Publications in Robotics, AI and Machine Learning

Robotics, AI and Machine Learning (Recent)

  • “Orientation Control of Self-Righting Tensegrity Landers,”  (Alice M. Agogino with Zhang, A., D. Hutchings, M. Gupta), Proceedings of the ASME IDETC, DETC2021-70989, 2021.
  • “Force-Sensing Tensegrity for Investigating Physical Human-Robot Interaction in Compliant Robotic Systems,” (Andrew R. Barkan, Akhil Padmanabha, Sala R. Tiemann, Albert Lee, Matthew P. Kanter, Yash S. Agarwal, and Alice M. Agogino). To be published in IEEE ICRA, June 2021. https://arxiv.org/pdf/2106.07838.pdf.
  • “Double-Helix Linear Actuators,” (Alice M. Agogino with Sabelhaus, A. P., Zampaglione, K., Tang, E., Chen, L., Agogino, A.K.), ASME. J. Mech. Des. Volume 143, Issue 10, May 2021. doi: https://doi.org/10.1115/1.4050739.
  • “Rolling Locomotion of Cable-Driven Soft Spherical Tensegrity Robots”, (Alice M. Agogino with K. Kim and A.K. Agogino), Soft Robotics, 2020.
  • “Model-Predictive Control with Inverse Statics Optimization for Tensegrity Spine Robots,”  (Alice M. Agogino with A. P. Sabelhaus, H. Zhao, E. Zhu, A.K. Agogino), IEEE Transactions on Control Systems Technology, March 2020.
  • “Inverse Statics Optimization for Compound Tensegrity Robots”,” (Alice M. Agogino with A. P. Sabelhaus, A. H. Li, K. Sover, J. R. Madden, A. Barkan, A.K. Agogino); IEEE Robotics and Automation Letters (RA-L), March 2020.
  • “Energy-Efficient Locomotion Strategies and Performance Benchmarks using Point Mass Tensegrity Dynamics” (Alice M. Agogino with B. Cera, A.A. Thompson), Proceedings of IROS (International Conference on Intelligent Robotics and Systems), 2019, pp. 4678-4683, doi: 10.1109/IROS40897.2019.8968086.
  • “Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly,” (Alice M. Agogino with Luo, J., E. Solowjow, C. Wen, J. A. Ojea, A. Tamar, P. Abbeel), Proceedings of ICRA 2019 (IEEE International Conference on Robotics and Automation, May 20-24, 2019, Montreal, Canada).
  • “Multi-Cable Rolling Locomotion with Spherical Tensegrities using Model Predictive Control and Deep Learning“, (Alice M. Agogino with B. Cera),  Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Submission number: 1534, Madrid, Spain, Oct. 1-5, 2018. DOI: 10.1109/IROS.2018.8594401.
  • “Deep Reinforcement Learning for Robotic Assembly of Mixed Deformable and Rigid Objects“, (Alice M. Agogino with J. Luo, E. Solowjow, C. Wen, J. A. Ojea),  Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, Oct. 1-5, 2018. DOI: 10.1109/IROS.2018.8594353.
  • “Characterization of Six-bar Spherical Tensegrity Lattice Topologies,” (Alice M. Agogino with A. Zhang and B. Cera), Proceedings of the IASS Symposium 2018: Creativity in Structural Design, July 16-20, 2018, MIT, Boston.
  • “Tensegrity Robot Locomotion with Limited Sensory Inputs via Deep Reinforcement Learning,” (Alice M. Agogino with J. Luo, R. Edmunds, F. Rice), Proceedings of ICRA 2018 (Brisbane, AU, 21-25 May 2018). DOI: 10.1109/ICRA.2018.8463144.
  • “Inclined Surface Locomotion Strategies for Spherical Tensegrity Robots”, (Alice M. Agogino with L.-H. Chen, B. Cera, E.L. Zhu, R. Edmunds, F. Rice, A. Bronars, E. Tang., S.R. Malekshahi, O. Romero, A.K. Agogino, A.M. Agogino), Proceedings of  the International Conference on Intelligent Robotics  and Systems (IROS 2017), September 24-28, 2017.
  • “Design of a Spherical Tensegrity Robot for Dynamic Locomotion”, (Kyunam Kim, Deaho Moon, Jae Young Bin, A.M. Agogino), Proceedings of the International Conference on Intelligent Robotics and Systems (IROS 2017), September 24-28, 2017.
