Modlab The Modular Robotics Laboratory at the University of Pennsylvania

Modlab

Publications

2013

  • [DOI] J. Paulos and M. and Yim, “An underactuated propeller for attitude control in micro air vehicles,” in Intelligent robots and systems (iros), 2013 ieee/rsj international conference on, Tokyo, Japan, 2013.
    [Bibtex]
    @INPROCEEDINGS{JP:MY:13,
    author={Paulos, J. and and Yim, M.},
    booktitle={Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on},
    title={An Underactuated Propeller for Attitude Control in Micro Air Vehicles},
    year={2013},
    address={Tokyo, Japan},
    month={November},
    url={http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6696528},
    doi={10.1109/IROS.2013.6696528},
    }
  • [DOI] M. Piccoli, S. Revzen, and M. Yim, “Seal pack versatile, portable, and rapidly deployable sea, air, and land vehicle,” in Safety, security, and rescue robotics (ssrr), 2013 ieee international symposium on, 2013, pp. 1-6.
    [Bibtex]
    @INPROCEEDINGS{MP:SR:MY:13,
    author={Piccoli, Matthew and Revzen, Shai and Yim, Mark},
    booktitle={Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on},
    title={SEAL Pack versatile, portable, and rapidly deployable SEa, air, and land vehicle},
    year={2013},
    month={Oct},
    pages={1-6},
    keywords={Boats;Brushless motors;Payloads;Propellers;Robots;Seals;Vehicles},
    doi={10.1109/SSRR.2013.6719362},
    }
  • 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.
    [Bibtex]
    @INPROCEEDINGS{JS:MY:VK:13,
    author={Seo, J. and Yim, M. and Kumar, V.},
    booktitle={Proc. of 9th IEEE Intl. Conf. on Automation Science and Engineering},
    title={Assembly Planning for Planar Structures of a Brick Wall Pattern with Rectangular Modular Robots},
    year={2013},
    address={Madison, WI},
    month={August 17-21}
    }
  • [DOI] N. Eckenstein and M. Yim, “Modular advantage and kinematic decoupling in gravity compensated 
robotic systems,” Journal of mechanisms and robotics, vol. 5, 2013.
    [Bibtex]
    @article{NE:MY:13,
    year={2013},
    journal={Journal of Mechanisms and Robotics},
    volume={5},
    issue={4},
    doi={10.1115/1.4025218},
    title={Modular Advantage and Kinematic Decoupling in Gravity Compensated 
Robotic Systems},
    publisher={ASME},
    author={Eckenstein, N. and Yim, M.},
    language={English}
    }

2012

  • [DOI] 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.
    [Bibtex]
    @INPROCEEDINGS{JD:JS:MP:MY:12,
    author={Davey, J. and Sastra, J. and Piccoli, M. and Yim, M.},
    booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},
    title={ModLock: A manual connector for reconfigurable modular robots},
    year={2012},
    address={Vilamoura, Algarve, Portugal},
    month={October 7-12},
    pages={3217-3222},
    keywords={helicopters;mobile robots;reconfigurable architectures;ModLock manual connection system;flying quadrotors;legged walkers;low profile connection system;manual connector;modular reconfigurable systems;reconfigurable modular robots;robot configurations;wheeled robots;Assembly;Connectors;Fasteners;Mobile robots;Steel;Torque},
    doi={10.1109/IROS.2012.6386190},
    ISSN={2153-0858},
    url={modlabupenn.org/wp-content/uploads/ModLock.pdf},
    }
  • [DOI] N. Eckenstein and M. Yim, “The x-face: an improved planar passive mechanical connector for modular self-reconfigurable robots,” in Intelligent robots and systems (iros), 2012 ieee/rsj international conference on, Vilamoura, Algarve, Portugal, 2012, pp. 3073-3078.
    [Bibtex]
    @INPROCEEDINGS{NE:MY:12,
    author={Eckenstein, N. and Yim, M.},
    booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},
    title={The X-Face: An improved planar passive mechanical connector for modular self-reconfigurable robots},
    year={2012},
    month={October 7-12},
    address={Vilamoura, Algarve, Portugal},
    pages={3073-3078},
    keywords={reliability;robots;self-adjusting systems;X-face;gendered mating faces;low-profile docking face;modular reconfigurable robot systems;modular self-reconfigurable robots;planar passive mechanical connector;reliability;Connectors;Face;Geometry;Measurement;Robot sensing systems;Robustness},
    doi={10.1109/IROS.2012.6386150},
    ISSN={2153-0858},
    url={modlabupenn.org/wp-content/uploads/X-Face.pdf},}
  • [DOI] 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.
    [Bibtex]
    @INPROCEEDINGS{JD:NK:MY:12,
    author={Davey, J. and Ngai Kwok and Yim, M.},
    booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},
    title={Emulating self-reconfigurable robots - design of the SMORES system},
    year={2012},
    month={October 7-12},
    address={Vilamoura, Algarve, Portugal},
    pages={4464-4469},
    keywords={robots;self-adjusting systems;SMORES system;chain style reconfiguration;lattice style reconfiguration;mobile reconfiguration;selfassembling modular robot for extreme shape-shifting;selfreconfigurable robots;universal modular robot;Connectors;Gears;Lattices;Mobile communication;Robot kinematics;Wheels},
    doi={10.1109/IROS.2012.6385845},
    ISSN={2153-0858},
    url={modlabupenn.org/wp-content/uploads/SMORES.pdf},}
  • 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.
    [Bibtex]
    @INPROCEEDINGS{JS:SR:MY:12,
    author={Sastra, J. and Revzen S. and Yim, M.},
    booktitle={Adaptive Mobile Robotics: Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines},
    title={Softer legs allow a modular hexapod to run faster},
    publisher={World Scientific Publishing Company},
    year={2012},
    address={Baltimore, MD},
    month={July 23-26},
    }
  • [DOI] 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.
    [Bibtex]
    @INPROCEEDINGS{JK:MY:12,
    author={Kapadia, J. and Yim, M.},
    booktitle={Robotics and Automation (ICRA), 2012 IEEE International Conference on}, title={Design and performance of nubbed fluidizing jamming grippers},
    year={2012},
    month={may},
    volume={},
    number={},
    pages={5301 -5306},
    keywords={granular media grasp jamming;nubbed fluidizing jamming grippers;object geometries;universal grippers;granular flow;grippers;manipulator dynamics;},
    doi={10.1109/ICRA.2012.6225111},
    ISSN={1050-4729},
    }
  • [DOI] C. Thorne and M. Yim, “Design and analysis of a gyroscopically controlled micro air vehicle,” Journal of intelligent & robotic systems, vol. 65, pp. 417-435, 2012.
    [Bibtex]
    @article{CT:MY:12,
    year={2012},
    issn={0921-0296},
    journal={Journal of Intelligent \& Robotic Systems},
    volume={65},
    issue={1-4},
    doi={10.1007/s10846-011-9644-7},
    title={Design and Analysis of a Gyroscopically Controlled Micro Air Vehicle},
    url={http://dx.doi.org/10.1007/s10846-011-9644-7},
    publisher={Springer Netherlands},
    keywords={Micro air vehicle; Gyroscopic control; Vertical take-off and landing; Control moment gyroscope},
    author={Thorne, ChrisE. and Yim, Mark},
    pages={417-435},
    language={English}
    }

