Balkcom @ Dartmouth

2023

Automatic Generation and Teaching of Dance Lessons from Video

Julien Blanchet, Megan E. Hillis, Yeongji Lee, Qijia Shao, Xia Zhou, David J. M. Kraemer, Devin J. Balkcom.

Proceedings of the 24th International Workshop on Mobile Computing Systems and Applications, HotMobile 2023, 2023.

publisher's version

@inproceedings{Blanchet2023,
    author = "Blanchet, Julien and Hillis, Megan E. and Lee, Yeongji and Shao, Qijia and Zhou, Xia and Kraemer, David J. M. and Balkcom, Devin J.",
    title = "Automatic Generation and Teaching of Dance Lessons from Video",
    booktitle = "Proceedings of the 24th International Workshop on Mobile Computing Systems and Applications, HotMobile 2023",
    pages = "145",
    publisher = "{ACM}",
    year = "2023",
    url = "https://doi.org/10.1145/3572864.3581592",
    doi = "10.1145/3572864.3581592"
}

2022

Soft Lattice Modules That Behave Independently and Collectively

Luyang Zhao, Yijia Wu, Julien Blanchet, Maxine Perroni-Scharf, Xiaonan Huang, Joran W. Booth, Rebecca Kramer-Bottiglio, Devin J. Balkcom.

IEEE Robotics Autom. Lett., 7(3):5942–5949, 2022.

publisher's version

BibTeX

@article{Zhao2022,
    author = "Zhao, Luyang and Wu, Yijia and Blanchet, Julien and Perroni{-}Scharf, Maxine and Huang, Xiaonan and Booth, Joran W. and Kramer{-}Bottiglio, Rebecca and Balkcom, Devin J.",
    title = "Soft Lattice Modules That Behave Independently and Collectively",
    journal = "{IEEE} Robotics Autom. Lett.",
    volume = "7",
    number = "3",
    pages = "5942–5949",
    year = "2022",
    url = "https://doi.org/10.1109/LRA.2022.3160611",
    doi = "10.1109/LRA.2022.3160611",
    timestamp = "Mon, 08 Aug 2022 21:23:17 +0200"
}

An Equivalent Time-Optimal Problem to find Energy-Optimal Paths for Skid-Steer Rovers

Meysam Effati, Krzysztof Skonieczny, Tim Freiman, Devin J. Balkcom.

IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2022, 2022.

publisher's version

BibTeX

@inproceedings{Effati2022,
    author = "Effati, Meysam and Skonieczny, Krzysztof and Freiman, Tim and Balkcom, Devin J.",
    title = "An Equivalent Time-Optimal Problem to find Energy-Optimal Paths for Skid-Steer Rovers",
    booktitle = "{IEEE/RSJ} International Conference on Intelligent Robots and Systems, {IROS}, 2022",
    pages = "13341–13346",
    publisher = "{IEEE}",
    year = "2022",
    url = "https://doi.org/10.1109/IROS47612.2022.9982069",
    doi = "10.1109/IROS47612.2022.9982069",
    timestamp = "Tue, 03 Jan 2023 14:18:59 +0100"
}

2021

Interlocking Block Assembly With Robots

Yinan Zhang, Yotto Koga, Devin J. Balkcom.

IEEE Trans Autom. Sci. Eng., 18(3):902–916, 2021.

publisher's version

BibTeX

@article{Zhang2021,
    author = "Zhang, Yinan and Koga, Yotto and Balkcom, Devin J.",
    title = "Interlocking Block Assembly With Robots",
    journal = "{IEEE} Trans Autom. Sci. Eng.",
    volume = "18",
    number = "3",
    pages = "902–916",
    year = "2021",
    url = "https://doi.org/10.1109/TASE.2021.3069742",
    doi = "10.1109/TASE.2021.3069742",
    timestamp = "Tue, 13 Jul 2021 13:26:51 +0200"
}

Droplet: Towards Autonomous Underwater Assembly of Modular Structures

Samuel E. Lensgraf, Amy Sniffen, Zachary Zitzewitz, Evan Honnold, Jennifer Jain, Weifu Wang, Alberto Quattrini Li, Devin J. Balkcom.

Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021, 2021.

publisher's version

BibTeX

@inproceedings{Lensgraf2021,
    author = "Lensgraf, Samuel E. and Sniffen, Amy and Zitzewitz, Zachary and Honnold, Evan and Jain, Jennifer and Wang, Weifu and Li, Alberto Quattrini and Balkcom, Devin J.",
    title = "Droplet: Towards Autonomous Underwater Assembly of Modular Structures",
    booktitle = "Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021",
    year = "2021",
    url = "https://doi.org/10.15607/RSS.2021.XVII.054",
    doi = "10.15607/RSS.2021.XVII.054"
}

Falling Into Place: Drop Assembly of Interlocking Puzzles

Amy Sniffen, Zezhou Sun, Samuel E. Lensgraf, Emily Whiting, Alberto Quattrini Li, Devin Balkcom.

Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021, 2021.

publisher's version

BibTeX

@inproceedings{Sniffen2021,
    author = "Sniffen, Amy and Sun, Zezhou and Lensgraf, Samuel E. and Whiting, Emily and Li, Alberto Quattrini and Balkcom, Devin",
    title = "Falling Into Place: Drop Assembly of Interlocking Puzzles",
    booktitle = "Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021",
    year = "2021",
    url = "https://doi.org/10.15607/RSS.2021.XVII.055",
    doi = "10.15607/RSS.2021.XVII.055"
}

Soft Lattice Modules that Behave Independently and Collectively

Luyang Zhao, Yijia Wu, Julien Blanchet, Maxine Perroni-Scharf, Xiaonan Huang, Joran W. Booth, Rebecca Kramer-Bottiglio, Devin J. Balkcom.

Robotics and Automation Letters, 2021.

BibTeX

@article{Zhao2021,
    author = "Zhao, Luyang and Wu, Yijia and Blanchet, Julien and Perroni{-}Scharf, Maxine and Huang, Xiaonan and Booth, Joran W. and Kramer{-}Bottiglio, Rebecca and Balkcom, Devin J.",
    title = "Soft Lattice Modules that Behave Independently and Collectively",
    journal = "Robotics and Automation Letters",
    year = "2021",
    url = "https://arxiv.org/abs/2110.11485",
    note = "To appear."
}

Proof-of-Concept Designs for the Assembly of Modular, Dynamic Tensegrities into Easily Deployable Structures

P Meng, W Wang, D Balkcom, K E Bekris.

None, 2021.

BibTeX

@conference{Meng2021,
    author = "Meng, P and Wang, W and Balkcom, D and Bekris, K E",
    title = "Proof-of-Concept Designs for the Assembly of Modular, Dynamic Tensegrities into Easily Deployable Structures",
    year = "2021",
    booktitle = "ASCE Earth and Space Conference 2021",
    address = "Seattle, WA",
    keywords = "",
    tppubtype = "conference"
}

2020

Teaching American Sign Language in Mixed Reality

Qijia Shao, Amy Sniffen, Julien Blanchet, Megan E. Hillis, Xinyu Shi, Themistoklis K. Haris, Jason Liu, Jason Lamberton, Melissa Malzkuhn, Lorna C. Quandt, James Mahoney, David J. M. Kraemer, Xia Zhou, Devin J. Balkcom.

Proc. ACM Interact. Mob. Wearable Ubiquitous Technol., 4(4):152:1–152:27, 2020.

publisher's version

BibTeX

@article{Shao2020,
    author = "Shao, Qijia and Sniffen, Amy and Blanchet, Julien and Hillis, Megan E. and Shi, Xinyu and Haris, Themistoklis K. and Liu, Jason and Lamberton, Jason and Malzkuhn, Melissa and Quandt, Lorna C. and Mahoney, James and Kraemer, David J. M. and Zhou, Xia and Balkcom, Devin J.",
    title = "Teaching American Sign Language in Mixed Reality",
    journal = "Proc. {ACM} Interact. Mob. Wearable Ubiquitous Technol.",
    volume = "4",
    number = "4",
    pages = "152:1–152:27",
    year = "2020",
    url = "https://doi.org/10.1145/3432211",
    doi = "10.1145/3432211",
    timestamp = "Tue, 12 Jan 2021 17:19:54 +0100",
    biburl = "https://dblp.org/rec/journals/imwut/ShaoSBHSHLLMQMK20.bib",
    bibsource = "dblp computer science bibliography, https://dblp.org"
}

PuzzleFlex: kinematic motion of chains with loose joints

Samuel Lensgraf, Karim Itani, Yinan Zhang, Zezhou Sun, Yijia Wu, Alberto Quattrini Li, Bo Zhu, Emily Whiting, Weifu Wang, Devin J. Balkcom.

