Publications in modeling contact between rigid bodies
Nima Fazeli, Samuel Zapolsky, Evan M. Drumwright, and Alberto Rodriguez. “Learning Data-Efficient Rigid-Body Contact Models: Case Study of Planar Impact”. Proc. Conf. on Robot Learning (CoRL), 2017. [FZDR17b.pdf]
Nima Fazeli, Samuel Zapolsky, Evan M. Drumwright, and Alberto Rodriguez. “Fundamental Limitations in Performance and Interpretability of Common Planar Rigid-Body Contact Models”. Proc. International Symposium on Robotics Research (ISRR), 2017. [FZDR17a.pdf]
Nima Fazeli, Elliott Donlon, Evan M. Drumwright, and Alberto Rodriguez. “Empirical evaluation of common contact models for planar impact”. Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA), 2017. [FDDR17.pdf]
Bjoern Cheng Yi and Evan M. Drumwright, “Determining Contact Data for Rigid Body Dynamics with Convex Polyhedral Geometries”, IEEE International Conference on Simulation and Programming for Autonomous Robots (SIMPAR), 2016. [CD16.pdf]
Evan M. Drumwright and Dylan Shell. “Modeling Contact Friction and Joint Friction in Dynamic Robotic Simulation Using the Principle of Maximum Dissipation”. Proc. of the 9th International Workshop on the Algorithmic Foundations of Robotics (WAFR). Singapore, 2010. [pdf]
Publications in legged robotic locomotion
Bradley Canaday, Samuel Zapolsky, Evan M. Drumwright, “Interactive, Iterative Robot Design”, IEEE International Conference on Robotics and Automation (ICRA). Singapore, May 2017. [Canaday2016]
John Shepherd, Samuel Zapolsky, and Evan M. Drumwright, “Fast multi-body simulations of robots controlled with error feedback”, IEEE International Conference on Simulation and Programming for Autonomous Robots (SIMPAR), 2016. [SZD16.pdf]
Samuel Zapolsky, Evan M. Drumwright, “Particle Traces for Detecting Divergent Robot Behavior”, IEEE-RAS International Conference on Humanoid Robots (Humanoids). Cancun, Mexico, Nov 2016. [Zapolsky2016]
Samuel Zapolsky and Evan M. Drumwright, “Detecting divergent robot behavior with multi-rigid body simulation and random sampling”, The Dynamic Walking Conference (DW 2016), Holly, MI, June 2016. [Zapolsky2016]
Samuel Zapolsky, Evan M. Drumwright, “Inverse Dynamics with Rigid Contact and Friction”, Auton Robot, 2016. [Zapolsky2015b]
Samuel Zapolsky and Evan M. Drumwright, “Pacer: Modular, real-time software for legged robot planning and control”, The Dynamic Walking Conference (DW 2015), Columbus, Ohio, July 2015. [Zapolsky2015]
Samuel Zapolsky and Evan M. Drumwright. “Quadratic Programming-Based Inverse Dynamics Control for Legged Robots with Sticking and Slipping Frictional Contacts”. The 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, Sep 2014. [Zapolsky2014]
Samuel Zapolsky, Evan M. Drumwright, Ioannis Havoutis, Jonas Buchli, and Claudio Semini. “Inverse Dynamics for a Quadruped Robot Locomoting Along Slippery Surfaces”. Proc. 16th Intl. Conf. on Climbing and Walking Robots (CLAWAR), Sydney, Australia, July 2013. [Zapolsky2013]
Publications in robotic simulation
James R Taylor, Evan M. Drumwright, and John Hsu, “Analysis of Grasping Failures in Multi-Rigid Body Simulations”, IEEE International Conference on Simulation and Programming for Autonomous Robots (SIMPAR), 2016. [Taylor2016b.pdf]
James R Taylor and Evan M. Drumwright, “State Estimation of a Wild Body Toward Validation of Rigid Body Simulation”, IEEE International Conference on Simulation and Programming for Autonomous Robots (SIMPAR), 2016. [Taylor2016a.pdf]
Bjoern Cheng Yi and Evan M. Drumwright, “Determining Contact Data for Rigid Body Dynamics with Convex Polyhedral Geometries”, IEEE International Conference on Simulation and Programming for Autonomous Robots (SIMPAR), 2016. [CD16.pdf]
Samuel Zapolsky, Evan M. Drumwright, “Adaptive Integration for Controlling Speed vs. Accuracy in Multi-Rigid Body Simulation”, The 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, Sep 2015. [Zapolsky2015a]
James R. Taylor, Evan M. Drumwright and Gabriel Parmer, “Making Time Make Sense in Robotic Simulation”, The 2014 International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2014), Bergamo, Italy, Oct 2014. [Taylor2014a]
James R. Taylor, Evan M. Drumwright and Gabriel Parmer, “Temporally Consistent Simulation of Robots and Their Controllers”, Proceedings ASME 2014 International Design and Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC), Buffalo, NY, Aug 2014. [Taylor2014]
Evan M. Drumwright. “Fast dynamic simulation of highly articulated robots with contact via Θ(n2) time dense generalized inertia matrix inversion”. Proc. 3rd Intl. Conf. on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR). Tsukuba, Japan, 2012. [pdf]
Evan M. Drumwright and Dylan Shell. “Extensive analysis of Linear Complementarity Problem (LCP) solver performance on randomly generated rigid body contact problems.” Proc. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS). Portugal, 2012. [Project page] [pdf]
Evan M. Drumwright and Dylan Shell. “An Evaluation of Methods for Modeling Contact in Multibody Simulation”. Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA). Shanghai, 2011. [pdf]
Evan M. Drumwright and Dylan Shell. “Modeling Contact Friction and Joint Friction in Dynamic Robotic Simulation Using the Principle of Maximum Dissipation”. Proc. of the 9th International Workshop on the Algorithmic Foundations of Robotics (WAFR). Singapore, 2010. [pdf]
Evan M. Drumwright, John Hsu, Nathan Koenig, and Dylan Shell. “Extending the Open Dynamics Engine for Robotic Simulation”. Proc. of the Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) Darmstadt, Germany. 2010.
