Loading [MathJax]/extensions/MathZoom.js
Matthew T. Mason - IEEE Xplore Author Profile
Subscribe
ADVANCED SEARCH

Author details

< Back

Matthew T. Mason

Also published under: M. T. Mason, M. Mason, Matt Mason, Mathew Mason

Publications
78
Citations
3,069
Publications by Year
19812024
Co-Authors:
Show All Co-Authors (91)
Image of author Matthew T. Mason

Matthew T. Mason

Also published under: M. T. Mason, M. Mason, Matt Mason, Mathew Mason

Affiliation

Carnegie Mellon University
Pittsburgh
PA, USA

Publication Topics

Biography

Matthew T. Mason (F’00) received the B.S., M.S., and Ph.D. degrees in computer science and artificial intelligence from The Massachusetts Institute of Technology receiving the Ph.D. degree in 1982.,Since 1982, he has been on the faculty at Carnegie Mellon University, Pittsburgh, PA, USA, where he is presently a Professor of computer science and robotics. In July 2004, became the Director with the Robotics Institute. His research interests include robotic manipulation, mobile robot error recovery, mobile robots, and robotic origami. He is the Co-Author of Robot Hands and the Mechanics of Manipulation (Cambridge, MA, USA: MIT Press, 1985), Co-Editor of Robot Motion: Planning and Control (Cambridge, MA, USA: MIT Press, 1982), and the author of...
Publications
78
Citations
3,069
Publications by Year
19812024
Co-Authors:
Show All Co-Authors (91)
Author's Published Works

Showing 1-25 of 78 results

  • Sort

Filter Results

Show

Sort By

Results

Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration

Xianyi Cheng;Sarvesh Patil;Zeynep Temel;Oliver Kroemer;Matthew T. Mason

IEEE Robotics and Automation Letters
Year: 2024 | Volume: 9, Issue: 1 | Journal Article |
Cited by: Papers (5)
Planning robot dexterity is challenging due to the non-smoothness introduced by contacts, intricate fine motions, and ever-changing scenarios. We present a hierarchical planning framework for dexterous robotic manipulation (HiDex). This framework explores in-hand and extrinsic dexterity by leveraging contacts. It generates rigid-body motions and complex contact sequences. Our framework is based on...Show More

Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration

Xianyi Cheng;Sarvesh Patil;Zeynep Temel;Oliver Kroemer;Matthew T. Mason

Year: 2024 | Volume: 9, Issue: 1 | Journal Article |

Extrinsic Dexterous Manipulation with a Direct-drive Hand: A Case Study

Arnav Gupta;Yuemin Mao;Ankit Bhatia;Xianyi Cheng;Jonathan King;Yifan Hou;Matthew T. Mason

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2022 | Conference Paper |
Cited by: Papers (2)
This paper explores a novel approach to dexterous manipulation, aimed at levels of speed, precision, robustness, and simplicity suitable for practical deployment. The enabling technology is a Direct-drive Hand (DDHand) comprising two fingers, two DOFs each, that exhibit high speed and a light touch. The test application is the dexterous manipulation of three small and irregular parts, moving them ...Show More

Extrinsic Dexterous Manipulation with a Direct-drive Hand: A Case Study

Arnav Gupta;Yuemin Mao;Ankit Bhatia;Xianyi Cheng;Jonathan King;Yifan Hou;Matthew T. Mason

Year: 2022 | Conference Paper |

Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D

Xianyi Cheng;Eric Huang;Yifan Hou;Matthew T. Mason

2022 International Conference on Robotics and Automation (ICRA)
Year: 2022 | Conference Paper |
Cited by: Papers (14)
This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasi-dynamic rigid body motion planning in dexterous manipulation. The CMGMP algorithm generates hybrid motion plans including both continuous state transitions and discrete contact mode switches, without the need for pre-specified contact sequences or pre-designed motion primitives. The key idea is to us...Show More

Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D

Xianyi Cheng;Eric Huang;Yifan Hou;Matthew T. Mason

Year: 2022 | Conference Paper |

An Efficient Closed-Form Method for Optimal Hybrid Force-Velocity Control

Yifan Hou;Matthew T. Mason

2021 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2021 | Conference Paper |
Cited by: Papers (1)
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact constraints. The method is complete, in that it always produces an optimal/near optimal solution when a solution exists. It is efficient, since it is in closed form...Show More

An Efficient Closed-Form Method for Optimal Hybrid Force-Velocity Control

Yifan Hou;Matthew T. Mason

Year: 2021 | Conference Paper |

Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D

Xianyi Cheng;Eric Huang;Yifan Hou;Matthew T. Mason

2021 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2021 | Conference Paper |
Cited by: Papers (15)
The discontinuities and multi-modality introduced by contacts make manipulation planning challenging. Many previous works avoid this problem by pre-designing a set of high-level motion primitives like grasping and pushing. However, such motion primitives are often not adequate to describe dexterous manipulation motions. In this work, we propose a method for dexterous manipulation planning at a mor...Show More

Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D

Xianyi Cheng;Eric Huang;Yifan Hou;Matthew T. Mason

Year: 2021 | Conference Paper |

Contact Localization using Velocity Constraints

Sean Wang;Ankit Bhatia;Matthew T. Mason;Aaron M. Johnson

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2020 | Conference Paper |
Cited by: Papers (15)
Localizing contacts and collisions is an important aspect of failure detection and recovery for robots and can aid perception and exploration of the environment. Contrary to state-of-the-art methods that rely on forces and torques measured on the robot, this paper proposes a kinematic method for proprioceptive contact localization on compliant robots using velocity measurements. The method is vali...Show More

Contact Localization using Velocity Constraints

Sean Wang;Ankit Bhatia;Matthew T. Mason;Aaron M. Johnson

Year: 2020 | Conference Paper |

Criteria for Maintaining Desired Contacts for Quasi-Static Systems

Yifan Hou;Matthew T. Mason

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2019 | Conference Paper |
Cited by: Papers (4)
In robotic manipulation, finding a feasible motion plan doesn't guarantee a successful execution. The real world could bring all kinds of unexpected changes to the planned motion, the most deadly ones are usually marked by or caused by unexpected changes of contacts (object slipping away between fingers; getting stuck somewhere, etc). We notice that some actions are more likely to maintain desired...Show More

Criteria for Maintaining Desired Contacts for Quasi-Static Systems

Yifan Hou;Matthew T. Mason

Year: 2019 | Conference Paper |

Data-Efficient Process Monitoring and Failure Detection for Robust Robotic Screwdriving

Xianyi Cheng;Zhenzhong Jia;Matthew T. Mason

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)
Year: 2019 | Conference Paper |
Cited by: Papers (8)
Screwdriving is one of the most prevalent assembly methods, yet its full automation is still challenging, especially for small screws. A critical reason is that existing techniques perform poorly in process monitoring and failure prediction. In addition, most solutions are essentially data-driven, thereby requiring lots of training data and laborious labeling. Moreover, they are not robust against...Show More

Data-Efficient Process Monitoring and Failure Detection for Robust Robotic Screwdriving

Xianyi Cheng;Zhenzhong Jia;Matthew T. Mason

Year: 2019 | Conference Paper |

Large-Scale Multi-Object Rearrangement

Eric Huang;Zhenzhong Jia;Matthew T. Mason

2019 International Conference on Robotics and Automation (ICRA)
Year: 2019 | Conference Paper |
Cited by: Papers (44)
This paper describes a new robotic tabletop rearrangement system, and presents experimental results. The tasks involve rearranging as many as 30 to 100 blocks, sometimes packed with a density of up to 40%. The high packing factor forces the system to push several objects at a time, making accurate simulation difficult, if not impossible. Nonetheless, the system achieves goals specifying the pose o...Show More

Large-Scale Multi-Object Rearrangement

Eric Huang;Zhenzhong Jia;Matthew T. Mason

Year: 2019 | Conference Paper |

Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control

Yifan Hou;Matthew T. Mason

2019 International Conference on Robotics and Automation (ICRA)
Year: 2019 | Conference Paper |
Cited by: Papers (24)
In hybrid force-velocity control, the robot can use velocity control in some directions to follow a trajectory, while performing force control in other directions to maintain contacts with the environment regardless of positional errors. We call this way of executing a trajectory hybrid servoing. We propose an algorithm to compute hybrid force-velocity control actions for hybrid servoing. We quant...Show More

Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control

Yifan Hou;Matthew T. Mason

Year: 2019 | Conference Paper |

A Survey of Automated Threaded Fastening

Zhenzhong Jia;Ankit Bhatia;Reuben M. Aronson;David Bourne;Matthew T. Mason

IEEE Transactions on Automation Science and Engineering
Year: 2019 | Volume: 16, Issue: 1 | Journal Article |
Cited by: Papers (45)
Threaded fasteners are prevalent throughout modern manufacturing. Thus, as the demand for automation in manufacturing increases, so does the demand for automated threaded fastening systems. However, many fundamental issues and engineering challenges still hinder robustness in automation, particularly for smaller screws and critical product finishing requirements. This paper surveys the state of th...Show More

A Survey of Automated Threaded Fastening

Zhenzhong Jia;Ankit Bhatia;Reuben M. Aronson;David Bourne;Matthew T. Mason

Year: 2019 | Volume: 16, Issue: 1 | Journal Article |

Sensor Selection and Stage & Result Classifications for Automated Miniature Screwdriving

Xianyi Cheng;Zhenzhong Jia;Ankit Bhatia;Reuben M. Aronson;Matthew T. Mason

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2018 | Conference Paper |
Cited by: Papers (5)
Hundreds of billions of small screws are assembled in consumer electronics industry every year, yet reliably automating the screwdriving process remains one of the most challenging tasks. Two barriers to further adoption of robotic threaded fastening systems are system cost and technical challenges, especially for small screws. An affordable intelligent screwdriving system that can support online ...Show More

Sensor Selection and Stage & Result Classifications for Automated Miniature Screwdriving

Xianyi Cheng;Zhenzhong Jia;Ankit Bhatia;Reuben M. Aronson;Matthew T. Mason

Year: 2018 | Conference Paper |

Fast Planning for 3D Any-Pose-Reorienting Using Pivoting

Yifan Hou;Zhenzhong Jia;Matthew T. Mason

2018 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2018 | Conference Paper |
Cited by: Papers (36)
In this paper, we consider reorienting 3D objects on a table using a two-finger pinch gripper. Given the 3D mesh model of the object, our algorithm solves for the gripper motions that are required to transit between arbitrary object poses, grasping positions and gripper poses. The two motion primitives we used, pivoting and compliant rolling, enable us to decompose the planning problem and solve i...Show More

Fast Planning for 3D Any-Pose-Reorienting Using Pivoting

Yifan Hou;Zhenzhong Jia;Matthew T. Mason

Year: 2018 | Conference Paper |

The complexities of grasping in the wild

Yuzuko C. Nakamura;Daniel M. Troniak;Alberto Rodriguez;Matthew T. Mason;Nancy S. Pollard

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)
Year: 2017 | Conference Paper |
Cited by: Papers (15)
The recent ubiquity of high-framerate (120 fps and higher) handheld cameras creates the opportunity to study human grasping at a greater level of detail than normal speed cameras allow. We first collected 91 slow-motion interactions with objects in a convenience store setting. We then annotated the actions through the lenses of various existing manipulation taxonomies. We found manipulation, parti...Show More

The complexities of grasping in the wild

Yuzuko C. Nakamura;Daniel M. Troniak;Alberto Rodriguez;Matthew T. Mason;Nancy S. Pollard

Year: 2017 | Conference Paper |

A Probabilistic Planning Framework for Planar Grasping Under Uncertainty

Jiaji Zhou;Robert Paolini;Aaron M. Johnson;J. Andrew Bagnell;Matthew T. Mason

IEEE Robotics and Automation Letters
Year: 2017 | Volume: 2, Issue: 4 | Journal Article |
Cited by: Papers (22)
How can a robot design a sequence of grasping actions that will succeed despite the presence of bounded state uncertainty and an inherently stochastic system? In this letter, we propose a probabilistic algorithm that generates sequential actions to iteratively reduce uncertainty until object pose is uniquely known (subject to symmetry). The plans assume encoder feedback that gives a geometric part...Show More

