Robert Platt Jr.
 
Publications Under Review
Abdallah, M., Platt, R., Wampler, C., Decoupled Torque Control of Tendon-Driven Fingers with Tension Management, Submitted to the International Journal of Robotics Research.
Publications Accepted
Platt, R. Convex receding horizon control in non-Gaussian belief space, Proceedings of the Workshop on the Algorithmic Foundations of Robotics (to appear), 2012.
Platt, R., Kaelbling, L., Lozano-Perez, T., Tedrake,
R. Non-Gaussian Belief
Space Planning: Correctness and Complexity, IEEE Int'l
Conf. on Robotics and Automation, 2012. (The final version of the
paper posted here fixes some errors that were present in the proofs in
the submitted version.)
Perez, A., Platt, R., Konidaris, G., Kaelbling, L., Lozano-Perez, T. LQR-RRT^*: Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics, IEEE Int'l Conf. on Robotics and Automation, 2012. (This paper has been updated since our original submission.)
Abdallah, M., Platt, R., Hargrave, B., Permenter, F. Position Control of Tendon-Driven Fingers with Position Controlled Actuators, IEEE Int'l Conf. on Robotics and Automation, 2012
Platt, R., Kaelbling, L., Lozano-Perez, T., Tedrake, R.Efficient planning in non-Gaussian belief spaces and its application to robot grasping, Proceedings of the International Symposium on Robotics Research, 2011. (Extended version available in CSAIL Tech Report MIT-CSAIL-TR-2011-039
Platt, R., Permenter, F., Pfeiffer, J., Using Bayesian filtering to localize flexible materials during manipulation, IEEE Transactions on Robotics, Special issue on a robotic sense of touch. Vol 27, No 3, June 2011
Truax, R., Platt, R., Leonard, J., Using prioritized relaxations to locate objects in points clouds for manipulation, IEEE Int'l Conf. on Robotics and Automation, Shanghai, May, 2011
Platt, R., Ihrke, C., Bridgwater, L., Linn, M., Diftler, M., Abdallah, M., Askew, S., Permenter, F., A miniature load cell suitable for mounting on the phalanges of human-sized robot fingers, IEEE Int'l Conf. on Robotics and Automation, Shanghai, May, 2011
Diftler, M., Mehling, J., Abdallah, M., Radford, N., Bridgwater, L., Sanders, A., Askew, S., Linn, D., Yamokoski, J., Permenter, F., Hargrave, B., Platt, R., Savely, R., Ambrose, R., Robonaut 2: The First Humanoid Robot in Space, IEEE Int'l Conf. on Robotics and Automation, Shanghai, May, 2011
Platt, R., Abdallah, M., Wampler, C., Multiple-priority impedance control, IEEE Int'l Conf. on Robotics and Automation, Shanghai, May, 2011
Abdallah, M., Wampler, C., Platt, R. Object Impedance Control Using a Closed-Chain Task Definition, Proceedings of the IEEE Int'l Conf. on Humanoid Robots, Nashville, TN, December, 2010
Abdallah, M., Platt, R., Wampler, C., Hargrave, B. Applied Joint-Space Torque and Stiffness Control of Tendon-Driven Fingers , Proceedings of the IEEE Int'l Conf. on Humanoid Robots, Nashville, TN, December, 2010
Platt, R., Tedrake, R., Kaelbling, L., Lozano-Perez, T., Belief space planning assuming maximum likelihood observations, Proceedings of Robotics: Science and Systems 2010 (RSS), Zaragosa, Spain, June 27, 2010, (Slides from presentation).
Platt, R., Abdallah, M., Wampler, C. Multi-Priority Cartesian Impedance Control, Proceedings of Robotics: Science and Systems 2010 (RSS), Zaragosa, Spain, June 27, 2010
Platt, R., Permenter, F., Pfeiffer, J., Inferring hand-object configuration directly from tactile data, Electronically published proceeding of the Mobile Manipulation Workshop, IEEE Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 2010
Corcoran, C., Platt, R.
A measurement model for tracking hand-object state during dexterous manipulation, Proceedings of the 2010 IEEE Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 2010
Platt, R., Fagg, A. H., Grupen, R., Null Space Grasp Control: Theory and Experiments, IEEE Transactions on Robotics, Vol 26, No 2, April 2010
de Granville, C., Wang, D., Southerland, J., Platt, Jr. R., and Fagg, A. H.,
Grasping Affordances: Learning to Connect Vision to Hand Action,
``The Path to Autonomous Robots; Essays in Honor of George A. Bekey'' (Gaurav S. Sukhatme, Ed.), Springer, 2009
Platt, R.,
Learning Grasp Strategies Composed of Contact Relative Motions,
IEEE-RAS International Conference on Humanoid Robots,
Pittsburgh, PA, December, 2007
Platt, R., Fagg, A. H., Grupen, R.,
Learning Grasp Context Distinctions that Generalize,
IEEE-RAS International Conference on Humanoid Robots,
Genoa, Italy, December, 2006
Platt, R., Burridge, R., Brock, O., Diftler, M., Graf, J., Goza, M., Huber, E.
