Two-fingered caging of polygons via contact-space graph search. - Thomas F. Allen; Joel W. Burdick; Elon Rimon (ICRA, 2012)

Two-finger caging of 3D polyhedra using contact space search. - Thomas F. Allen; Elon Rimon; Joel W. Burdick (ICRA, 2014)

Model-based autonomous system for performing dexterous, human-level manipulation tasks. - Nicolas Hudson; Jeremy Ma; Paul Hebert; Abhinandan Jain; Max Bajracharya; Thomas F. Allen; Rangoli Sharan; Matanya B. Horowitz; Calvin Kuo; Thomas Howard; Larry H. Matthies; Paul Backes; et al. (Auton. Robots, 2014)

Robust three-finger three-parameter caging of convex polygons. - Thomas F. Allen; Elon Rimon; Joel W. Burdick (ICRA, 2015)

Two-Finger Caging of Polygonal Objects Using Contact Space Search. - Thomas F. Allen; Joel W. Burdick; Elon Rimon (IEEE Trans. Robotics, 2015)

Multi-objective design optimization of a soft, pneumatic robot. - Daniel M. Bodily; Thomas F. Allen; Marc D. Killpack (ICRA, 2017)

Motion planning for mobile robots using inverse kinematics branching. - Daniel M. Bodily; Thomas F. Allen; Marc D. Killpack (ICRA, 2017)

Equilateral Three-Finger Caging of Polygonal Objects Using Contact Space Search. - Hallel A. Bunis; Elon D. Rimon; Thomas F. Allen; Joel W. Burdick (IEEE Trans Autom. Sci. Eng., 2018)

An inductance-based sensing system for bellows-driven continuum joints in soft robots. - Wyatt Felt; Maria J. Telleria; Thomas F. Allen; Gabriel Hein; Jonathan Pompa; Kevin Albert; C. David Remy (Auton. Robots, 2019)

Closed-Form Non-Singular Constant-Curvature Continuum Manipulator Kinematics. - Thomas F. Allen; Levi Rupert; Timothy R. Duggan; Gabriel Hein; Kevin Albert (RoboSoft, 2020)