2011

  • [DOI] S. Revzen, M. Bhoite, A. Macasieb, and M. Yim, “Structure synthesis on-the-fly in a modular robot,” in Intelligent robots and systems (iros), 2011 ieee/rsj international conference on, 2011, pp. 4797-4802.
    [Bibtex]
    @INPROCEEDINGS{SR:MR:AM:MY:11,
    author={Revzen, S. and Bhoite, M. and Macasieb, A. and Yim, M.},
    booktitle={Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on}, title={Structure synthesis on-the-fly in a modular robot},
    year={2011},
    month={sept.},
    volume={},
    number={},
    pages={4797 -4802},
    keywords={CKBot modules;foam generation device;foam structures;legged robot;mobile modular robot system;mobile platform;robot morphologies;snake-like robot;structural elements;structure synthesis on-the-fly;foams;legged locomotion;},
    doi={10.1109/IROS.2011.6094575},
    ISSN={2153-0858},
    }
  • [DOI] 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.
    [Bibtex]
    @INPROCEEDINGS{PW:SL:SS:MY:11,
    author={White, Paul J. and Latscha, Stella and Schlaefer, Steve and Yim, Mark},
    booktitle={Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on}, title={Dielectric elastomer bender actuator applied to modular robotics},
    year={2011},
    month={sept.},
    volume={},
    number={},
    pages={408 -413},
    keywords={},
    doi={10.1109/IROS.2011.6094898},
    ISSN={2153-0858},
    }
  • 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.
    [Bibtex]
    @INPROCEEDINGS{JK:KD:VK:CT:MY:11,
    author={Keller, J. and Daniilidis, K. and Kumar, V. and Taylor, CJ. and Yim, M.},
    booktitle={ANS EPRRSD - 13th Robotics \& Remote Systems for Hazardous Environments 11th Emergency Preparedness \& Response},
    title={Robotics Research in Safety, Security, and Rescue at the University of Pennsylvania GRASP Lab: A retrospective on a National Science Foundation Cooperative Research Center},
    year={2011},
    location={LaGrange Park, IL},
    month={August 7-10},
    volume={},
    number={}
    }
  • [DOI] 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.
    [Bibtex]
    @INPROCEEDINGS{KG:JC:MY:DK:11,
    author={Galloway, K.C. and Clark, J.E. and Yim, M. and Koditschek, D.},
    booktitle={Robotics and Automation (ICRA), 2011 IEEE International Conference on},
    title={Experimental Investigations into the Role of Passive Variable Compliant Legs for Dynamic Robotic Locomotion},
    year={2011},
    month={may},
    volume={},
    number={},
    doi={10.1109/ICRA.2011.5980439},
    ISSN={1050-4729},
    }
  • [DOI] C. E. Thorne and M. Yim, “Towards the development of gyroscopically controlled micro air vehicles,” in Robotics and automation (icra), 2011 ieee international conference on, 2011, pp. 26-31.
    [Bibtex]
    @INPROCEEDINGS{CT:MY:11,
    author={Thorne, C.E. and Yim, M.},
    booktitle={Robotics and Automation (ICRA), 2011 IEEE International Conference on},
    title={Towards the development of gyroscopically controlled micro air vehicles},
    year={2011},
    month={may},
    volume={},
    number={},
    pages={26 -31},
    keywords={aerodynamic control surface;angular momentum;attitude control;diverse robotic;flying machine;gyroscopically controlled microair vehicle;linear controller stabilization;rotary wing microair vehicle;system level perspective;teleoperated application;aerodynamics;aerospace components;aircraft control;angular momentum;attitude control;gyroscopes;microrobots;stability;telerobotics;},
    doi={10.1109/ICRA.2011.5980439},
    ISSN={1050-4729},
    }
  • 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.
    [Bibtex]
    @INPROCEEDINGS{PW:MY:11,
    author={White, P.J. and Yim, M.},
    booktitle={Proc. of the IEEE Intl. Conf. on Robotics and Automation Workshop on Biologically Inspired Actuation},
    title={Towards Dielectric Elastomer Actuation for Modular Robots},
    year={2011},
    month={may},
    volume={},
    number={}
    }
  • 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.
    [Bibtex]
    @conference{MY:JS:SK:11,
    title={The Robot Etudes},
    author={M. Yim and J. Sastra and Simon Kim},
    booktitle={Proc. of the IEEE Intl. Conf. on Robotics and Automation Workshop on Robots and Art},
    year={2011},
    url={http://modlab.seas.upenn.edu/publications/2011_ICRA_RobotEtudes.pdf},
    address={Shanghai, China}
    }
  • [DOI] 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.
    [Bibtex]
    @article{PW:SR:CT:MY:11,
    author = {White,Paul J. and Revzen,Shai and Thorne,Chris E. and Yim,Mark},
    title = {A general stiffness model for programmable matter and modular robotic structures},
    journal = {Robotica},
    volume = {29},
    number = {Special Issue 01},
    pages = {103-121},
    year = {2011},
    doi = {10.1017/S0263574710000743},
    URL = {http://dx.doi.org/10.1017/S0263574710000743},
    eprint = {http://journals.cambridge.org/article_S0263574710000743},
    }
  • [DOI] M. Yim and J. Laucharoen, “Towards small robot aided victim manipulation,” Journal of intelligent & robotic systems, vol. 64, pp. 119-139, 2011.
    [Bibtex]
    @article{JL:MY:11,
    year={2011},
    issn={0921-0296},
    journal={Journal of Intelligent \& Robotic Systems},
    volume={64},
    issue={1},
    doi={10.1007/s10846-010-9519-3},
    title={Towards Small Robot Aided Victim Manipulation},
    url={http://dx.doi.org/10.1007/s10846-010-9519-3},
    publisher={Springer Netherlands},
    keywords={Foam stabilization; Victim manipulation; Robot rescue; Automated harness},
    author={Yim, Mark and Laucharoen, Jedtsada},
    pages={119-139},
    language={English}
    }
  • [DOI] 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.
    [Bibtex]
    @article{CT:PW:MY:11,
    author = {Chris E. Thorne and Paul J. White and Mark Yim},
    collaboration = {},
    title = {On the Development of a Piezoelectric-Actuated Compliant Brake Mechanism for Modular Robots},
    publisher = {ASME},
    year = {2011},
    journal = {ASME Conference Proceedings},
    volume = {2011},
    number = {54839},
    pages = {561-568},
    url = {http://link.aip.org/link/abstract/ASMECP/v2011/i54839/p561/s1},
    doi = {10.1115/DETC2011-48799}
    }

