Home/Michael Erdmann

Michael Erdmann

Professor
Email: me51@andrew.cmu.edu
Office: GHC 9203
Phone: (412) 268-7883
Personal Homepage

I am interested in making robots act purposefully and successfully in a world in which most everything is uncertain. Sensors are noisy, actions are imprecise, and objects are often in the wrong location. Despite such obstacles to purposeful action, there are many tasks that can be accomplished successfully. Humans, animals, and some machines are proof. Providing robots with the ability to operate autonomously and purposefully requires an understanding of how different tasks may be accomplished by different repertoires of actions. Grasping, hitting, and dropping are some actions that are useful in a robot’s repertoire. More exotic actions include shaking, twirling, and other actions that randomize an object’s state. Recently I constructed a “two-palm robot”. The robot consisted of two manipulator arms cooperating to manipulate objects without the need for full kinematic constraint. The arms “programmed themselves”, that is, they invoked an automatic planner to find sequences of motions for reorienting objects in their palms. The planner built a geometric graph based on a critical event analysis of the underlying mechanics.

My work is motivated by several desires. First, I would like to program robots more easily than is currently possible. Second, I would like to understand the scope and limitations of autonomous systems, whether biological or artificial. Third, I would like to reduce the complexity of design and planning by codifying the design parameters required to achieve a given level of automation. An underlying goal of my research is to understand the relationship between sensing, action, and prediction. In the past, I have explored various extreme points in this space. With Matt Mason I explored sensorless strategies, for my thesis work I looked at randomized strategies, and most recently I investigated fast-action minimal-sensing strategies. My research draws on tools from geometry, mechanics, planning, and stochastic processes.

I am interested in sensing strategies that acquire object shape and configuration concurrently during manipulation, a research direction pioneered by my former students Yan-Bin Jia and Mark Moll. Currently, Matt Mason, Sidd Srinivasa, and I are working on a related project to develop a theory of task-level kinesthetic perception.

I am also interested in protein homology, in particular determining structural homology from sparse NMR data. I am exploring techniques from knot theory to model protein structures.

Publications

Extrinsic Dexterity: In-Hand Manipulation with External Forces
Nikhil Chavan-Dafle, Alberto Rodriguez, Robert Paolini, Bowei Tang, Siddhartha Srinivasa, Michael Erdmann, Matthew T. Mason, Ivan Lundberg, Harald Staab and Thomas Fuhlbrigge

IEEE International Conference on Robotics and Automation (ICRA) May, 2014

Multiple Impacts: A State Transition Diagram Approach
Yan-Bin Jia, Matthew T. Mason and Michael Erdmann

International Journal of Robotics Research January, 2013

On the Topology of Discrete Planning with Uncertainty
Michael Erdmann

Advances in Applied and Computational Topology June, 2012

On the Topology of Discrete Strategies
Michael Erdmann

International Journal of Robotics Research June, 2010

A State Transition Diagram for Simultaneous Collisions with Application in Billiard Shooting
Yan-Bin Jia, Matthew T. Mason and Michael Erdmann

Eighth International Workshop on the Algorithmic Foundations of Robotics December, 2008

On the Topology of Plans
Michael Erdmann

Eighth International Workshop on the Algorithmic Foundations of Robotics December, 2008

Using Backprojections for Fine Motion Planning with Uncertainty
Michael Erdmann

International Journal of Robotics Research January, 1986

On Multiple Moving Objects
Michael Erdmann and Tomas Lozano-Perez

Algorithmica January, 1987

Randomization in Robot Tasks
Michael Erdmann

International Journal of Robotics Research January, 1992

Randomization for Robot Tasks: Using Dynamic Programming in the Space of Knowledge States
Michael Erdmann

Algorithmica January, 1993

Systematic Induction and Parsimony of Phenomenological Conservation Laws
Raul Valdes-Perez and Michael Erdmann

Computer Physics Communications January, 1994

Control Synthesis for Dynamic Contact Manipulation
Siddhartha Srinivasa

CMU-RI-TR-05-33 September, 2005

Protein Similarity from Knot Theory: Geometric Convolution and Line Weavings
Michael Erdmann

Journal of Computational Biology January, 2005

Using projected dynamics to plan dynamic contact manipulation
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

IEEE/RSJ International Conference on Intelligent Robots and Systems August, 2005

Algorithmic Foundations of Robotics VI
Michael Erdmann , David Hsu, Mark Overmars and A. Frank van der Stappen

Springer Tracts in Advanced Robotics 17 January, 2005

Protein Similarity from Knot Theory and Geometric Convolution
Michael Erdmann

Proceedings 2004 ACM International Conference on Research in Computational Molecular Biology March, 2004

Motion Sketching for Control of Rigid-Body Simulations
Jovan Popovic, Steven Seitz and Michael Erdmann

ACM Transactions on Graphics October, 2003

Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03) May, 2003

Experiments with nonholonomic manipulation
Siddhartha Srinivasa, Christopher R. Baker, Elisha Sacks, Grigoriy Reshko, Matthew T. Mason and Michael Erdmann

Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02) May, 2002

Manipulation of Pose Distributions
Mark Moll and Michael Erdmann

International Journal of Robotics Research March, 2002

Aligning Parts for Micro Assemblies
Mark Moll, K. Goldberg, Michael Erdmann and R. Fearing.