A Probabilistic Planning Framework for Planar Grasping Under Uncertainty

Jiaji Zhou;Robert Paolini;Aaron M. Johnson;J. Andrew Bagnell;Matthew T. Mason

Year: 2017 | Volume: 2, Issue: 4 | Journal Article |

Data-driven statistical modeling of a cube regrasp

Robert Paolini;Matthew T. Mason

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2016 | Conference Paper |
Cited by: Papers (6)
Regrasping is the process of adjusting the position and orientation of an object in one's hand. The study of robotic regrasping has generally been limited to use of theoretical analytical models and cases with little uncertainty. Analytical models and simulations have so far proven unable to capture the complexity of the real world. Empirical statistical models are more promising, but collecting g...Show More

Data-driven statistical modeling of a cube regrasp

Robert Paolini;Matthew T. Mason

Year: 2016 | Conference Paper |

A convex polynomial force-motion model for planar sliding: Identification and application

Jiaji Zhou;Robert Paolini;J. Andrew Bagnell;Matthew T. Mason

2016 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2016 | Conference Paper |
Cited by: Papers (28)
We propose a polynomial force-motion model for planar sliding. The set of generalized friction loads is the 1-sublevel set of a polynomial whose gradient directions correspond to generalized velocities. Additionally, the polynomial is confined to be convex even-degree homogeneous in order to obey the maximum work inequality, symmetry, shape invariance in scale, and fast invertibility. We present a...Show More

A convex polynomial force-motion model for planar sliding: Identification and application

Jiaji Zhou;Robert Paolini;J. Andrew Bagnell;Matthew T. Mason

Year: 2016 | Conference Paper |

Fast radiation mapping and multiple source localization using topographic contour map and incremental density estimation

Abdullah Al Redwan Newaz;Sungmoon Jeong;Hosun Lee;Hyejeong Ryu;Nak Young Chong;Matthew T. Mason

2016 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2016 | Conference Paper |
Cited by: Papers (19)
Toward a global picture of the radiation exposure of an area, particularly for fast emergency response, a UAV based exploration method is proposed. Without a priori knowledge of the radiation field, it is difficult to select the region of interest (ROI) which includes all radiation sources. For the case of a single radiation source, a greedy algorithm may localize the source by finding the maximum...Show More

Fast radiation mapping and multiple source localization using topographic contour map and incremental density estimation

Abdullah Al Redwan Newaz;Sungmoon Jeong;Hosun Lee;Hyejeong Ryu;Nak Young Chong;Matthew T. Mason

Year: 2016 | Conference Paper |

A novel nonlinear compliant link on simple grippers

Zhiwei Zhang;Alberto Rodriguez;Matthew T. Mason

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2015 | Conference Paper |
Cited by: Papers (3)
This paper presents a novel nonlinear compliant link. It has two major properties: bi-directionality and stiffening compliance. Bi-directionality means it can be stretched and compressed, and is realized by antagonistic arrangement of an extension spring and a compression spring. Stiffening compliance means it becomes stiffer as it is stretched, and is realized by asymmetric geometry. The links ar...Show More

A novel nonlinear compliant link on simple grippers

Zhiwei Zhang;Alberto Rodriguez;Matthew T. Mason

Year: 2015 | Conference Paper |

A two-phase gripper to reorient and grasp

Nikhil Chavan-Dafle;Matthew T. Mason;Harald Staab;Gregory Rossano;Alberto Rodriguez

2015 IEEE International Conference on Automation Science and Engineering (CASE)
Year: 2015 | Conference Paper |
Cited by: Papers (32)
This paper introduces the design of novel two-phase fingers to passively reorient objects while picking them up. Two-phase refers to a change in the finger-object contact geometry, from a free spinning point contact to a firm multipoint contact, as the gripping force increases. We exploit the two phases to passively reorient prismatic objects from a horizontal resting pose to an upright secure gra...Show More