2020 IEEE International Conference on Robotics and Automation, ICRA 2020, 2020.

publisher's version

BibTeX

@inproceedings{Lensgraf2020,
    author = "Lensgraf, Samuel and Itani, Karim and Zhang, Yinan and Sun, Zezhou and Wu, Yijia and Li, Alberto Quattrini and Zhu, Bo and Whiting, Emily and Wang, Weifu and Balkcom, Devin J.",
    title = "PuzzleFlex: kinematic motion of chains with loose joints",
    booktitle = "2020 {IEEE} International Conference on Robotics and Automation, {ICRA} 2020",
    pages = "6730–6737",
    publisher = "{IEEE}",
    year = "2020",
    url = "https://doi.org/10.1109/ICRA40945.2020.9196854",
    doi = "10.1109/ICRA40945.2020.9196854"
}

PLRC*: A piecewise linear regression complex for approximating optimal robot motion

Luyang Zhao, Josiah Putman, Weifu Wang, Devin J. Balkcom.

IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, 2020.

publisher's version

BibTeX

@inproceedings{Zhao2020,
    author = "Zhao, Luyang and Putman, Josiah and Wang, Weifu and Balkcom, Devin J.",
    title = "PLRC*: {A} piecewise linear regression complex for approximating optimal robot motion",
    booktitle = "{IEEE/RSJ} International Conference on Intelligent Robots and Systems, {IROS} 2020",
    pages = "6681–6688",
    year = "2020",
    url = "https://doi.org/10.1109/IROS45743.2020.9341312",
    doi = "10.1109/IROS45743.2020.9341312",
    timestamp = "Tue, 16 Feb 2021 19:08:20 +0100"
}

Piecewise linear regressions for approximating distance metrics

Josiah Putman, Lisa Oh, Luyang Zhao, Evan Honnold, Galen Brown, Weifu Wang, Devin J. Balkcom.

CoRR, abs/2002.12466, 2020.

BibTeX

@inproceedings{Putman2020,
    author = "Putman, Josiah and Oh, Lisa and Zhao, Luyang and Honnold, Evan and Brown, Galen and Wang, Weifu and Balkcom, Devin J.",
    title = "Piecewise linear regressions for approximating distance metrics",
    booktitle = "CoRR",
    volume = "abs/2002.12466",
    year = "2020",
    eprint = "2002.12466"
}

2019

Towards Physically Safe Reinforcement Learning under Supervision

Yinan Zhang, Devin J. Balkcom, Haoxiang Li.

arXiv, abs/1901.06576, 2019.

paper (1MB pdf)

BibTeX

@misc{Zhang2019-reinforcement,
    author = "Zhang, Yinan and Balkcom, Devin J. and Li, Haoxiang",
    title = "Towards Physically Safe Reinforcement Learning under Supervision",
    volume = "abs/1901.06576",
    year = "2019",
    url = "http://arxiv.org/abs/1901.06576",
    howpublished = "arXiv",
    archivePrefix = "arXiv",
    eprint = "1901.06576"
}

PuzzleFlex: kinematic motion of chains with loose joints

Samuel Lensgraf, Karim Itani, Yinan Zhang, Zezhou Sun, Yijia Wu, Alberto Quattrini Li, Bo Zhu, Emily Whiting, Weifu Wang, Devin Balkcom.

arXiv, 2019.

paper (4MB pdf)

BibTeX

@misc{Lensgraf2019-puzzleflex,
    author = "Lensgraf, Samuel and Itani, Karim and Zhang, Yinan and Sun, Zezhou and Wu, Yijia and Li, Alberto Quattrini and Zhu, Bo and Whiting, Emily and Wang, Weifu and Balkcom, Devin",
    title = "PuzzleFlex: kinematic motion of chains with loose joints",
    year = "2019",
    eprint = "1906.08708",
    howpublished = "arXiv",
    archivePrefix = "arXiv",
    primaryClass = "cs.RO"
}

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, 2019.

paper (16MB pdf)

BibTeX

@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",
    year = "2019",
    issn = "2474-9567",
    pages = "19:1–19:26",
    articleno = "19",
    numpages = "26"
}

LLDM: Locally linear distance maps for robot motion planning: Extended Abstract

Josiah Putman, Lisa Oh, Luyang Zhao, Evan Honnold, Galen Brown, Weifu Wang, Devin J. Balkcom.

