Source: https://www.modlabupenn.org/publications/
Timestamp: 2019-04-20 10:24:10+00:00

Document:
G. Li, B. Gabrich, D. Saldana, J. Das, V. Kumar, and M. Yim, “Modquad-vi: a vision-based self-assembling modular quadrotor,” in Ieee international conference on robotics and automation 2019 (to be presented), Montreal, Canada, 2019.
J. Paulos and M. Yim, “Cyclic blade pitch control without a swashplate for small helicopters,” Journal of guidance, control, and dynamics, vol. 41, iss. 3, p. 689–700, 2018.
J. Paulos and M. Yim, “Scalability of cyclic control without blade pitch actuators,” in Aiaa atmospheric flight mechanics conference, aiaa scitech forum, 2018.
J. Paulos and M. Yim, “Emulating a fully actuated aerial vehicle using two actuators,” in 2018 ieee international conference on robotics and automation, Brisbane, Australia, 2018.
J. Paulos and M. Yim, “Cyclic blade pitch control for small uav without a swashplate,” in Aiaa atmospheric flight mechanics conference, aiaa scitech forum, 2017.
D. Carroll and M. Yim, “Truss optimization with random piecewise linear beams,” in 2017 asme international mechanical engineering congress & exposition (imece), Tampa, Florida, 2017.
M. Piccoli and M. Yim, “Passive stability of a single actuator micro aerial vehicle,” in Robotics and automation (icra), 2014 ieee international conference on, 2014.
B. T. Gabrich, L. N. Assis, A. M. de Morais, and J. R. Sodré, “Study of the throtle valve flow rate to adapt a diesel engine for operation with ethanol,” in Sae international congress, São Paulo, Brazil, 2014.
J. Seo, M. Yim, and V. Kumar, “Assembly planning for planar structures of a brick wall pattern with rectangular modular robots,” in Proc. of 9th ieee intl. conf. on automation science and engineering, Madison, WI, 2013.
J. Davey, N. Kwok, and M. Yim, “Emulating self-reconfigurable robots – design of the smores system,” in Intelligent robots and systems (iros), 2012 ieee/rsj international conference on, Vilamoura, Algarve, Portugal, 2012, pp. 4464-4469.
J. Davey, J. Sastra, M. Piccoli, and M. Yim, “Modlock: a manual connector for reconfigurable modular robots,” in Intelligent robots and systems (iros), 2012 ieee/rsj international conference on, Vilamoura, Algarve, Portugal, 2012, pp. 3217-3222.
J. Kapadia and M. Yim, “Design and performance of nubbed fluidizing jamming grippers,” in Robotics and automation (icra), 2012 ieee international conference on, 2012, pp. 5301-5306.
J. Sastra, R. S., and M. Yim, “Softer legs allow a modular hexapod to run faster,” in Adaptive mobile robotics: proceedings of the 15th international conference on climbing and walking robots and the support technologies for mobile machines, Baltimore, MD, 2012.
P. J. White, S. Latscha, S. Schlaefer, and M. Yim, “Dielectric elastomer bender actuator applied to modular robotics,” in Intelligent robots and systems (iros), 2011 ieee/rsj international conference on, 2011, pp. 408-413.
J. Keller, K. Daniilidis, V. Kumar, C. Taylor, and M. Yim, “Robotics research in safety, security, and rescue at the university of pennsylvania grasp lab: a retrospective on a national science foundation cooperative research center,” in Ans eprrsd – 13th robotics & remote systems for hazardous environments 11th emergency preparedness & response, 2011.
K. C. Galloway, J. E. Clark, M. Yim, and D. Koditschek, “Experimental investigations into the role of passive variable compliant legs for dynamic robotic locomotion,” in Robotics and automation (icra), 2011 ieee international conference on, 2011.
P. J. White and M. Yim, “Towards dielectric elastomer actuation for modular robots,” in Proc. of the ieee intl. conf. on robotics and automation workshop on biologically inspired actuation, 2011.
M. Yim, J. Sastra, and S. Kim, “The robot etudes,” in Proc. of the ieee intl. conf. on robotics and automation workshop on robots and art, Shanghai, China, 2011.
P. J. White, S. Revzen, C. E. Thorne, and M. Yim, “A general stiffness model for programmable matter and modular robotic structures,” Robotica, vol. 29, iss. Special Issue 01, pp. 103-121, 2011.