A two-phase gripper to reorient and grasp

Nikhil Chavan-Dafle;Matthew T. Mason;Harald Staab;Gregory Rossano;Alberto Rodriguez

Year: 2015 | Conference Paper |

Improving regrasp algorithms to analyze the utility of work surfaces in a workcell

Weiwei Wan;Matthew T. Mason;Rui Fukui;Yasuo Kuniyoshi

2015 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2015 | Conference Paper |
Cited by: Papers (22)
The goal of this paper is to develop a regrasp planning algorithm general enough to perform statistical analysis with thousands of experiments and arbitrary mesh models. We focus on pick-and-place regrasp which reorients an object from one placement to another by using a sequence of pick-ups and place-downs. We improve the pick-and-place regrasp approach developed in 1990s and analyze its performa...Show More

Improving regrasp algorithms to analyze the utility of work surfaces in a workcell

Weiwei Wan;Matthew T. Mason;Rui Fukui;Yasuo Kuniyoshi

Year: 2015 | Conference Paper |

A general framework for open-loop pivoting

Anne Holladay;Robert Paolini;Matthew T. Mason

2015 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2015 | Conference Paper |
Pivoting is the rotation of an object between two fingers using gravity and inertial forces to impart angular momentum. We present an analysis of the mechanics of pivoting and a framework for planning and execution. Extrinsic dexterity was defined by Chavan-Dafle et al. [1] as the use of external forces, such as gravity and inertial forces in post grasp manipulation. We analyze one such regrasp te...Show More

A general framework for open-loop pivoting

Anne Holladay;Robert Paolini;Matthew T. Mason

Year: 2015 | Conference Paper |

Extrinsic dexterity: In-hand manipulation with external forces

Nikhil Chavan Dafle;Alberto Rodriguez;Robert Paolini;Bowei Tang;Siddhartha S. Srinivasa;Michael Erdmann;Matthew T. Mason;Ivan Lundberg;Harald Staab;Thomas Fuhlbrigge

2014 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2014 | Conference Paper |
“In-hand manipulation” is the ability to reposition an object in the hand, for example when adjusting the grasp of a hammer before hammering a nail. The common approach to in-hand manipulation with robotic hands, known as dexterous manipulation [1], is to hold an object within the fingertips of the hand and wiggle the fingers, or walk them along the object's surface. Dexterous manipulation, howeve...Show More

Extrinsic dexterity: In-hand manipulation with external forces

Nikhil Chavan Dafle;Alberto Rodriguez;Robert Paolini;Bowei Tang;Siddhartha S. Srinivasa;Michael Erdmann;Matthew T. Mason;Ivan Lundberg;Harald Staab;Thomas Fuhlbrigge

Year: 2014 | Conference Paper |

Design and Open-Loop Control of the ParkourBot, a Dynamic Climbing Robot

Amir Degani;Andrew W. Long;Siyuan Feng;H. Benjamin Brown;Robert D. Gregg;Howie Choset;Matthew T. Mason;Kevin M. Lynch

IEEE Transactions on Robotics
Year: 2014 | Volume: 30, Issue: 3 | Journal Article |
Cited by: Papers (17)
The ParkourBot climbs in a planar reduced-gravity vertical chute by leaping back and forth between the chute's two parallel walls. The ParkourBot is comprised of a body with two springy legs and its controls consist of leg angles at touchdown and the energy stored in them. During flight, the robot stores elastic potential energy in its springy legs and then converts this potential energy in to kin...Show More

Design and Open-Loop Control of the ParkourBot, a Dynamic Climbing Robot

Amir Degani;Andrew W. Long;Siyuan Feng;H. Benjamin Brown;Robert D. Gregg;Howie Choset;Matthew T. Mason;Kevin M. Lynch

Year: 2014 | Volume: 30, Issue: 3 | Journal Article |

IEEE Account

Purchase Details

Profile Information

Need Help?

A not-for-profit organization, IEEE is the world's largest technical professional organization dedicated to advancing technology for the benefit of humanity.
© Copyright 2025 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.