Assembly Automation February, 2002

Reconstructing Shape from Motion Using Tactile Sensors
Mark Moll and Michael Erdmann

Proc. 2001 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems November, 2001

Interactive Manipulation of Rigid Body Simulations
Jovan Popovic, Steven Seitz, Michael Erdmann , Zoran Popovic and Andrew Witkin

Proceedings of SIGGRAPH 2000 July, 2000

Uncertainty Reduction Using Dynamics
Mark Moll and Michael Erdmann

Proceeding of the 2000 Conference on Robotics and Automation April, 2000

Manipulation of Pose Distribitions
Mark Moll and Michael Erdmann

Workshop on the Algorithmic Foundations of Robotics March, 2000

Manipulation of Pose Distributions
Mark Moll and Michael Erdmann

CMU-CS-00-111 March, 2000

Experiments with Desktop Mobile Manipulators
Matthew T. Mason , Dinesh Pai, Daniela Rus, J. Howell, L. R. Taylor and Michael Erdmann

Internatiional Symposium on Experimental Robotics January, 1999

The complexity of sensing by point sampling
Yan-Bin Jia and Michael Erdmann

Algorithmic Foundations of Robotics January, 1995

Shape Recovery from Passive Locally Dense Tactile Data
Michael Erdmann

Proceedings of the Workshop on the Algorithmic Foundations of Robotics January, 1998

Planar Sliding with Dry Friction: a Review
Michael Erdmann and Matthew T. Mason

The Robotics Review 2 January, 1992

On a Representation of Friction in Configuration Space
Michael Erdmann

International Journal of Robotics Research January, 1994

Understanding Action and Sensing by Designing Action-Based Sensors
Michael Erdmann

International Journal of Robotics Research January, 1995

Stably Supported Rotations of a Planar Polygon with Two Frictionless Contacts
Tamara Abell and Michael Erdmann

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems January, 1995

An Exploration of Nonprehensile Two-Palm Manipulation
Michael Erdmann

International Journal of Robotics Research January, 1998

A Mobile Manipulator
Matthew T. Mason , Dinesh Pai, Daniela Rus, L. R. Taylor and Michael Erdmann

IEEE International Conference on Robotics and Automation (ICRA '99) May, 1999

Pose and Motion from Contact
Yan-Bin Jia and Michael Erdmann

International Journal of Robotics Research May, 1999

Observing Pose and Motion through Contact
Yan-Bin Jia and Michael Erdmann

Proceedings of the IEEE International Conference on Robotics and Automation May, 1998

Local observability of rolling
Yan-Bin Jia and Michael Erdmann

Third International Workshop on the Algorithmic Foundations of Robotics March, 1998

Nonprehensile Manipulation for Orienting Parts in the Plane
Nina Zumel and Michael Erdmann

Proceedings of the IEEE International Conference on Robotics and Automation April, 1997

Geometric Sensing of Known Planar Shapes
Yan-Bin Jia and Michael Erdmann

International Journal of Robotics Research August, 1996

Pose from Pushing
Yan-Bin Jia and Michael Erdmann

Proceedings of the IEEE International Conference on Robotics and Automation June, 1996

Nonprehensile Two Palm Manipulation with Non-Equilibrium Transitions between Stable States
Nina Zumel and Michael Erdmann

Proceedings of the IEEE International Conference on Robotics and Automation April, 1996

An Exploration of Nonprehensile Two-Palm Manipulation: Planning and Execution
Michael Erdmann

Seventh International Symposium on Robotics Research October, 1995

Geometric Sensing of Known Planar Shapes
Yan-Bin Jia and Michael Erdmann

CMU-RI-TR-94-24 July, 1994

Sensing Polygon Poses by Inscription
Yan-Bin Jia and Michael Erdmann

Proceedings of the IEEE International Conference on Robotics and Automation May, 1994

Balancing of a Planar Bouncing Object
Nina Zumel

CMU-RI-TR-93-26 November, 1993

Mechanical Parts Orienting: The Case of a Polyhedron on a Table
Michael Erdmann , Matthew T. Mason and George Vanecek

Algorithmica August, 1993

Multiple-point contact with friction: Computing forces and motions in configuration space
Michael Erdmann

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems July, 1993

Action subservient sensing and design
Michael Erdmann

Proceedings of the IEEE International Conference on Robotics and Automation May, 1993

Towards Task-Level Planning: Action-Based Sensor Design
Michael Erdmann

CMU-RI-TR-92-03 February, 1992

A configuration space friction cone
Michael Erdmann

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Intelligence for Mechanical Systems November, 1991

Generating Stochastic Plans for a Programmable Parts Feeder
Kenneth Y. Goldberg, Matthew T. Mason and Michael Erdmann

IEEE International Conference on Robotics and Automation April, 1991

Randomization in robot tasks
Michael Erdmann

IEEE International Conference on Robotics and Automation May, 1990

An Exploration of Sensorless Manipulation
Michael Erdmann and Matthew T. Mason

IEEE Journal of Robotics and Automation August, 1988

Mailing Address:

Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

2017-04-04T13:56:27+00:00