M. Yim and J. Laucharoen, “Towards small robot aided victim manipulation,” Journal of intelligent & robotic systems, vol. 64, pp. 119-139, 2011.
C. E. Thorne, P. J. White, and M. Yim, “On the development of a piezoelectric-actuated compliant brake mechanism for modular robots,” Asme conference proceedings, vol. 2011, iss. 54839, pp. 561-568, 2011.
V. Orekhov, D. Hong, and M. Yim, “Mechanics of a fluid filled everting toroidal robot for propulsion and going through a hole,” in Proc. of asme intl. design engineering technical conferences & computers and information in engineering conference idetc/cie, 2010.
C. E. Thorne, N. Skorodinski, H. Tipton, T. Van Schoyck, and M. Yim, “Brake design for dynamic modular robots,” in Robotics and automation (icra), 2010 ieee international conference on, 2010, pp. 3135-3140.
K. C. Galloway, R. Jois, and M. Yim, “Factory floor: a robotically reconfigurable construction platform,” in Robotics and automation (icra), 2010 ieee international conference on, 2010, pp. 2467-2472.
P. J. White, M. L. Posner, and M. Yim, “Strength analysis of miniature folded right angle tetrahedron chain programmable matter,” in Robotics and automation (icra), 2010 ieee international conference on, 2010, pp. 2785-2790.
D. Arney, S. Fischmeister, I. Lee, Y. Takashima, and M. Yim, “Model-based programming of modular robots,” in Proc. of the ieee intl. symp. on object/component/service-oriented real-time distributed computing, Carmona, Spain, 2010.
S. R. Gray, N. J. Zeichner, V. Kumar, and M. Yim, “A simulator for origami-inspired self-reconfigurable robots,” , 2010.
S. R. Gray, J. Seo, P. J. White, N. J. Zeichner, M. Yim, and V. Kumar, “A toolchain for the design and simulation of foldable programmable matter,” Asme conference proceedings, vol. 2010, iss. 44106, pp. 1167-1176, 2010.
J. Seo, S. R. Gray, V. Kumar, and M. Yim, “Reconfiguring chain-type modular robots based on the carpenters rule theorem,” in Proc. of the ninth intl. workshop on the algorithmic foundations of robotics (wafr), 2010.
T. W. Mather and M. Yim, “Modular configuration design for a controlled fall,” in Intelligent robots and systems, 2009. iros 2009. ieee/rsj international conference on, 2009, pp. 5905-5910.
M. Park and M. Yim, “Distributed control and communication fault tolerance for the ckbot,” in Asme/iftomm international conference on reconfigurable mechanisms and robots (remar 2009), London, UK, 2009, pp. 682-688.
J. Sastra, S. Chitta, and M. Yim, “Dynamic rolling for a modular loop robot,” The international journal of robotics research, vol. 28, iss. 6, p. 758, 2009.
P. J. White and M. Yim, “Reliable External Actuation for Full Reachability in Robotic Modular Self-Reconfiguration,” The international journal of robotics research, p. 13–23, 2009.
K. C. Galloway, J. E. Clark, and D. E. Koditschek, “Design of a tunable stiffness composite leg for dynamic locomotion,” in Proc. of asme intl. design engineering technical conferences & computers and information in engineering conference idetc/cie, 2009.
P. J. White, C. E. Thorne, and M. Yim, “Right Angle Tetrahedron Chain Externally-actuated Testbed (RATCHET): A Shape Changing System,” in Proc. of asme intl. design engineering technical conferences & computers and information in engineering conference idetc/cie, San Diego, CA, USA, 2009.
M. Yim, T. Cragg, and S. -K. Hayat, “Towards small robot aided victim manipulation,” in Safety, security rescue robotics (ssrr), 2009 ieee international workshop on, 2009, pp. 1-6.
J. Sastra, W. G. Bernal-Heredia, J. Clark, and M. Yim, “A biologically-inspired dynamic legged locomotion with a modular reconfigurable robot,” , Ann Arbor, Michigan, USA, 2008.
M. Park, S. Chitta, A. Teichman, and M. Yim, “Automatic configuration recognition methods in modular robots,” International journal for robotics research, vol. 27, iss. 3-4, pp. 403-421, 2008.
P. J. White and M. Yim, “Reliable external actuation for extending reachable robotic modular self-reconfiguration,” in Proc. of intl. symp. on experimental robotics, Athens, Greece, 2008.
