Gregory S. Chirikjian

According to our database1, Gregory S. Chirikjian authored at least 156 papers between 1990 and 2019.

Collaborative distances:

Awards

IEEE Fellow

IEEE Fellow 2010, "For contributions to hyper-redundant manipulators".

Timeline

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Bibliography

2019
Sensorless Pose Determination Using Randomized Action Sequences.
Entropy, 2019

Is That a Chair? Imagining Affordances Using Simulations of an Articulated Human Body.
CoRR, 2019

Curvature: A signature for Action Recognition in Video Sequences.
CoRR, 2019

Quotienting Impertinent Camera Kinematics for 3D Video Stabilization.
CoRR, 2019

An Efficient Production Process for Extracting Salivary Glands from Mosquitoes.
CoRR, 2019

Efficient Exact Collision Detection between Ellipsoids and Superquadrics via Closed-form Minkowski Sums.
Proceedings of the International Conference on Robotics and Automation, 2019

Mosquito Staging Apparatus for Producing PfSPZ Malaria Vaccines.
Proceedings of the 15th IEEE International Conference on Automation Science and Engineering, 2019

Multi-Mosquito Object Detection and 2D Pose Estimation for Automation of PfSPZ Malaria Vaccine Production.
Proceedings of the 15th IEEE International Conference on Automation Science and Engineering, 2019

Mosquito Pick-and-Place: Automating a Key Step in PfSPZ-based Malaria Vaccine Production.
Proceedings of the 15th IEEE International Conference on Automation Science and Engineering, 2019

2018
Symmetrical Parameterization of Rigid Body Transformations for Biomolecular Structures.
Journal of Computational Biology, 2018

Quantizing Euclidean motions via double-coset decomposition.
CoRR, 2018

Parallelization of the FFT on SO(3).
CoRR, 2018

Probabilistic approaches to the AXB = YCZ calibration problem in multi-robot systems.
Auton. Robots, 2018

The Globally Optimal Reparameterization Algorithm: An Alternative to Fast Dynamic Time Warping for Action Recognition in Video Sequences.
Proceedings of the 15th International Conference on Control, 2018

Signal Alignment for Humanoid Skeletons via the Globally Optimal Reparameterization Algorithm.
Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

From Wirtinger to Fisher Information Inequalities on Spheres and Rotation Groups.
Proceedings of the 21st International Conference on Information Fusion, 2018

A Method for Fully Automated Particle Picking in Cryo-Electron Microscopy Based on a CNN.
Proceedings of the 2018 ACM International Conference on Bioinformatics, 2018

2017
Cross-Validation of Data Compatibility Between Small Angle X-ray Scattering and Cryo-Electron Microscopy.
Journal of Computational Biology, 2017

Signal Classification in Quotient Spaces via Globally Optimal Variational Calculus.
Proceedings of the 2017 IEEE Conference on Computer Vision and Pattern Recognition Workshops, 2017

2016
Snake-Like and Continuum Robots.
Proceedings of the Springer Handbook of Robotics, 2016

Inverse kinematic solutions of 6-D.O.F. biopolymer segments.
Robotica, 2016

Collision-free configuration-spaces in macromolecular crystals.
Robotica, 2016

Simultaneous Hand-Eye and Robot-World Calibration by Solving the AX=YB Problem Without Correspondence.
IEEE Robotics and Automation Letters, 2016

Proceedings of the 1st International Workshop on Robot Learning and Planning (RLP 2016).
CoRR, 2016

Probabilistic Approaches to the AXB = YCZ Calibration Problem in Multi-Robot Systems.
Proceedings of the Robotics: Science and Systems XII, University of Michigan, Ann Arbor, Michigan, USA, June 18, 2016

Symmetrical rigid body parameterizations for humanoid robots.
Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics, 2016

A new robotic ultrasound system for tracking a catheter with an active piezoelectric element.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

New probabilistic approaches to the AX = XB hand-eye calibration without correspondence.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Symmetrical rigid body parameterization for biomolecular structures.
Proceedings of the IEEE International Conference on Bioinformatics and Biomedicine, 2016

2015
Computational Analysis of SAXS Data Acquisition.
Journal of Computational Biology, 2015

Conformational Modeling of Continuum Structures in Robotics and Structural Biology: A Review.
Advanced Robotics, 2015