  •  “Modular Elastic Lattice Platform for Rapid Prototyping of Tensegrity Robots” (Alice M. Agogino with L.-H. Chen, M.C. Daly, A.P. Sabelhaus, L.A. Janse van Vuuren, H.J. Garnier, M. I. Verdugo, E. Tang, C. U. Spanenberg, F. Ghahani, A.K. Agogino), Proceedings of the ASME International Design Engineering Technical Conference (IDETC) August 2017.
  • “Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control,” (Alice M. Agogino with L.-H. Chen, K. Kim, E. Tang, K. Li, R. House, A.K. Agogino, V. Sunspiral, E. Jung), Journal of Mechanisms and Robotics9 (2), pp. 0205001-1-9, 2017. Paper No: MD-16-1041, doi: 10.1115/1.4036014.
  • DNA-Structured Linear Actuators,” (Alice M. Agogino with K. Zampaglione, A.P. Sabelhaus, L.-H. Chen, A.K. Agogino), Proceedings of the ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 40th Mechanisms and Robotics Conference, American Society of Mechanical Engineers, August 21-24, Charlotte, NC, USA (2016).
  • “Hopping and Rolling Locomotion with Spherical Tensegrity Robots,” (Alice M. Agogino with K. Kyunam, L.H. Chen, B. Cera, M. Daly, E. Zhu, J. Despois, A.K. Agogino, V. SunSpiral), Proceedings of 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016), Daejeon, Korea, Oct 9-14, 2016.
  • “Spin-Axis Stabilization of a Rigid Body about an Arbitrary Direction using Two Reaction Wheels,” (Alice M. Agogino with K. Kim), Proceedings of 2016 IEEE Conference on Decision and Control (CDC2016), Las Vegas, NV, USA, Dec 12-14, 2016.
  • “Robust Learning of Tensegrity Robot Control for Locomotion through Form-Finding,” (Alice M. Agogino with K. Kim, A.K. Agogino, A. Toghyan, D. Moon, L. Taneja), Proceedings of the International Conference on Intelligent Robots and Systems (IROS 2015), IEEE, DOI: 10.1109/IROS.2015.7354204, pp. 5824 – 5831.
  • Mechanism Design and Simulation of an Underactuated Spine-Like Tensegrity Robot,” (Alice M. Agogino with A.P. Sabelhaus, P. Hylton, Y. Madaan, C.W. Yang, J. Friesen and V. SunSpiral),  Proceedings of the International Design Engineering Conference IDETC/CIE 2015, Mechanisms and Robotics Conference, ASME.
  • “System Design and Locomotion of SUPERball, an Autonomous Tensegrity Robot,” (Alice M. Agogino with A.P. Sabelhaus, J. Bruce, K. Caluwaerts, P. Manovi, R. G. Firoozi, S. Dobi, and V. SunSpiral), Proceedings of 2015 IEEE International Conference on Robotics and Automation (ICRA-2015), May 26-30, 2015, Washington State Convention Center, Seattle, Washington.
  • “Emergent Form-Finding for Center of Mass Control of Ball-Shaped Tensegrity Robots,” (Alice M. Agogino with K. Kim and A.K. Agogino), ARMS (Autonomous Robots and Multirobot Systems) workshop, (affiliated with the 14th International Conference on Autonomous Agents and Multiagent Systems – AAMAS 2015). Istanbul, Turkey, May 4-5, 2015.
  • “Rapid Prototyping Design and Control of Tensegrity Soft Robot for Locomotion”, (Alice M. Agogino with K. Kyunam, A.K. Agogino, D. Moon, L. Taneja, Al. Toghyan, B. Dehghani and V. SunSprial), Proceedings of the 2014 International Conference on Robotics and Biomimetics (ROBIO 2014), 2014.
  • SUPERball: Exploring Tensegrities for Planetary Probes”, (Alice M. Agogino with A.P. Sabelhaus, A.P., K. Caluwaerts, J. Bruce and V. SunSpiral) to appear in Proceedings of the 12th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS), June 2014.   
  • “SUPERball: Modular Hardware for a Mobile Tensegrity Robot”, (Alice M. Agogino with A.P. Sabelhaus, A.P., K. Caluwaerts, J. Bruce and V. SunSpiral) to appear in Proceedings of the WCSCM6 (6th World Conference on Structural Control and Monitoring), July 2014.