2010

  • 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.
    [Bibtex]
    @INPROCEEDINGS{VO:DH:MY:10,
    Author = {Orekhov, V. and Hong, D. and Yim, M.},
    Title = {Mechanics of a Fluid Filled Everting Toroidal Robot for Propulsion and Going Through a Hole},
    BookTitle = {Proc. of ASME Intl. Design Engineering Technical Conferences \& Computers and Information in Engineering Conference IDETC/CIE},
    Year = {2010},
    Month={August 15-18},
    }
  • [DOI] 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.
    [Bibtex]
    @INPROCEEDINGS{CT:NS:HT:TV:MY:10,
    author={Thorne, C.E. and Skorodinski, N. and Tipton, H. and Van Schoyck, T. and Yim, M.},
    booktitle={Robotics and Automation (ICRA), 2010 IEEE International Conference on}, title={Brake design for dynamic modular robots},
    year={2010},
    month={may},
    volume={},
    number={},
    pages={3135 -3140},
    keywords={actuator;bio-inspired locomotion;brake design;chain-style modular reconfigurable robot;dynamic modular robots;dynamic motion;joint-locking mechanism;modular reconfigurable robot system;brakes;robots;},
    doi={10.1109/ROBOT.2010.5509473},
    ISSN={1050-4729},
    }
  • [DOI] 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.
    [Bibtex]
    @INPROCEEDINGS{KG:RJ:MY:10,
    author={Galloway, K.C. and Jois, R. and Yim, M.},
    booktitle={Robotics and Automation (ICRA), 2010 IEEE International Conference on}, title={Factory floor: A robotically reconfigurable construction platform},
    year={2010},
    month={may},
    volume={},
    number={},
    pages={2467 -2472},
    keywords={Mars;factory floor;mechanical design;microgravity;passive robotically-reconfigurable truss structures;passive robotically-reconfigurable truss system;robotically reconfigurable construction platform;robots;supports;zero gravity experiments;},
    doi={10.1109/ROBOT.2010.5509878},
    ISSN={1050-4729},
    }
  • [DOI] 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.
    [Bibtex]
    @INPROCEEDINGS{PW:MP:MY:10,
    author={White, P.J. and Posner, M.L. and Yim, M.},
    booktitle={Robotics and Automation (ICRA), 2010 IEEE International Conference on}, title={Strength analysis of miniature folded right angle tetrahedron chain Programmable Matter},
    year={2010},
    month={may},
    volume={},
    number={},
    pages={2785 -2790},
    keywords={bonding mechanism;heterogeneous system;internal actuators;lattice style programmable matter system;mechanical strength;miniature folded right angle tetrahedron chain programmable matter;strength analysis;actuators;mechanical strength;programmable controllers;robots;},
    doi={10.1109/ROBOT.2010.5509657},
    ISSN={1050-4729},
    }
  • 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.
    [Bibtex]
    @INPROCEEDINGS{DA:SF:IL:YT:Y:10,
    Author = {Arney, D. and Fischmeister, S. and Lee, I. and Takashima, Y. and Yim, M.},
    Title = {Model-based Programming of Modular Robots},
    BookTitle = {Proc. of the IEEE Intl. Symp. on Object/component/service-oriented Real-time distributed Computing},
    Year = {2010},
    Month ={May 5-6},
    Address = {Carmona, Spain}
    }
  • S. R. Gray, N. J. Zeichner, V. Kumar, and M. Yim, “A simulator for origami-inspired self-reconfigurable robots,” , 2010.
    [Bibtex]
    @article{SG:NZ:VK:MY:10,
    author = {Gray, S.R. and Zeichner, N. J. and Kumar, V. and Yim, M.},
    booktitle={Origami 5: Fifth International Meeting of Origami Science, Mathematics, and Education},
    title = {A Simulator for Origami-Inspired Self-Reconfigurable Robots},
    year = {2010},
    editor = {Wang-Iverson, P. and Lang, R.J. and Yim, M.},
    publisher = {AK Peters Ltd}
    }
  • [DOI] 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.
    [Bibtex]
    @article{SG:JS:PW:NZ:MY:VK:10,
    author = {Steven R. Gray and Jungwon Seo and Paul J. White and Nathan J. Zeichner and Mark Yim and Vijay Kumar},
    collaboration = {},
    title = {A Toolchain for the Design and Simulation of Foldable Programmable Matter},
    publisher = {ASME},
    year = {2010},
    journal = {ASME Conference Proceedings},
    volume = {2010},
    number = {44106},
    pages = {1167-1176},
    url = {http://link.aip.org/link/abstract/ASMECP/v2010/i44106/p1167/s1},
    doi = {10.1115/DETC2010-28838}
    }
  • 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.
    [Bibtex]
    @INPROCEEDINGS{JS:SG:VK:MY:10,
    author = {Jungwon Seo and Steven R. Gray and Vijay Kumar and Mark Yim},
    booktitle={Proc. of the Ninth Intl. Workshop on the Algorithmic Foundations of Robotics (WAFR)},
    title = {Reconfiguring Chain-type Modular Robots Based on the Carpenters Rule Theorem},
    year = {2010},
    }