N. Ayanian, P. J. White, A. Halasz, M. Yim, and V. Kumar, “Stochastic Control for Self-Assembly of XBots,” in Proc. of asme intl. design engineering technical conferences & computers and information in engineering conference idetc/cie, New York, NY, USA, 2008.
M. Yim, B. Shirmohammadi, and D. Benelli, “Amphibious modular robot astrobiologist,” in Proc. of spie, unmanned systems technology ix, 2007.
M. Yim, W. Shen, B. Salemi, M. Moll, H. Lipson, E. Klavins, and G. Chirikjian, “Modular self-reconfigurable robot systems; challenges and opportunities for the future,” Ieee robotics and automation magazine, 2007.
J. Sastra, S. Chitta, and M. Yim, “Dynamic rolling for a modular loop robot,” Intl. j. of robotics research (invited), 2007.
K. C. Galloway, J. E. Clark, and D. E. Koditschek, “Design of a multi-directional variable stiffness leg for dynamic runnings,” in Asme int. mech. eng. congress and exposition, 2007.
S. Chitta, M. Karabas, K. Galloway, and V. Kumar, “Robotrikke: design, modeling and experimentation with a robotic trikke,” in Proc. of asme intl. design engineering technical conferences & computers and information in engineering conference idetc/cie, 2007.
B. Shirmohammadi, C. J. Taylor, M. Yim, J. Sastra, and M. Park, “Using smart cameras to localize self-assembling modular robots,” in Proc. of acm/ieee interantional conference on distributed smart cameras (icdsc07), 2007.
P. J. White and M. Yim, “Scalable modular self-reconfigurable robots using external actuation,” in Proceedings of ieee/rsj international conference on intelligent robots and systems, San Diego, CA, 2007, pp. 2773-2778.
M. Yim, B. Shirmohammadi, J. Sastra, M. Park, M. Dugan, and C. J. Taylor, “Towards robotic self-reassembly after explosion,” in Video proc. of the ieee/rsj intl. conf. on intelligent robots and systems (iros), San Diego CA, 2007.
M. Yim, B. Shirmohammadi, J. Sastra, M. Park, M. Dugan, and C. J. Taylor, “Robustness and self-repair in modular robots,” in Proc. of the ieee/rsj intl. conf. on intelligent robots and systems (iros), San Diego CA, 2007.
M. Park, S. Chitta, A. Teichman, and M. Yim, “Automatic configuration recognition methods in modular robots,” Intl j. of robotics research (invited), 2006.
M. Yim, R. Hinden, C. Conley, C. K. Wang, K. Roufas, and C. Eldershaw, “Open loop climbing with modular robots,” in Video proc. of the ieee intl. conf. on robotics and automation (icra), Orlando, FL, 2006.
M. Yim, “Astronauts must program robots,” in Proc. ~aaai spring symposium: to boldly go where no human-robot team has gone before, Stanford CA, 2006.
J. Sastra, S. Chitta, and M. Yim, “Dynamic rolling for a modular loop robot,” in Proc. of intl. symp. on experimental robotics, Rio de Janeiro Brazil, 2006.
M. Yim, “Earthbound robotic astrobiology: first experiments,” in Proc. of 3rd intl. conf. on ubiquitous robots and ambient intelligence (urai 2006), Seoul Korea, 2006.
W-M. Shen, J. Bogdanowicz, W. Chun, M. Yim, P. M. Will, M. Sims, S. Colombano, D. Kortenkamp, S. Vanderzyl, E. Baumgartener, and T. J., “Superbots: modular, multifunctional, reconfigurable robotic system for space exploration,” in Proc. of leag-2005 conference on lunar exploration, Houston TX, 2005.
M. Yim, C. Eldershaw, Y. Zhang, and D. Duff, “Limbless conforming gaits with modular robots,” in Experimental robotics ix, advanced robotics series, M. H. Ang and O. S. Khatib, Eds., , 2005.
Y. Zhang, M. Yim, L. Ackerson, D. Duff, and C. Eldershaw, “Stam: a system of tracking and mapping in real encironments,” Ieee j. on wireless communications, vol. 11, iss. 6, pp. 87-96, 2004.
A. Golovinsky, M. Yim, Y. Zhang, C. Eldershaw, and D. Duff, “Polybot and PolyKineticTM system: a modular robotic platform for education,” in Proc. of the ieee intl. conf. on robotics and automation (icra), New Orleans, 2004.
