.

paper (374KB pdf)

@inproceedings{Balkcom2006c,
    author = "Balkcom, Devin and Demaine, Erik and Demaine, Martin and Ochsendorf, John and You, Zhong",
    title = "Folding paper shopping bags",
    booktitle = "International Meeting of Origami Science, Math, and Education (OSME)",
    pages = "315–334",
    year = "2006"
}

The minimum-time trajectories for an omni-directional vehicle

Devin Balkcom, Paritosh A. Kavathekar, Matthew T. Mason.

Algorithmic Foundation of Robotics (WAFR), 2006.

publisher's version

@inproceedings{Balkcom2006b,
    author = "Balkcom, Devin and Kavathekar, Paritosh A. and Mason, Matthew T.",
    title = "The minimum-time trajectories for an omni-directional vehicle",
    booktitle = "Algorithmic Foundation of Robotics ({WAFR})",
    year = "2006",
    pages = "343–358",
    doi = "10.1007/978-3-540-68405-3\_22",
    num = "12",
    note = "Superceded by IJRR article."
}

Computation reuse for rigid-body dynamics

Anne Loomis, Devin Balkcom.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2006.

@inproceedings{LoomisB06,
    author = "Loomis, Anne and Balkcom, Devin",
    title = "Computation reuse for rigid-body dynamics",
    booktitle = "{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})",
    year = "2006",
    pages = "4181–4186",
    doi = "10.1109/IROS.2006.281910",
    num = "11"
}

Minimum wheel-rotation Paths for differential-drive mobile robots

Hamid Reza Chitsaz, Steven M. LaValle, Devin Balkcom, Matthew T. Mason.

IEEE International Conference on Robotics and Automation (ICRA), 2006.

publisher's version

@inproceedings{Chitsaz2006,
    author = "Chitsaz, Hamid Reza and LaValle, Steven M. and Balkcom, Devin and Mason, Matthew T.",
    title = "Minimum wheel-rotation Paths for differential-drive mobile robots",
    booktitle = "{IEEE} International Conference on Robotics and Automation ({ICRA})",
    year = "2006",
    pages = "1616–1623",
    doi = "10.1109/ROBOT.2006.1641938",
    note = "Superceded by IJRR paper."
}

Time-optimal trajectories for an omni-directional vehicle

Devin Balkcom, Paritosh A. Kavathekar, Matthew T. Mason.

International Journal of Robotics Research, 25(10):985–999, 2006.

@article{Balkcom2006a,
    author = "Balkcom, Devin and Kavathekar, Paritosh A. and Mason, Matthew T.",
    title = "Time-optimal trajectories for an omni-directional vehicle",
    journal = "International Journal of Robotics Research",
    year = "2006",
    volume = "25",
    number = "10",
    pages = "985–999",
    doi = "10.1177/0278364906069166"
}

2004

Introducing robotic origami folding

Devin Balkcom, Matthew T. Mason.

IEEE International Conference on Robotics and Automation, 2004.

@inproceedings{Balkcom2004,
    author = "Balkcom, Devin and Mason, Matthew T.",
    title = "Introducing robotic origami folding",
    booktitle = "{IEEE} International Conference on Robotics and Automation",
    year = "2004",
    pages = "3245–3250",
    doi = "10.1109/ROBOT.2004.1308754"
}

2002

Extremal trajectories for bounded velocity mobile robots

Devin Balkcom, Matthew T. Mason.

IEEE International Conference on Robotics and Automation (ICRA), 2002.

@inproceedings{Balkcom2002e,
    author = "Balkcom, Devin and Mason, Matthew T.",
    title = "Extremal trajectories for bounded velocity mobile robots",
    booktitle = "{IEEE} International Conference on Robotics and Automation ({ICRA})",
    year = "2002",
    pages = "1747–1752",
    doi = "10.1109/ROBOT.2002.1014794"
}

A sensorless insertion strategy for rigid planar parts

Devin Balkcom, E. J. Gottlieb, Jeffrey C. Trinkle.