2009

  • [DOI] 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.
    [Bibtex]
    @INPROCEEDINGS{TM:MY:09,
    author={Mather, T.W. and Yim, M.},
    booktitle={Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on}, title={Modular configuration design for a controlled fall},
    year={2009},
    month={oct.},
    volume={},
    number={},
    pages={5905 -5910},
    keywords={CKbot;climbing robot;controlled fall;dynamic motion;falling cat problem;modular configuration design;modular robot;posture error;robust orientation correction;mobile robots;motion control;position control;},
    doi={10.1109/IROS.2009.5354027},
    ISSN={},
    }
  • 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.
    [Bibtex]
    @inproceedings{MP:MY:09,
    author = {M. Park and M. Yim},
    title = {Distributed Control and Communication Fault Tolerance for the CKBot},
    booktitle = {ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2009)},
    year = {2009},
    pages = {682-688},
    month = {June},
    address = {London, UK},
    url = {http://modlab.seas.upenn.edu/publications/CKBot_Distributed_IR_Submit_Final.pdf}
    }
  • 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.
    [Bibtex]
    @article{JS:SC:MY:09,
    author = {Sastra, J. and Chitta, S. and Yim, M.},
    title = {Dynamic Rolling for a Modular Loop Robot},
    journal = {The International Journal of Robotics Research},
    volume = {28},
    number = {6},
    pages = {758},
    month = {June},
    year = {2009},
    }
  • M. Yim, P. J. White, M. Park, and J. Sastra, “Modular self-reconfigurable robots,” in Encyclopedia of complexity and systems science, , 2009, pp. 5618-5631.
    [Bibtex]
    @incollection{MY:PJW:MP:JS:09,
    author = {M. Yim and P. J. White and M. Park and J. Sastra},
    title = {Modular Self-Reconfigurable Robots},
    booktitle = {Encyclopedia of Complexity and Systems Science},
    year = {2009},
    pages = {5618-5631},
    ee = {http://dx.doi.org/10.1007/978-0-387-30440-3_334},
    bibsource = {DBLP, http://dblp.uni-trier.de},
    url = {http://www.springer.com/cda/content/document/cda_downloaddocument/9780387758886-c2.pdf?SGWID=0-0-45-621405-p173779107}
    }
  • [DOI] P. J. White and M. Yim, “Reliable External Actuation for Full Reachability in Robotic Modular Self-Reconfiguration,” The international journal of robotics research, pp. 13-23, 2009.
    [Bibtex]
    @article{PJW:MY:09,
    author = {White, P J and Yim, M},
    title = {{Reliable External Actuation for Full Reachability in Robotic Modular Self-Reconfiguration}},
    journal = {The International Journal of Robotics Research},
    volume = {},
    number = {},
    pages = {13--23},
    doi = {10.1177/0278364909351942},
    year = {2009},
    URL = {http://ijr.sagepub.com/cgi/content/abstract/0278364909351942v1}
    }
  • 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.
    [Bibtex]
    @inproceedings{KCG:JEC:DEK:09,
    Author = {Galloway, K.C. and Clark, J.E. and Koditschek, D.E.},
    Title = {Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion},
    BookTitle = {Proc. of ASME Intl. Design Engineering Technical Conferences \& Computers and Information in Engineering Conference IDETC/CIE},
    Year = {2009},
    url={http://modlab.seas.upenn.edu/publications/galloway_ASME2009_Preprint.pdf},
    }
  • 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.
    [Bibtex]
    @inproceedings{PJW:CET:MY:09,
    title={{Right Angle Tetrahedron Chain Externally-actuated Testbed (RATCHET): A Shape Changing System}},
    author={P. J. White and C. E. Thorne and M. Yim},
    BookTitle = {Proc. of ASME Intl. Design Engineering Technical Conferences \& Computers and Information in Engineering Conference IDETC/CIE},
    year={2009},
    url={http://modlab.seas.upenn.edu/publications/white_detc2009-87657.pdf},
    address={San Diego, CA, USA}
    }
  • [DOI] 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.
    [Bibtex]
    @INPROCEEDINGS{MY:TC:SH:09,
    author={Yim, M. and Cragg, T. and Hayat, S.-K.},
    booktitle={Safety, Security Rescue Robotics (SSRR), 2009 IEEE International Workshop on},
    title={Towards small robot aided victim manipulation},
    year={2009},
    pages={1-6},
    keywords={emergency services;health care;human-robot interaction;medical robotics;mobile robots;cervical spine immobilization;human limb manipulation;human victims;incapacitated victim transportation;limb pose forces;limb pose statistics;man portable robots;robot aided victim manipulation;wristlet mechanism;Data analysis;Gases;Humans;Injuries;Motion analysis;Personnel;Protection;Robot kinematics;Robotics and automation;Statistical analysis;automated harness;c-spine;rescue;victim manipulation},
    doi={10.1109/SSRR.2009.5424147},}

2008

  • 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.
    [Bibtex]
    @conference{sastra2008bid,
    Author = {J. Sastra and W. G. Bernal-Heredia and J. Clark and M. Yim},
    Address = {Ann Arbor, Michigan, USA},
    Month = {October},
    Title={A Biologically-inspired Dynamic Legged Locomotion with a Modular Reconfigurable Robot},
    Year = {2008},
    url = {http://modlab.seas.upenn.edu/publications/2008_DSCC_Centipede.pdf}
    }
  • M. Park, S. Chitta, A. Teichman, and M. Yim, “Automatic configuration methods in modular robots,” International journal for robotics research, vol. 27, iss. 3-4, pp. 403-421, 2008.
    [Bibtex]
    @article{MP:SC:AT:MY:08,
    author = {M. Park and S. Chitta and A. Teichman and M. Yim},
    title = {Automatic Configuration Methods in Modular Robots},
    journal = {International Journal for Robotics Research},
    volume = {27},
    number = {3-4},
    month = {March/April},
    year = {2008},
    pages = {403-421},
    url = {http://modlab.seas.upenn.edu/publications/2007_IJRR_ConfigRecog.pdf}
    }
  • 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.
    [Bibtex]
    @conference{PJW:MY:08,
    author={P.J. White and M. Yim},
    title = {Reliable External Actuation for Extending Reachable Robotic Modular Self-Reconfiguration},
    booktitle = {Proc. of Intl. Symp. on Experimental Robotics},
    address = {Athens, Greece},
    url = {http://modlab.seas.upenn.edu/publications/white_iser2008.pdf},
    year = {2008}
    }
  • [DOI] M. Yim, “Planetary contingency [education],” Robotics automation magazine, ieee, vol. 15, iss. 4, pp. 14-16, 2008.
    [Bibtex]
    @ARTICLE{MY:08,
    author={Yim, M.},
    journal={Robotics Automation Magazine, IEEE},
    title={Planetary contingency [Education]},
    year={2008},
    volume={15},
    number={4},
    pages={14-16},
    keywords={Collaborative work;Discrete event simulation;Educational robots;Hardware;Orbital robotics;Robotic assembly;Robotics and automation;Software tools;Space technology;Vents},
    doi={10.1109/MRA.2008.930405},
    ISSN={1070-9932},}
  • 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.
    [Bibtex]
    @inproceedings{NA:PJW:AH:MY:VK:08,
    author={N. Ayanian and P. J. White and A. Halasz and M. Yim and V. Kumar},
    year={2008},
    title={{Stochastic Control for Self-Assembly of XBots}},
    BookTitle = {Proc. of ASME Intl. Design Engineering Technical Conferences \& Computers and Information in Engineering Conference IDETC/CIE},
    url = {http://modlab.seas.upenn.edu/publications/Ayanian_2008_ASME_IDETC.pdf},
    address={New York, NY, USA}
    }