Y. Zhang, A. Golovinsky, M. Yim, and C. Eldershaw, “An xml-based scripting language for chain-type modular robotic systems,” in 8th conf. on intelligent autonomous systems, Amsterdam, Netherlands, 2004.
M. Yim, C. Eldershaw, Y. Zhang, and D. Duff, “Self-reconfigurable robot systems: polybot,” J. of the robotics society of japan, vol. 21, iss. 8, 2003.
M. Yim, K. Roufas, D. Duff, Y. Zhang, C. Eldershaw, and S. Homans, “Modular reconfigurable robots in space applications,” Autonomous robot journal, 2003.
Y. Zhang, K. Roufas, C. Eldershaw, M. Yim, and D. Duff, “Sensor computations in modular self reconfigurable robots,” in Experimental robotics viii, Springer, 2003, p. 276–286.
M. Yim, Y. Zhang, K. Roufas, D. Duff, and C. Eldershaw, “Connecting and disconnecting for self-reconfiguration with polybot,” , 2003.
C. Eldershaw, M. Yim, Y. Zhang, K. Roufas, and D. Duff, “Motion planning with narrow c-space passages,” in Proc. of the ieee/rsj intl. conf. on intelligent robots and systems (iros), Las Vegas, 2003.
Y. Zhang, M. Yim, C. Eldershaw, D. Duff, and K. Roufas, “Phase automata: a programming model of locomotion gaits for scalable chain-type modular robots,” in Proc. of the ieee/rsj intl. conf. on intelligent robots and systems (iros), Las Vegas, 2003.
Y. Zhang, M. Yim, C. Eldershaw, D. Duff, and K. Roufas, “Scalable and reconfigurable configurations and locomotion gaits for chain-type modular reconfigurable robots,” in Proc. of the ieee symp. on computational intelligence in robotics and automation (cira), Japan, 2003.
M. Yim, D. Duff, and K. Roufas, “Walk on the wild side,” , vol. 8, iss. 4, 2002.
M. Yim, Y. Zhang, K. Roufas, D. Duff, and C. Eldershaw, “Connecting and disconnecting for chain self-reconfiguration with polybot,” , vol. 7, iss. 4, pp. 431-441, 2002.
S. K. Agrawal, S. Kumar, and M. Yim, “Polyhedral single degree-of-freedom expanding sutrcutres: design and prototypes,” Asme j. of mechanical design, vol. 124, iss. 3, pp. 361-590, 2002.
Y. Zhang, M. Yim, K. Roufas, C. Eldershaw, and D. Duff, “Attribute/service model: design patterns for efficient coordination of distributed sensors, actuators and tasks in embedded systems,” in Proc. of ieee workshop on embedded system codesign (escodes), San Jose, CA, 2002.
J. W. Suh, S. Homans, and M. Yim, “Telecubes: mechanical design of a module for self-reconfigurable robotics,” in Proc. of the ieee intl. conf. on robotics and automation (icra), Washington D.C., 2002.
S. Vassilvitskii, J. W. Suh, and M. Yim, “A complete, local and parallel reconfiguration algorithm for cube style modular robots,” in Proc. of the ieee intl. conf. on robotics and automation (icra), Washington D.C., 2002.
C. Eldershaw, M. Yim, D. Duff, K. Roufas, and Y. Zhang, “Modular self-reconfigurable robots,” in Proc. of robotics for future land warfare workshop, DSTO Edinburgh, Australia, 2002.
Y. Zhang, K. Roufas, and M. Yim, “Massively distributed control nets for modular, self-reconfigurable robots,” in Proc. of aaai spring symposium series, 2002.
M. Yim, Y. Zhang, and D. Duff, “Modular reconfigurable robots, machines that shift their shape to suit the task at hand,” , 2002.
Y. Zhang, C. Eldershaw, M. Yim, K. Roufas, and D. Duff, “A platform for studying locomotion systems: modular self-reconfigurable robots,” in Proc. of nist workshop on performance metrics for intelligent systems (permis), Gaithersburg, MD, Aug 13-15 2002.
M. Yim, D. Duff, K. Roufas, Y. Zhang, and C. Eldershaw, “Evolution of polybot: a modular reconfigurable robot,” in Proc. of coe/super-mechano-systems workshop (invited), Tokyo, Japan, 2001.