A Methodology for Deblurring and Recovering Conformational States of Biomolecular Complexes from Single Particle Electron Microscopy.
Proceedings of the Geometric Science of Information - Second International Conference, 2015

Bayesian filtering for orientational distributions: A fourier approach.
Proceedings of the 18th International Conference on Information Fusion, 2015

A comparison of Gaussian and Fourier methods for degenerate diffusions on SE(2).
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Cross-validation of data in SAXS and cryo-EM.
Proceedings of the 2015 IEEE International Conference on Bioinformatics and Biomedicine, 2015

2014
An Assembly Automation Approach to Alignment of Noncircular Projections in Electron Microscopy.
IEEE Trans. Automation Science and Engineering, 2014

Introduction.
Robotica, 2014

An architecture for universal construction via modular robotic components.
Robotics and Autonomous Systems, 2014

Design and development of an ultrasound calibration phantom and system.
Proceedings of the Medical Imaging 2014: Image-Guided Procedures, 2014

An information-theoretic approach to the correspondence-free AX=XB sensor calibration problem.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Online ultrasound sensor calibration using gradient descent on the Euclidean Group.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Gaussian approximation of non-linear measurement models on Lie groups.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

A computational model for data acquisition in SAXS.
Proceedings of the 5th ACM Conference on Bioinformatics, 2014

2013
Ultrasound Probe and Needle-Guide Calibration for Robotic Ultrasound Scanning and Needle Targeting.
IEEE Trans. Biomed. Engineering, 2013

Editorial.
Robotica, 2013

Signal Detection on Euclidean Groups: Applications to DNA Bends, Robot Localization, and Optical Communication.
J. Sel. Topics Signal Processing, 2013

Sensor calibration with unknown correspondence: Solving AX=XB using Euclidean-group invariants.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Constrained workspace generation for snake-like manipulators with applications to minimally invasive surgery.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

A Probabilistic Solution to the AX=XB Problem: Sensor Calibration without Correspondence.
Proceedings of the Geometric Science of Information - First International Conference, 2013

Voronoi cells in lie groups and coset decompositions: Implications for optimization, integration, and fourier analysis.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

2012
Quantitative Comparison of Conformational Ensembles.
Entropy, 2012

Planar Uncertainty Propagation and a Probabilistic Algorithm for Interception.
Proceedings of the Algorithmic Foundations of Robotics X, 2012

The Banana Distribution is Gaussian: A Localization Study with Exponential Coordinates.
Proceedings of the Robotics: Science and Systems VIII, 2012

Almost-uniform sampling of rotations for conformational searches in Robotics and Structural Biology.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

M3Express: A low-cost independently-mobile reconfigurable modular robot.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Hex-DMR: A modular robotic test-bed for demonstrating team repair.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Error-Tolerant Cyclic Sequences for Vision-Based Absolute Encoders.
Proceedings of the Distributed Autonomous Robotic Systems, 2012

2011
A stochastic self-replicating robot capable of hierarchical assembly.
Robotica, 2011

A stochastic kinematic model of class averaging in single-particle electron microscopy.
I. J. Robotics Res., 2011

A Modified Cross Correlation Algorithm for Reference-free Image Alignment of Non-Circular Projections in Single-Particle Electron Microscopy.
CoRR, 2011

2010
Equilibrium Conformations of Concentric-tube Continuum Robots.
I. J. Robotics Res., 2010

The Path-of-probability Algorithm for Steering and Feedback Control of Flexible Needles.
I. J. Robotics Res., 2010

Editorial: Special Issue on the Eighth International Workshop on the Algorithmic Foundations of Robotics.
I. J. Robotics Res., 2010

Trajectory generation and steering optimization for self-assembly of a modular robotic system.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Estimation of model parameters for steerable needles.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

An autonomous robot that duplicates itself from low-complexity components.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Design of a new independently-mobile reconfigurable modular robot.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Information theory on Lie groups and mobile robotics applications.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Re-alignment of Class Images in Single-particle Electron Microscopy.
Proceedings of the International Conference on Bioinformatics & Computational Biology, 2010

2009
Self-replicating Robotic Systems.
Proceedings of the Encyclopedia of Complexity and Systems Science, 2009

Accurate Image Rotation Using Hermite Expansions.
IEEE Trans. Image Processing, 2009