2007

  • M. Yim, B. Shirmohammadi, and D. Benelli, “Amphibious modular robot astrobiologist,” in Proc. of spie, unmanned systems technology ix, 2007.
    [Bibtex]
    @conference{MY:BS:DB:07,
    author = {M. Yim and B. Shirmohammadi and D. Benelli},
    title = {Amphibious Modular Robot Astrobiologist},
    booktitle = {Proc. of SPIE, Unmanned Systems Technology IX},
    volume = {6561},
    month = {April},
    year = {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.
    [Bibtex]
    @article{MY:WS:BS:MM:HL:EK:GC:07,
    author = {M. Yim and W. Shen and B. Salemi and M. Moll and H. Lipson and E. Klavins and G. Chirikjian},
    title = {Modular Self-Reconfigurable Robot Systems; Challenges and Opportunities for the Future},
    journal = {IEEE Robotics and Automation Magazine},
    month = {March},
    year = {2007},
    url = {http://dx.doi.org/10.1109/MRA.2007.339623}
    }
  • J. Sastra, S. Chitta, and M. Yim, “Dynamic rolling for a modular loop robot,” Intl. j. of robotics research (invited), 2007.
    [Bibtex]
    @article{JS:SC:MY:07,
    author = {J. Sastra and S. Chitta and M. Yim},
    title = {Dynamic Rolling for a Modular Loop Robot},
    journal = {Intl. J. of Robotics Research (invited)},
    month = {January},
    year = {2007},
    url = {http://modlab.seas.upenn.edu/publications/2007_IJRR_DynamicRolling.pdf}
    }
  • 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.
    [Bibtex]
    @inproceedings{KCG:JEC:DEK:07,
    Author = {Galloway, K.C. and Clark, J.E. and Koditschek, D.E.},
    Title = {Design of a Multi-Directional Variable Stiffness Leg for Dynamic Runnings},
    BookTitle = {ASME Int. Mech. Eng. Congress and Exposition},
    Year = {2007},
    url = {http://modlab.seas.upenn.edu/publications/galloway_IMECE_2007_VI_Preprint.pdf}
    }
  • 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.
    [Bibtex]
    @inproceedings{SC:MK:KG:VK:06,
    Author = {Chitta, Sachin and Karabas, Mustafa and Galloway, Kevin and Kumar,Vijay},
    Title = {RoboTrikke: Design, Modeling and Experimentation with a Robotic Trikke},
    BookTitle = {Proc. of ASME Intl. Design Engineering Technical Conferences \& Computers and Information in Engineering Conference IDETC/CIE},
    Year = {2007},
    url = {http://modlab.seas.upenn.edu/publications/chitta_asme06.pdf}
    }
  • 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.
    [Bibtex]
    @conference{BS:CJT:MY:JS:MP:07,
    author = {B. Shirmohammadi and C.J. Taylor and M. Yim and J. Sastra and M. Park},
    title = {Using Smart Cameras to Localize Self-Assembling Modular Robots},
    booktitle = {Proc. of ACM/IEEE Interantional Conference on Distributed Smart Cameras (ICDSC07)},
    year = {2007},
    url = {http://modlab.seas.upenn.edu/publications/2007_ICDSC_SmartCamera.pdf}
    }
  • 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.
    [Bibtex]
    @conference{PJW:MY:07,
    author = {P.J. White and M. Yim},
    title = {Scalable Modular Self-reconfigurable Robots Using External Actuation},
    booktitle = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems},
    address = {San Diego, CA},
    pages = {2773-2778},
    year = {2007},
    url = {http://modlab.seas.upenn.edu/publications/white_iros2007.pdf}
    }
  • M. Yim, B. Shirmohammadi, J. Sastra, M. Park, M. Dugan, and C. J. Taylor, “Towards robotics self-reassembly after explosion,” in Video proc. of the ieee/rsj intl. conf. on intelligent robots and systems (iros), San Diego CA, 2007.
    [Bibtex]
    @conference{MY:BS:JS:MP:MD:CJT:07:video,
    author = {M. Yim and B. Shirmohammadi and J. Sastra and M. Park and M. Dugan and C.J. Taylor},
    title = {Towards Robotics Self-reassembly After Explosion},
    booktitle = {Video Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    address = {San Diego CA},
    year = {2007},
    url = {http://modlab.seas.upenn.edu/publications/2007_IROS_SAE.pdf}
    }
  • 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.
    [Bibtex]
    @conference{MY:BS:JS:MP:MD:CJT:07,
    author = {M. Yim and B. Shirmohammadi and J. Sastra and M. Park and M. Dugan and C.J. Taylor},
    title = {Robustness and self-repair in modular robots},
    booktitle = {Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    address = {San Diego CA},
    year = {2007},
    url = {http://dx.doi.org/10.1109/IROS.2007.4399535}
    }

2006

  • M. Park, S. Chitta, A. Teichman, and M. Yim, “Automatic configuration recognition methods in modular robots,” Intl j. of robotics research (invited), 2006.
    [Bibtex]
    @article{MP:SC:AT:MY:06,
    author = {M. Park and S. Chitta and A. Teichman and M. Yim},
    title = {Automatic Configuration Recognition Methods in Modular Robots},
    journal = {Intl J. of Robotics Research (invited)},
    month = {November},
    year = {2006},
    url = {http://modlab.seas.upenn.edu/publications/2007_IJRR_ConfigRecog.pdf}
    }
  • 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.
    [Bibtex]
    @conference{MY:RH:CC:CKW:KR:CE:06,
    author = {M. Yim and R. Hinden and C. Conley and C.K. Wang and K. Roufas and C. Eldershaw},
    title = {Open Loop Climbing with Modular Robots},
    booktitle = {Video Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {Orlando, FL},
    year = {2006}
    }
  • M. Yim, “Austronauts must program robots,” in Proc. ~aaai spring symposium: to boldly go where no human-robot team has gone before, Stanford CA, 2006.
    [Bibtex]
    @conference{MY;06,
    author = {M. Yim},
    title = {Austronauts Must Program Robots},
    booktitle = {Proc. ~AAAI Spring Symposium: To Boldly Go Where No Human-Robot Team Has Gone Before},
    address = {Stanford CA},
    year = {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.
    [Bibtex]
    @conference{JS:SC:MY:06,
    author = {J. Sastra and S. Chitta and M. Yim},
    title = {Dynamic Rolling for a Modular Loop Robot},
    booktitle = {Proc. of Intl. Symp. on Experimental Robotics},
    address = {Rio de Janeiro Brazil},
    year = {2006},
    url = {http://modlab.seas.upenn.edu/publications/2006_ISER_DynamicRolling.pdf}
    }
  • M. Yim, “Earthbound robotic astrobiology: first experiments,” in Proc. of 3rd intl. conf. on ubiquitous robots and ambient intelligence (urai 2006), Seoul Korea, 2006.
    [Bibtex]
    @conference{MY:06,
    author = {M. Yim},
    title = {Earthbound Robotic Astrobiology: First Experiments},
    booktitle = {Proc. of 3rd Intl. Conf. on Ubiquitous Robots and Ambient Intelligence (URAI 2006)},
    address = {Seoul Korea},
    year = {2006}
    }

2005

  • 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.
    [Bibtex]
    @inproceedings{WS:JB:WC:MY:PW:MS:SC:DK:SV:EB:JT:05,
    Author = {Shen, W-M. and Bogdanowicz, J. and Chun, W. and Yim, M. and Will, P.M. and Sims, M. and Colombano, S. and Kortenkamp, D. and Vanderzyl, S. and Baumgartener, E. and Taylor J.},
    Title = {Superbots: Modular, Multifunctional, Reconfigurable Robotic System for Space Exploration},
    BookTitle = {Proc. of LEAG-2005 Conference on Lunar Exploration},
    Year = {2005},
    Address = {Houston TX},
    Month = {October}
    }
  • 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.
    [Bibtex]
    @incollection{MY:CE:YZ:DD:05,
    author = {M. Yim and C. Eldershaw and Y. Zhang and D. Duff},
    title = {Limbless Conforming Gaits with Modular Robots},
    booktitle = {Experimental Robotics IX, Advanced Robotics Series},
    editor = {M.H. Ang and O.S. Khatib},
    year = {2005}
    }