IEEE International Conference on Robotics and Automation (ICRA), 2002.

@inproceedings{Balkcom2002d,
    author = "Balkcom, Devin and Gottlieb, E. J. and Trinkle, Jeffrey C.",
    title = "A sensorless insertion strategy for rigid planar parts",
    booktitle = "{IEEE} International Conference on Robotics and Automation ({ICRA})",
    year = "2002",
    pages = "882–887",
    doi = "10.1109/ROBOT.2002.1013468",
    note = "Superceded by IJRR article."
}

Computing wrench cones for planar contact tasks

Devin Balkcom, Jeffrey C. Trinkle, E. J. Gottlieb.

IEEE International Conference on Robotics and Automation (ICRA), 2002.

@inproceedings{Balkcom2002c,
    author = "Balkcom, Devin and Trinkle, Jeffrey C. and Gottlieb, E. J.",
    title = "Computing wrench cones for planar contact tasks",
    booktitle = "{IEEE} International Conference on Robotics and Automation ({ICRA})",
    year = "2002",
    pages = "869–875",
    url = "http://www.cs.dartmouth.edu/ devin/papers/djb-icra02wc.pdf",
    doi = "10.1109/ROBOT.2002.1013466"
}

Computing wrench cones for planar rigid body contact tasks

Devin Balkcom, Jeffrey C. Trinkle.

International Journal of Robotics Research, 21(12):1053–1066, 2002.

@article{Balkcom2002b,
    author = "Balkcom, Devin and Trinkle, Jeffrey C.",
    title = "Computing wrench cones for planar rigid body contact tasks",
    journal = "International Journal of Robotics Research",
    year = "2002",
    volume = "21",
    number = "12",
    pages = "1053–1066",
    doi = "10.1177/0278364902021012003"
}

Time optimal trajectories for bounded velocity differential drive vehicles

Devin Balkcom, Matthew T. Mason.

International Journal of Robotics Research, 21(3):199–218, 2002.

@article{Balkcom2002a,
    author = "Balkcom, Devin and Mason, Matthew T.",
    title = "Time optimal trajectories for bounded velocity differential drive vehicles",
    journal = "International Journal of Robotics Research",
    year = "2002",
    volume = "21",
    number = "3",
    pages = "199–218",
    doi = "10.1177/027836402320556403"
}

2001

Progress in desktop robotics

Devin Balkcom, Matthew T. Mason.

The Eleventh Yale Workshop on Adaptive and Learning Systems, January 2001.

paper (852KB pdf)

@inproceedings{Balkcom2001,
    author = "Balkcom, Devin and Mason, Matthew T.",
    title = "Progress in desktop robotics",
    booktitle = "The Eleventh Yale Workshop on Adaptive and Learning Systems",
    year = "2001",
    month = "January",
    keywords = "mobipulator, mobile manipulation, desktop robotics"
}

2000

Time optimal trajectories for bounded velocity differential drive robots

Devin Balkcom, Matthew T. Mason.

IEEE International Conference on Robotics and Automation (ICRA), 2000.

@inproceedings{Balkcom2000b,
    author = "Balkcom, Devin and Mason, Matthew T.",
    title = "Time optimal trajectories for bounded velocity differential drive robots",
    booktitle = "{IEEE} International Conference on Robotics and Automation ({ICRA})",
    year = "2000",
    pages = "2499–2504",
    doi = "10.1109/ROBOT.2000.846404"
}

Extremal trajectories for bounded velocity differential drive robots

Devin Balkcom, Matthew T. Mason.

IEEE International Conference on Robotics and Automation (ICRA), 2000.

@inproceedings{Balkcom2000a,
    author = "Balkcom, Devin and Mason, Matthew T.",
    title = "Extremal trajectories for bounded velocity differential drive robots",
    booktitle = "{IEEE} International Conference on Robotics and Automation ({ICRA})",
    year = "2000",
    pages = "2479–2484",
    doi = "10.1109/ROBOT.2000.846401"
}

Last updated 5/2019. © Devin Balkcom