Information-Theoretic Inequalities on Unimodular Lie Groups
CoRR, 2009

Towards cyclic fabrication systems for modular robotics and rapid manufacturing.
Proceedings of the Robotics: Science and Systems V, University of Washington, Seattle, USA, June 28, 2009

Simple components for a reconfigurable modular robotic system.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

2008
A fast Hermite transform.
Theor. Comput. Sci., 2008

Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map.
Robotica, 2008

Nonparametric Second-order Theory of Error Propagation on Motion Groups.
I. J. Robotics Res., 2008

Robotic Self-replication in Structured Environments: Physical Demonstrations and Complexity Measures.
I. J. Robotics Res., 2008

Toward Cooperative Team-diagnosis in Multi-robot Systems.
I. J. Robotics Res., 2008

Path Planning for Flexible Needles Using Second Order Error Propagation.
Proceedings of the Algorithmic Foundation of Robotics VIII, 2008

Robotic Self-replication, Self-diagnosis, and Self-repair: Probabilistic Considerations.
Proceedings of the Distributed Autonomous Robotic Systems 8, 2008

Parts entropy and the principal kinematic formula.
Proceedings of the 2008 IEEE International Conference on Automation Science and Engineering, 2008

2007
Interconversion Between Truncated Cartesian and Polar Expansions of Images.
IEEE Trans. Image Processing, 2007

O(n) mass matrix inversion for serial manipulators and polypeptide chains using Lie derivatives.
Robotica, 2007

Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics].
IEEE Robot. Automat. Mag., 2007

Robotic self-replication.
IEEE Robot. Automat. Mag., 2007

A fast hermite transform with applications to protein structure determination.
Proceedings of the Symbolic-Numeric Computation, 2007

Robotic Self-Replication in a Structured Environment without Computer Control.
Proceedings of the 7th IEEE International Symposium on Computational Intelligence in Robotics and Automation, 2007

2006
Error propagation on the Euclidean group with applications to manipulator kinematics.
IEEE Trans. Robotics, 2006

Solving phase-noise Fokker-Planck equations using the motion-group Fourier transform.
IEEE Trans. Communications, 2006

Nonholonomic Modeling of Needle Steering.
I. J. Robotics Res., 2006

Second-Order Theory of Error Propagation on Motion Groups.
Proceedings of the Algorithmic Foundation of Robotics VII, 2006

Incorporating seed orientation in brachytherapy implant reconstruction.
Proceedings of the Medical Imaging 2006: Visualization, 2006

General Kinematic Synthesis Method for a Discretely Actuated Robotic Manipulator (D-ARM).
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

Propagation of Errors in Hybrid Manipulators.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Uniformly Interpolated Elements of SE(3) and their Application to Manipulator Design.
Proceedings of the Ninth International Conference on Control, 2006

2005
Pose Analysis of Alpha-Carbons in Proteins.
I. J. Robotics Res., 2005

Editorial: Special Issue on Robotics Techniques Applied to Computational Biology.
I. J. Robotics Res., 2005

Matching and reconstruction of brachytherapy seeds using the Hungarian algorithm (MARSHAL).
Proceedings of the Medical Imaging 2005: Visualization, 2005

A robust fluoroscope tracking (FTRAC) fiducial.
Proceedings of the Medical Imaging 2005: Visualization, 2005

Steering flexible needles under Markov motion uncertainty.
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

A New Perspective on O(n) Mass-Matrix Inversion for Serial Revolute Manipulators.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

2004
Workspace generation of hyper-redundant manipulators as a diffusion process on SE(N).
IEEE Trans. Robotics, 2004

Rotational Matching Problems.
International Journal of Computational Intelligence and Applications, 2004

Modeling Macromolecular Machines Using Rigid-Cluster Networks.
Proceedings of the Algorithmic Foundations of Robotics VI, 2004

Nonholonomic Modeling of Needle Steering.
Proceedings of the Experimental Robotics IX, 2004

Toward Self-Replication of Robot Control Circuitry by Self-Inspection.
Proceedings of the Experimental Robotics IX, 2004

Planning for Noise-induced Trajectory Bias in Nonholonomic Robots with Uncertainty.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

2003
A Study of Conformational Changes in Macromolecules: The Coarse-Grained Elastic Network Interpolation Method.
Proceedings of the International Conference on Mathematics and Engineering Techniques in Medicine and Biological Scienes, 2003