2004

  • 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.
    [Bibtex]
    @article{YZ:MY:LA:DD:CE:04,
    author = {Y. Zhang and M. Yim and L. Ackerson and D. Duff and C. Eldershaw},
    title = {STAM: A system of tracking and mapping in real encironments},
    journal = {IEEE J. on Wireless Communications},
    volume = {11},
    number = {6},
    pages = {87-96},
    month = {December},
    year = {2004},
    url = {http://dx.doi.org/10.1109/MWC.2004.1368901}
    }
  • 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.
    [Bibtex]
    @conference{AG:MY:YZ:CE:DD:04,
    author = {A. Golovinsky and M. Yim and Y. Zhang and C. Eldershaw and D. Duff},
    title = {PolyBot and PolyKineticTM System: A Modular Robotic Platform for Education},
    booktitle = {Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {New Orleans},
    month = {April 26-30},
    year = {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.
    [Bibtex]
    @conference{YZ:AG:MY:CE:04,
    author = {Y. Zhang and A. Golovinsky and M. Yim and C. Eldershaw},
    title = {An XML-based scripting language for chain-type modular robotic systems},
    booktitle = {8th Conf. on Intelligent Autonomous Systems},
    address = {Amsterdam, Netherlands},
    year = {2004}
    }

2003

  • 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.
    [Bibtex]
    @article{MY:CE:YZ:DD:03,
    author = {M. Yim and C. Eldershaw and Y. Zhang and D. Duff},
    title = {Self-reconfigurable Robot Systems: PolyBot},
    journal = {J. of the Robotics Society of Japan},
    volume = {21},
    number = {8},
    month = {Nov.},
    year = {2003}
    }
  • M. Yim, K. Roufas, D. Duff, Y. Zhang, C. Eldershaw, and S. Homans, “Modular reconfigurable robots in space applications,” Autonomous robot journal, 2003.
    [Bibtex]
    @article{MY:KR:DD:YZ:CE:SH:03,
    author = {M. Yim and K. Roufas and D. Duff and Y. Zhang and C. Eldershaw and S. Homans},
    title = {Modular Reconfigurable Robots in Space Applications},
    journal = {Autonomous Robot Journal},
    issue = {special issue for Robots in Space},
    year = {2003},
    url = {http://modlab.seas.upenn.edu/publications/space.pdf}
    }
  • Y. Zhang, K. Roufas, C. Eldershaw, M. Yim, and D. Duff, “Sensor computations in modular self reconfigurable robots,” in Experimental robotics viii, Springer, 2003, pp. 276-286.
    [Bibtex]
    @incollection{YZ:KR:CE:MY:DD:03,
    title={Sensor computations in modular self reconfigurable robots},
    author={Zhang, Ying and Roufas, Kimon and Eldershaw, Craig and Yim, Mark and Duff, Dave},
    booktitle={Experimental Robotics VIII},
    pages={276--286},
    year={2003},
    publisher={Springer}
    }
  • M. Yim, Y. Zhang, K. Roufas, D. Duff, and C. Eldershaw, Connecting and disconnecting for self-reconfiguration with polybot, 2003.
    [Bibtex]
    @misc{MY:YZ:KR:DD:CE:03,
    author = {M. Yim and Y. Zhang and K. Roufas and D. Duff and C. Eldershaw},
    title = {Connecting and disconnecting for self-reconfiguration with PolyBot},
    booktitle = {IEEE/ASME Transactions on Mechatronics},
    issue = {special issue on Information Technology in Mechatronics},
    year = {2003},
    url = {http://modlab.seas.upenn.edu/publications/asme.pdf}
    }
  • 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.
    [Bibtex]
    @conference{CE:MY:YZ:KR:DD:03,
    author = {C. Eldershaw and M. Yim and Y. Zhang and K. Roufas and D. Duff},
    title = {Motion planning with narrow C-space passages},
    booktitle = {Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    address = {Las Vegas},
    year = {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.
    [Bibtex]
    @conference{YZ:MY:CE:DD:KR:03b,
    author = {Y. Zhang and M. Yim and C. Eldershaw and D. Duff and K. Roufas},
    title = {Phase Automata: a programming model of locomotion gaits for scalable chain-type modular robots},
    booktitle = {Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    address = {Las Vegas},
    year = {2003},
    url = {http://dx.doi.org/10.1109/IROS.2003.1249236}
    }
  • 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.
    [Bibtex]
    @conference{YZ:MY:CE:DD:KR:03a,
    author = {Y. Zhang and M. Yim and C. Eldershaw and D. Duff and K. Roufas},
    title = {Scalable and reconfigurable configurations and locomotion gaits for chain-type modular reconfigurable robots},
    booktitle = {Proc. of the IEEE Symp. on Computational Intelligence in Robotics and Automation (CIRA)},
    address = {Japan},
    year = {2003}
    }