Humanoid Mobile Manipulation Using Controller Refinement,
IEEE-RAS International Conference on Humanoid Robots,
Genoa, Italy, December, 2006
Platt, R., Fagg, A. H., Grupen, R.,
Improving Grasp Skills Using Schema Structured Learning,
International Conference on Development and Learning,
Bloomington, Indiana, May, 2006
Robert Platt, Mars Chu, Myron Diftler, Toby Martin, Michael Valvo,
A Miniature Force Sensor for Prosthetic Hands, Workshop on
Robotic Systems for Rehabilitation, Exoskeleton, and Prosthetics,
Robotics: Science and Systems, University of Pennsylvania,
Philadelphia, PA, August 18, 2006.
Brock, O., Fagg, A., Grupen, R., Platt, R., Rosenstein, M., and Sweeney, J. A Framework for Learning and Control in Intelligent Humanoid Robots, The International Journal of Humanoid Robotics, Volume 2, Number 3, September 2005.
Platt, R., Fagg, A. H., Grupen, R.,
Re-using Schematic Grasping Policies,
IEEE-RAS International Conference on Humanoid Robots,
Tsukuba, Japan, December 5-7, 2005
K. Rohanimanesh, R. Platt Jr., S. Mahadevan, and R. Grupen
Coarticulation in Markov Decision Processes ,
Eighteenth International Conference on Neural Information
Processing Systems (NIPS), December 2004 (ps:
447KB)
William Bluethmann, Robert Ambrose, Myron Diftler, Eric Huber, Andy
Fagg, Michael Rosenstein, Robert Platt, Roderic Grupen, Cynthia
Breazeal, Andrew Brooks, Andrea Lockerd, R. Alan Peters II, O. Chad
Jenkins, Maja Mataric, Magdalena Bugajska
Building an Autonomous Humanoid Tool User,
Proceedings of the 2004 IEEE International
Conference on Humanoid Robots, Los Angeles, CA, USA November 2004
A. Fagg, M. Rosenstein, R. Platt and R. Grupen,
Extracting User Intent in Mixed Initiative Teleoperator
Control, AIAA-2004-6309 AIAA 1st Intelligent Systems Technical
Conference, Chicago, Illinois, Sep. 20-22, 2004
T. Martin, M. Diftler and R. Ambrose, R. Platt, M. Butzer,
Tactile Sensors for the NASA/DARPA Robonaut, AIAA 1st
Intelligent Systems Technical Conference, Chicago, Illinois,
Sep. 20-22, 2004
Platt, R., Fagg, A. H., Grupen, R.
Manipulation Gaits: Sequences of Grasp Control
Tasks, Proceedings of the 2004 IEEE Conference on
Robotics and Automation (ICRA), New Orleans, Louisiana,
April 2004 © 2004 IEEE. (pdf:
175KB)
T. B. Martin, R. O. Ambrose, M. A. Diftler, R. Platt Jr., M. J. Butzer
Tactile Gloves for Autonomous Grasping with the
NASA/DARPA Robonaut, Proceedings of the 2004 IEEE
Conference on Robotics and Automation (ICRA), New Orleans,
Louisiana, April 2004 © 2004 IEEE. (pdf:
175KB)
Platt, R., Brock, O., Fagg, A. H., Karupiah, D., Rosenstein, M.,
Coelho, J., Huber, M., Piater, J., Wheeler, D., Grupen, R.
A Framework For Humanoid Control and
Intelligence, Proceedings of the 2003 IEEE
International Conference on Humanoid Robots, Karlsruhe &
Munich, Germany, October 2003 © 2003 IEEE. (pdf:
293KB; ps.gz:
199KB)
Platt, R., Fagg, A. H., Grupen, R.
Extending Fingertip Grasping to Whole Body
Grasping, Proceedings of the 2003 IEEE Conference on
Robotics and Automation (ICRA), Taipei, Taiwan, May 2003
© 2003 IEEE. (pdf:
353KB; ps.gz:
1424KB)
Diftler, M.A., Platt, R., Culbert, C.J., Ambrose, R.O., Buethmann, W.J.
Evolution of the NASA/DARPA Robonaut Control
System, Proceedings of the 2003 IEEE Conference on
Robotics and Automation (ICRA), Taipei, Taiwan, May 2003
© 2003 IEEE. (pdf:
357KB)
Platt, R., Fagg, A. H., Grupen, R.
Nullspace Composition of Control Laws for
Grasping, In the Proceedings of the IEEE/RSJ
International Conference on Intelligent Robots and Systems
(IROS). 2002 © 2002 IEEE (pdf:
316KB; ps: 596KB)
Technical Reports
K. Rohanimanesh, R. Platt Jr., S. Mahadevan, and R. Grupen A Framework for Coarticulation in Markov Decision Processes
Technical Report 04-33, University of Massachusetts, 2004
Thesis
Platt, R.,
Learning and Generalizing Control-Based Grasping and Manipulation Skills
,
Ph.D. Dissertation, Computer Science Department, University of Massachusetts at Amherst, September, 2006.