2019 International Symposium on Multi-Robot and Multi-Agent Systems, MRS, 2019.

BibTeX

@inproceedings{Putman2019,
    author = "Putman, Josiah and Oh, Lisa and Zhao, Luyang and Honnold, Evan and Brown, Galen and Wang, Weifu and Balkcom, Devin J.",
    title = "{LLDM:} Locally linear distance maps for robot motion planning: Extended Abstract",
    booktitle = "2019 International Symposium on Multi-Robot and Multi-Agent Systems, {MRS}",
    year = "2019"
}

Interlocking structure design and assembly

Yinan Zhang.

Ph.D. Dissertation, Dartmouth Computer Science, 2019.

paper (15MB pdf)

BibTeX

@phdthesis{ZhangPhD,
    author = "Zhang, Yinan",
    title = "{Interlocking structure design and assembly }",
    school = "Dartmouth Computer Science",
    address = "Hanover, NH",
    number = "TR2019-874",
    year = "2019",
    url = "http://www.cs.dartmouth.edu/reports/TR2019-874.pdf",
    comment = "Ph.D Dissertation. Advisor: Devin Balkcom",
    keywords = "phdthesis"
}

2018

Interlocking block assembly

Yinan Zhang, Devin Balkcom.

Algorithmic Foundation of Robotics (WAFR), December 2018.

paper (4MB pdf)

BibTeX

@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)

BibTeX

@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.

BibTeX

@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)

BibTeX

@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.

BibTeX

@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)

BibTeX

@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)

BibTeX

@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.

BibTeX

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

2016

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)

BibTeX

@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)

BibTeX

@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)

BibTeX

@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.

BibTeX

@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)

BibTeX

@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)

BibTeX

@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)

BibTeX

@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."
}

Implications of Motion Planning: Optimality and k-survivability

Yu-Han Lyu.

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

paper (7MB pdf)

BibTeX

@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",
    URL = "http://www.cs.dartmouth.edu/reports/TR2016-791.pdf",
    comment = "Ph.D Dissertation. Advisor: Devin J. Balkcom.",
    keywords = "phdthesis"
}

Constraint-based robot knot tying

Weifu Wang.

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

paper (26MB pdf)

BibTeX

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

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)

BibTeX

@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)

BibTeX

@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)

BibTeX

@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)

BibTeX

@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.

BibTeX

@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

BibTeX

@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.

BibTeX

@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.

BibTeX

@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.

BibTeX

@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

BibTeX

@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.

BibTeX

@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

BibTeX

@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.

BibTeX

@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.

BibTeX

@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

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.

BibTeX

@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"
}

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

Paritosh A. Kavathekar.

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

paper (2MB pdf)

BibTeX

@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",
    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, 2011.

paper (2MB pdf)

BibTeX

@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",
    URL = "http://www.cs.dartmouth.edu/reports/TR2011-694.pdf",
    comment = "Ph.D Dissertation. Advisor: Devin Balkcom.",
    keywords = "phdthesis"
}

Project Python: an interactive introduction to Computer Science

Devin Balkcom.

On-line at projectpython.net, 2011.

BibTeX

@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

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.

BibTeX

@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.

BibTeX

@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.

BibTeX

@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"
}

Flexible Object Manipulation

Matthew P. Bell.

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

paper (2MB pdf)

BibTeX

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

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.

BibTeX

@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.

BibTeX

@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.

BibTeX

@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.

BibTeX

@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)

BibTeX

@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)

BibTeX

@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

BibTeX

@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.

BibTeX

@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

BibTeX

@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.

BibTeX

@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.

BibTeX

@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.

BibTeX

@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.

BibTeX

@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.

BibTeX

@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.

BibTeX

@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.

BibTeX

@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, 2001.

paper (852KB pdf)

BibTeX

@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",
    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.

BibTeX

@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.

BibTeX

@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"
}

Research

Publications