2002

  • M. Yim, D. Duff, and K. Roufas, “Walk on the wild side,” , vol. 8, iss. 4, 2002.
    [Bibtex]
    @article{MY:DD:KR:02,
    author = {M. Yim and D. Duff and K. Roufas},
    title = {Walk on the wild side},
    magazine = {IEEE Robotics and Automation Magazine},
    issue = {Special Issue on Distributed Robotics},
    volume = {8},
    number = {4},
    month = {Dec.},
    year = {2002},
    url = {http://dx.doi.org/10.1109/MRA.2002.1160071}
    }
  • M. Yim, Y. Zhang, K. Roufas, D. Duff, and C. Eldershaw, “Connecting and disconnecting for chain slef-reconfiguration with polybot,” , vol. 7, iss. 4, pp. 431-441, 2002.
    [Bibtex]
    @article{MY:YZ:KR:DD:CE:02,
    author = {M. Yim and Y. Zhang and K. Roufas and D. Duff and C. Eldershaw},
    title = {Connecting and Disconnecting for Chain Slef-Reconfiguration with PolyBot},
    booktitle = {IEEE/ASME Transactions on Mechatronics},
    issue = {Special Issue on Self-Reconfigurable Robots},
    volume = {7},
    number = {4},
    pages = {431-441},
    month = {Dec.},
    year = {2002},
    url = {http://dx.doi.org/10.1109/TMECH.2002.806221}
    }
  • 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.
    [Bibtex]
    @article{SKA:SK:MY:02,
    author = {S.K. Agrawal and S. Kumar and M. Yim},
    title = {Polyhedral Single Degree-of-freedom Expanding Sutrcutres: Design and Prototypes},
    journal = {ASME J. of Mechanical Design},
    volume = {124},
    number = {3},
    pages = {361-590},
    month = {Sept.},
    year = {2002},
    url = {http://dx.doi.org/10.1109/ROBOT.2001.933133}
    }
  • Y. Zhang, M. Yim, K. Roufas, C. Eldershaw, and D. Duff, “Attribute/service model: design patterns for distributed coordination of sensors, actuators and tasks,” in Proc. of ieee workshop on embedded system codesign (escodes), San Jose, CA, 2002.
    [Bibtex]
    @conference{YZ:MY:KR:CE:DD:02,
    author = {Y. Zhang and M. Yim and K. Roufas and C. Eldershaw and D. Duff},
    title = {Attribute/Service Model: Design Patterns for Distributed Coordination of Sensors, Actuators and Tasks},
    booktitle = {Proc. of IEEE Workshop on Embedded System Codesign (ESCODES)},
    address = {San Jose, CA},
    month = {September 24},
    year = {2002},
    url = {http://modlab.seas.upenn.edu/publications/escodes02.pdf}
    }
  • 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.
    [Bibtex]
    @conference{JWS:SH:MY:02,
    author = {J.W. Suh and S. Homans and M. Yim},
    title = {Telecubes: Mechanical Design of a Module for Self-Reconfigurable Robotics},
    booktitle = {Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {Washington D.C.},
    month = {May 11-15},
    year = {2002},
    url = {http://modlab.seas.upenn.edu/publications/telecubes.pdf}
    }
  • 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.
    [Bibtex]
    @conference{SV:JWS:MY:02,
    author = {S. Vassilvitskii and J.W. Suh and M. Yim},
    title = {A Complete, Local and Parallel Reconfiguration Algorithm for Cube Style Modular Robots},
    booktitle = {Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {Washington D.C.},
    month = {May 11-15},
    year = {2002},
    url = {http://modlab.seas.upenn.edu/publications/vassilvitskii_ICRA2002b.pdf}
    }
  • 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.
    [Bibtex]
    @conference{CE:MY:DD:KR:YZ:02,
    author = {C. Eldershaw and M. Yim and D. Duff and K. Roufas and Y. Zhang},
    title = {Modular self-reconfigurable robots},
    booktitle = {Proc. of Robotics for Future Land Warfare Workshop},
    address = {DSTO Edinburgh, Australia},
    month = {May 23-24},
    year = {2002},
    url = {http://modlab.seas.upenn.edu/publications/dsto.pdf}
    }
  • Y. Zhang, K. Roufas, and M. Yim, “Massively distributed control nets for modular, slef-reconfigurable robots,” in Proc. of aaai spring symposium series, 2002.
    [Bibtex]
    @conference{YZ:KR:MY:02,
    author = {Y. Zhang and K. Roufas and M. Yim},
    title = {Massively Distributed Control Nets for Modular, Slef-Reconfigurable Robots},
    booktitle = {Proc. of AAAI Spring Symposium Series},
    month = {March 25-27},
    year = {2002},
    url = {http://modlab.seas.upenn.edu/publications/aaai_ides.pdf}
    }
  • M. Yim, Y. Zhang, and D. Duff, “Modular reconfigurable robots, machines that shift their shape to suit the task at hand,” , 2002.
    [Bibtex]
    @article{MY:YZ:DD:02,
    author = {M. Yim and Y. Zhang and D. Duff},
    title = {Modular Reconfigurable Robots, Machines that shift their shape to suit the task at hand},
    booktitle = {IEEE Spectrum Magazine (cover article)},
    month = {Feb.},
    year = {2002}
    }
  • Y. Zhang, C. Eldershaw, M. Yim, K. Roufas, and D. Duff, “A platform for studying locomotion systems: modular slef-reconfigurable robots,” in Proc. of nist workshop on performance metrics for intelligent systems (permis), Gaithersburg, MD, Aug 13-15 2002.
    [Bibtex]
    @conference{YZ:CE:MY:KR:DD:02,
    author = {Y. Zhang and C. Eldershaw and M. Yim and K. Roufas and D. Duff},
    title = {A Platform for studying locomotion systems: Modular Slef-Reconfigurable Robots},
    booktitle = {Proc. of NIST workshop on Performance Metrics for Intelligent Systems (PerMIS)},
    address = {Gaithersburg, MD},
    date = {Aug 13-15},
    year = {2002}
    }

2001

  • 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.
    [Bibtex]
    @conference{MY:DD:KR:YZ:CE:01,
    author = {M. Yim and D. Duff and K. Roufas and Y. Zhang and C. Eldershaw},
    title = {Evolution of PolyBot: A modular reconfigurable robot},
    booktitle = {Proc. of COE/Super-Mechano-Systems Workshop (invited)},
    address = {Tokyo, Japan},
    month = {Nov.},
    year = {2001},
    url = {http://modlab.seas.upenn.edu/publications/HDSISymp2001Duff.pdf}
    }
  • 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.
    [Bibtex]
    @conference{YZ:KR:MY:01,
    author = {Y. Zhang and K. Roufas and M. Yim},
    title = {Software architecture for modular self-reconfigurable robots},
    booktitle = {Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    address = {Maui, HI},
    month = {Oct. 29 - Nov. 3},
    year = {2001},
    url = {http://modlab.seas.upenn.edu/publications/IROS01.pdf}
    }
  • 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.
    [Bibtex]
    @conference{MY:KR:DD:YZ:SH:01,
    author = {M. Yim and K. Roufas and D. Duff and Y. Zhang and S. Homans},
    title = {Modular Reconfigurable Robots in Space Applications},
    booktitle = {Proc. of the 10th Intl. Conf. on Advanced Robotics (ICAR)},
    address = {Budapest, Hungary},
    month = {Aug 22-25},
    year = {2001},
    url = {http://modlab.seas.upenn.edu/publications/icar01.pdf}
    }
  • 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.
    [Bibtex]
    @conference{CE:MY:01,
    author = {C. Eldershaw and M. Yim},
    title = {Motion planning of legged vehicles in an unstructured environment},
    booktitle = {Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {Seoul, Korea},
    month = {May 21-26},
    year = {2001},
    url = {http://modlab.seas.upenn.edu/publications/icra01eldersh.pdf}
    }
  • 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.
    [Bibtex]
    @conference{JWS:MY:SH:01,
    author = {J.W. Suh and M. Yim and S. Homans},
    title = {Design Tradeoffs for a Modular, Self-reconfigurable Robot, The Mechanical Design of Telecubes},
    booktitle = {Proc. of Workshop on Self-reconfigurable Robots, at ICRA 2001 (invited)},
    address = {Seoul, Korea},
    month = {May 22},
    year = {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.
    [Bibtex]
    @conference{SKA:LK:MY:01,
    author = {S.K. Agrawal and L. Kissner and M. Yim},
    title = {Joint Solutions of Many Degrees-of-freedom Systems Using Dextrous Workspaces},
    booktitle = {Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {Seoul, Korea},
    month = {May 21-26},
    year = {2001},
    url = {http://modlab.seas.upenn.edu/publications/icra01lea.pdf}
    }
  • 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.
    [Bibtex]
    @conference{SKA:SK:MY:JWS:01,
    author = {S.K. Agrawal and S. Kumar and M. Yim and J.W. Suh},
    title = {Polyhedral Single Degree-of-freedom Expanding Structures},
    booktitle = {Proc. of the IEEE Intl. Conf on Robotics and Automation (ICRA)},
    address = {Seoul, Korea},
    month = {May 21-26},
    year = {2001},
    url = {http://modlab.seas.upenn.edu/publications/icra01sunil.pdf}
    }
  • 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.
    [Bibtex]
    @conference{MY:SH:KR:01,
    author = {M. Yim and S. Homans and K. Roufas},
    title = {Climbing with Snake-like Robots},
    booktitle = {Proc. of the IFAC Workshop on Mobile Robot Technology},
    address = {Jejudo, Kora},
    month = {May 21-22},
    year = {2001},
    url = {http://modlab.seas.upenn.edu/publications/gsviewa01416.pdf}
    }
  • 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.
    [Bibtex]
    @article{MY:YZ:JL:EM:01,
    author = {M. Yim and Y. Zhang and J. Lamping and E. Mao},
    title = {Distributed control for 3D Shape Metamorphosis},
    journal = {Autonomous Robots},
    volume = {10},
    number = {1},
    pages = {41-56},
    month = {Jan.},
    year = {2001},
    url = {http://modlab.seas.upenn.edu/publications/arj_final.pdf}
    }
  • A. Nguyen, L. J. Guibas, and M. Yim, Controlled module density helps reconfiguration planning, 2001.
    [Bibtex]
    @misc{AN:LJG:MY:01,
    author = {A. Nguyen and L.J. Guibas and M. Yim},
    title = {Controlled Module Density Helps Reconfiguration Planning},
    booktitle = {Algorithmic and Computational Robotics: New Directions: The Fourth Workshop on the Algorithmic Foundations (WAFR)},
    editor = {Donald, B. and Lynch, K. and Rus, D. and Peters, A.K.},
    year = {2001},
    url = {http://modlab.seas.upenn.edu/publications/proteo12.pdf}
    }
  • 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.
    [Bibtex]
    @incollection{KR:YZ:DD:MY:01,
    author = {K. Roufas and Y. Zhang and D. Duff and M. Yim},
    title = {Six Degree of Freedom Sensing for Docking Using IR RED Emitters and Receivers},
    booktitle = {Experimental Robotics VII, Lecture Notes in Cotrol and Information Science 271},
    editor = {Daniela Rus and Sanjiv Singh},
    publisher = {Springer},
    year = {2001},
    url = {http://modlab.seas.upenn.edu/publications/ISERfinalpub.pdf}
    }