Evan M. Drumwright. “Avoiding Zeno Points in Rigid Body Simulation”. Proc. of IEEE International Conference on Robotics and Automation (ICRA). Anchorage, AK. 2010. [pdf]
Evan M. Drumwright and Dylan Shell. “A Robust and Tractable Contact Model for Dynamic Robotic Simulation”. Proc. of ACM Symposium on Applied Computing. Honolulu, Hawaii. March 2009. [pdf] (Winner: Best Paper Award, Artificial Intelligence and Agents).
Dylan Shell and Evan M. Drumwright. “Precise Generalized Contact Point and Normal Determination for Rigid Body Simulation”{. Proc. of ACM Symposium on Applied Computing. Honolulu, Hawaii. March 2009. [pdf]
Evan M. Drumwright. “A Fast and Stable Penalty Method for Rigid Body Simulation.” IEEE Trans. on Visualization and Computer Graphics, vol. 14, no. 1, pp. 231-240, January/February, 2008. [pdf]
Robotic manipulation and humanoid robots
Joshua Lurz and Evan M. Drumwright. “Reducing Human Fall Injuries using a Mobile Manipulator”. Proc. of the IEEE-RAS Intl. Conf. on Humanoid Robotics. Seoul, Korea, 2015. [pdf]
Roxana Leontie, Evan M. Drumwright, Dylan Shell, and Rahul Simha. “Load Equalization on a Two-Arm Robot via Proprioceptive Sensing”. Proc. of the 13th Intl. Symp. on Experimental Robotics (ISER). Quebec City, 2012. [Leontie2012]
Victor Ng-Thow-Hing, Evan M. Drumwright, Kris Hauser, Qinjuan Wu, and Joel Wormer. “Expanding Task Functionality in Established Humanoid Robots”. Proc. of the IEEE-RAS Intl. Conf. on Humanoid Robotics. Pittsburgh, PA. 2007.
Evan M. Drumwright. “The Task Matrix: a Robot-Independent Framework for Programming Humanoids”. PhD Thesis, The University of Southern California, 2007.
Evan M. Drumwright and Maja Mataric’. “Collision-free Humanoid Reaching: Past, Present, and Future”. Humanoid Robotics. Matthias Hackel, ed. Advanced Robotic Systems, Vienna, 2007.
Evan M. Drumwright, Victor Ng-Thow-Hing, and Maja Mataric’. “The Task Matrix Framework for Platform-Independent Humanoid Programming.” Proc. of IEEE-RAS Intl. Conf. on Humanoid Robotics. Genova, Italy. December, 2006. [pdf]
Evan M. Drumwright and Victor Ng-Thow-Hing. “Toward Interactive Reaching for Humanoid Robots in Static Environments”. Proc. of the IEEE Intl. Conf. on Intelligent Robots and Systems (IROS). Beijing, China. October, 2006. [pdf]
Evan M. Drumwright, Victor Ng-Thow-Hing, and Maja Mataric’. “Toward a Vocabulary of Primitive Task Programs for Humanoid Robots”. Proc. of the IEEE Intl. Conf. on Development and Learning (ICDL). Bloomington, IN. May-June, 2006. [pdf]
Evan M. Drumwright and Victor Ng-Thow-Hing. “The Task Matrix: An Extensible Framework for Creating Versatile Humanoid Robots”. Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA). Orlando, FL. 2006. [pdf]
Evan M. Drumwright, Marcelo Kallmann, and Maja Mataric’. “Towards Single-Arm Reaching for Humanoid Robots in Dynamic Environments”. Proc. of the IEEE-RAS Intl. Conf. on Humanoid Robotics, Santa Monica, CA, Nov 2004. [pdf]
Evan M. Drumwright, Odest Jenkins, and Maja Mataric’. “Exemplar-Based Primitives for Humanoid Movement Classification and Control”. In IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 140-145, Apr 2004. [pdf]
Evan M. Drumwright and Maja Mataric’. “Generating and Recognizing Free-Space Movement in Humanoid Robotics”. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), pp. 1672-1678, Las Vegas, NV, Oct 2003. [pdf]