Probabilistic models of dead-reckoning error in nonholonoxnic mobile robots.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

An Enhanced Robotic Library System for an Off-Site Shelving Facility.
Proceedings of the Field and Service Robotics, Recent Advances in Reserch and Applications, 2003

A semi-autonomous replicating robotic system.
Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation: Computational Intelligence in Robotics and Automation for the New Millennium, 2003

2002
Toward Self-replicating Robots.
Proceedings of the Experimental Robotics VIII [ISER 2002, 2002

A Diffusion-Based Algorithm for Workspace Generation of Highly Articulated Manipulators.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

A Robotic Library System for an Off-Site Shelving Facility.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

2001
Design and analysis of some nonanthropomorphic, biologically inspired robots: An overview.
J. Field Robotics, 2001

Guest Editorial: Self-Reconfigurable Robots.
Auton. Robots, 2001

Modular Robot Motion Planning Using Similarity Metrics.
Auton. Robots, 2001

A new inverse kinematics algorithm for binary manipulators with many actuators.
Advanced Robotics, 2001

Novel Algorithms for Robust Registration of Fiducials in CT and MRI.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2001

Comprehensive access to printed materials (CAPM).
Proceedings of the ACM/IEEE Joint Conference on Digital Libraries, 2001

Theory, Design, and Implementation of a Spherical Encoder.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

2000
Design and Implementation of a New Discretely-Actuated Manipulator.
Proceedings of the Experimental Robotics VII [ISER 2000, 2000

A New Potential Field Method for Robot Path Planning.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

1999
Computation of Robot Configuration and Workspaces via the Fourier Transform on the Discrete-Motion Group.
I. J. Robotics Res., 1999

Pattern Matching as a Correlation on the Discrete Motion Group.
Computer Vision and Image Understanding, 1999

1998
Corrections To "Numerical Convolution On The Euclidean Group With Applications To Workspace Generation".
IEEE Trans. Robotics and Automation, 1998

Numerical convolution on the Euclidean group with applications to workspace generation.
IEEE Trans. Robotics and Automation, 1998

Discretely Actuated Manipulator Workspace Generation using Numerical Convolution on the Euclidean Group.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

1997
Useful metrics for modular robot motion planning.
IEEE Trans. Robotics and Automation, 1997

Inverse Kinematics of Binary Manipulators Using a Continuum Model.
Journal of Intelligent and Robotic Systems, 1997

1996
Evaluating efficiency of self-reconfiguration in a class of modular robots.
J. Field Robotics, 1996

A useful metric for modular robot motion planning.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

A combinatorial approach to trajectory planning for binary manipulators.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

An efficient method for computing the forward kinematics of binary manipulators.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

Inverse kinematics of discretely actuated hyper-redundant manipulators using workspace densities.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

Bounds for self-reconfiguration of metamorphic robots.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

1995
Kinematically optimal hyper-redundant manipulator configurations.
IEEE Trans. Robotics and Automation, 1995

The kinematics of hyper-redundant robot locomotion.
IEEE Trans. Robotics and Automation, 1995

Efficient workspace generation for binary manipulators with many actuators.
J. Field Robotics, 1995

Inverse kinematics of binary manipulators with applications to service robotics.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 1995

1994
A modal approach to hyper-redundant manipulator kinematics.
IEEE Trans. Robotics and Automation, 1994

A hyper-redundant manipulator.
IEEE Robot. Automat. Mag., 1994

Hyper-redundant manipulator dynamics: a continuum approximation.
Advanced Robotics, 1994

A 'sidewinding' locomotion gait for hyper-redundant robots.
Advanced Robotics, 1994

A Binary Paradigm for Robotic Manipulators.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

Kinematics of a Metamorphic Robotic System.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

1993
General methods for computing hyper-redundant manipulator inverse kinematics.
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1993

A continuum approach to hyper-redundant manipulator dynamics.
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1993

Design and Experiments with a 30 DOF Robot.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

A General Numerical Method for Hyper-Redundant Manipulator Inverse Kinematics.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

1991
Hyper-redundant robot mechanisms and their applications.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 1991

Kinematics of hyper-redundant robot locomotion with applications to grasping.
Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

Parallel formulation of the inverse kinematics of modular hyper-redundant manipulators.
Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

1990
An obstacle avoidance algorithm for hyper-redundant manipulators.
Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990


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