2000

  • M. Yim, D. Goldberg, and A. Casal, “Connectivity planning for closed-chain reconfiguration,” , vol. 4196, 2000.
    [Bibtex]
    @article{MY:DG:AC:00,
    author = {M. Yim and D. Goldberg and A. Casal},
    title = {Connectivity Planning for Closed-Chain Reconfiguration},
    booktitle = {SPIE, Sensor Fusion and Decentralized Control in Robotic Systems III},
    volume = {4196},
    month = {Nov.},
    year = {2000},
    url = {http://modlab.seas.upenn.edu/publications/treepaper.ps.gz}
    }
  • 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.
    [Bibtex]
    @conference{MY:DD:KR:00a,
    author = {M. Yim and D. Duff and K. Roufas},
    title = {PolyBot: A Modular Reconfigurable Robot},
    booktitle = {Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    pages = {514-520},
    address = {San Francisco CA},
    month = {April 24-27},
    year = {2000},
    url = {http://modlab.seas.upenn.edu/publications/icra00.pdf}
    }
  • 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.
    [Bibtex]
    @conference{MY:DD:KR:LK:00,
    author = {M. Yim and D. Duff and K. Roufas and L. Kissner},
    title = {PolyBot: Demonstrations of a modular reconfigurable robot},
    booktitle = {Video Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {San Francisco, CA},
    month = {April 24-27},
    year = {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.
    [Bibtex]
    @conference{MY:DD:KR:00b,
    author = {M. Yim and D. Duff and K. Roufas},
    title = {Modular Reconfigurable Robots, An Approach to Urban Search and Rescue},
    booktitle = {Proc. of the HUman Welfare-friendly Robotic Systems Workshop (HWRS), (invited)},
    address = {Taejon, Korea},
    month = {January},
    year = {2000},
    url = {http://modlab.seas.upenn.edu/publications/HWRSpaper2.pdf},
    }
  • M. Yim, J. Reich, and A. A. Berlin, “Two approaches to distributed manipulation,” in Distributed manipulation, Springer, 2000, pp. 237-261.
    [Bibtex]
    @incollection{MY:JR:AB:00,
    title={Two approaches to distributed manipulation},
    author={Yim, Mark and Reich, Jim and Berlin, Andrew A},
    booktitle={Distributed Manipulation},
    pages={237--261},
    year={2000},
    publisher={Springer}
    }

1999

  • 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.
    [Bibtex]
    @article{AC:MY:99,
    author = {A. Casal and M. Yim},
    title = {Self-Reconfiguration Planning For a Class of Modular Robots},
    journal = {SPIE Sensor Fusion and Decentralized Control in Robotic Systems II},
    month = {September},
    year = {1999},
    url = {http://modlab.seas.upenn.edu/publications/SPIE99final.pdf}
    }
  • 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, 1999.
    [Bibtex]
    @article{CJ:MY:AB:MO:BM:SJ:99,
    author = {J. Chase and M. Yim and A. Berlin and M. Olivier and B. MacLean and S. Jacobsen},
    title = {MEMS-Based Control of Structural Dynamic Instability},
    journal = {J. of Intelligent Material Systems and Structures},
    volume = {9},
    number = {7},
    pages = {547-586},
    month = {July},
    year = {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.
    [Bibtex]
    @article{JC:MY:AB:99,
    author = {J. Chase and M. Yim and A. Berlin},
    title = {Optimal Stabilization of column Buckling},
    journal = {ASCE J. of engineering Mechanics},
    volume = {125},
    number = {9},
    pages = {987-993},
    year = {1999}
    }
  • J. Chase, M. Yim, and A. Berlin, “Intergreated centering control of inertial actuation systems,” Control engineering practice, vol. 7, iss. 9, pp. 1079-1084, 1999.
    [Bibtex]
    @article{JC:MY:AB:99b,
    author = {J. Chase and M. Yim and A. Berlin},
    title = {Intergreated CEntering Control of Inertial Actuation Systems},
    journal = {control Engineering Practice},
    volume = {7},
    number = {9},
    pages = {1079-1084},
    year = {1999}
    }

1994

  • 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.
    [Bibtex]
    @conference{MY:94:video,
    author = {M. Yim},
    title = {Locomotion Gaits with Polypod},
    booktitle = {Video Proc of the IEEE Intl. Conf. on Robotics and Automation (ICRA), Best Video Award},
    address = {San Diego, CA},
    year = {1994}
    }
  • M. Yim, “New locomotion gaits,” in Proc. of the ieee intl. conf. on robotics and automation (icra), San Diego, CA, 1994.
    [Bibtex]
    @conference{MY:94,
    author = {M. Yim},
    title = {New Locomotion Gaits},
    booktitle = {Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    address = {San Diego, CA},
    year = {1994},
    url = {http://dx.doi.org/10.1109/ROBOT.1994.351134}
    }

1993

  • M. Yim, “A reconfigurable modular robot with many modes of locomotion,” in Porc. of jsme intl. conf. on advanced mechatronics, Tokyo, Japan, 1993.
    [Bibtex]
    @conference{MY:93,
    author = {M. Yim},
    title = {A Reconfigurable Modular Robot with Many Modes of Locomotion},
    booktitle = {Porc. of JSME Intl. Conf. on Advanced Mechatronics},
    address = {Tokyo, Japan},
    year = {1993}
    }

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