Robert Platt Jr.

 

Publications



Publications Under Review

Publications Accepted

  • Li, R., Platt R., Yuan, W., ten Pas, A., Roscup, N., Srinivasan, M., Adelson, E., Localization and Manipulation of Small Parts Using GelSight Tactile Sensing, IEEE Int'l Conf. on Intelligent Robot Systems (IROS), 2014.

  • Ten Pas, A., Platt, R., Localizing Handle-like Grasp Affordances in 3D Point Clouds, Int'l Symposium on Experimental Robotics (ISER), 2014.

  • Ten Pas, A., Platt, R., Localizing Grasp Affordances in 3-D Points Clouds Using Taubin Quadric Fitting, arXiv:1311.3192, 2014

  • Ryde, J., Dhiman, V., Platt, R., Voxel Planes: Rapid Visualization and Meshification of Point Cloud Ensembles, IEEE Int'l Conf. on Intelligent Robotics Systems (IROS), 2013.

  • Goretkin, G., Perez, A., Platt, R., Konidaris, G., Optimal Sampling-Based Planning for Linear-Quadratic Kinodynamic Systems, IEEE Int'l Conf. on Robotics and Automation (ICRA), 2013.

  • Abdallah, M., Platt, R., Wampler, C., Decoupled Torque Control of Tendon-Driven Fingers with Tension Management, The International Journal of Robotics Research, February 2013, vol. 32 no. 2 pp 247-258

  • Platt, R. Convex receding horizon control in non-Gaussian belief space, Proceedings of the Workshop on the Algorithmic Foundations of Robotics, 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.