Y. Zhang, K. Roufas, and M. Yim, “Software architecture for modular self-reconfigurable robots,” in Proc. of the ieee/rsj intl. conf. on intelligent robots and systems (iros), Maui, HI, 2001.
M. Yim, K. Roufas, D. Duff, Y. Zhang, and S. Homans, “Modular reconfigurable robots in space applications,” in Proc. of the 10th intl. conf. on advanced robotics (icar), Budapest, Hungary, 2001.
C. Eldershaw and M. Yim, “Motion planning of legged vehicles in an unstructured environment,” in Proc. of the ieee intl. conf. on robotics and automation (icra), Seoul, Korea, 2001.
J. W. Suh, M. Yim, and S. Homans, “Design tradeoffs for a modular, self-reconfigurable robot, the mechanical design of telecubes,” in Proc. of workshop on self-reconfigurable robots, at icra 2001 (invited), Seoul, Korea, 2001.
S. K. Agrawal, L. Kissner, and M. Yim, “Joint solutions of many degrees-of-freedom systems using dextrous workspaces,” in Proc. of the ieee intl. conf. on robotics and automation (icra), Seoul, Korea, 2001.
S. K. Agrawal, S. Kumar, M. Yim, and J. W. Suh, “Polyhedral single degree-of-freedom expanding structures,” in Proc. of the ieee intl. conf on robotics and automation (icra), Seoul, Korea, 2001.
M. Yim, S. Homans, and K. Roufas, “Climbing with snake-like robots,” in Proc. of the ifac workshop on mobile robot technology, Jejudo, Kora, 2001.
M. Yim, Y. Zhang, J. Lamping, and E. Mao, “Distributed control for 3d shape metamorphosis,” Autonomous robots, vol. 10, iss. 1, pp. 41-56, 2001.
A. Nguyen, L. J. Guibas, and M. Yim, “Controlled module density helps reconfiguration planning,” , 2001.
K. Roufas, Y. Zhang, D. Duff, and M. Yim, “Six degree of freedom sensing for docking using ir red emitters and receivers,” in Experimental robotics vii, lecture notes in cotrol and information science 271, D. Rus and S. Singh, Eds., Springer, 2001.
M. Yim, D. Goldberg, and A. Casal, “Connectivity planning for closed-chain reconfiguration,” , vol. 4196, 2000.
M. Yim, D. Duff, and K. Roufas, “Polybot: a modular reconfigurable robot,” in Proc. of the ieee intl. conf. on robotics and automation (icra), San Francisco CA, 2000, pp. 514-520.
M. Yim, D. Duff, K. Roufas, and L. Kissner, “Polybot: demonstrations of a modular reconfigurable robot,” in Video proc. of the ieee intl. conf. on robotics and automation (icra), San Francisco, CA, 2000.
M. Yim, D. Duff, and K. Roufas, “Modular reconfigurable robots, an approach to urban search and rescue,” in Proc. of the human welfare-friendly robotic systems workshop (hwrs), (invited), Taejon, Korea, 2000.
M. Yim, J. Reich, and A. A. Berlin, “Two approaches to distributed manipulation,” in Distributed manipulation, Springer, 2000, p. 237–261.
A. Casal and M. Yim, “Self-reconfiguration planning for a class of modular robots,” Spie sensor fusion and decentralized control in robotic systems ii, 1999.
J. Chase, M. Yim, and A. Berlin, “Integrated centering control of inertially actuated systems,” Control engineering practice, vol. 7, iss. 9, pp. 1079-1084, 1999.
J. Chase, M. Yim, and A. Berlin, “Optimal stabilization of column buckling,” Asce j. of engineering mechanics, vol. 125, iss. 9, pp. 987-993, 1999.
J. Chase, M. Yim, A. Berlin, M. Olivier, B. MacLean, and S. Jacobsen, “Mems-based control of structural dynamic instability,” J. of intelligent material systems and structures, vol. 9, iss. 7, pp. 547-586, 1998.
M. Yim, “Locomotion gaits with polypod,” in Video proc of the ieee intl. conf. on robotics and automation (icra), best video award, San Diego, CA, 1994.
M. Yim, “New locomotion gaits,” in Proc. of the ieee intl. conf. on robotics and automation (icra), San Diego, CA, 1994.
M. Yim, “A reconfigurable modular robot with many modes of locomotion,” in Porc. of jsme intl. conf. on advanced mechatronics, Tokyo, Japan, 1993.

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