Publications
Refereed Journal Articles:
J14. Bircher, W.B., Morgan, A.S., and Dollar, A.M., "Robust Whole-Hand Spatial Manipulation via Energy Maps with Caging, Rolling, and Sliding", Frontiers in Robotics and AI, Vol. 10, Nov. 2023.
To change the appearance of the page, edit the styles of the corresponding elements (in most cases by using the "Main Frame" Style Zone).
To change the menu’s links: edit, copy-paste, or delete the Link Elements within.
To hide an element without deleting it, use its property Visible.
To change the menu’s links: edit, copy-paste, or delete the Link Elements within.
To hide an element without deleting it, use its property Visible.
J13. Bimbo, J., Morgan, A.S., and Dollar, A.M., "Force-based Simultaneous Mapping and Object Reconstruction for Robotic Manipulation", IEEE Robotics and Automation Letters (with ICRA option), Vol. 7, No., 2, 2022.
J12. Morgan, A.S.*, Hang, K.*, Wen, B., Bekris, K., and Dollar, A.M., "Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning", IEEE Robotics and Automation Letters (with ICRA option), Vol. 7, No. 2, 2022.
Mashable
IEEE Spectrum
Yale School of Engineering and Applied Science & TechXplore & GlobalSpec &
Nanowerk & News8plus & Technology.org
Yale Daily News
Yale Scientific Magazine
Mashable
IEEE Spectrum
Yale School of Engineering and Applied Science & TechXplore & GlobalSpec &
Nanowerk & News8plus & Technology.org
Yale Daily News
Yale Scientific Magazine
J11. Hang, K., Bircher, W. B., Morgan, A. S., and Dollar, A. M., "Manipulation for Self-Identification, and Self-Identification for Better Manipulation", Science Robotics, Vol. 5, No. 54, 2021.
Awarded in Editors' Top Picks of 2021
Awarded in Editors' Top Picks of 2021
To "activate" displaying of an arrow, use its property "Visible"
J10. Bircher, W. B., Morgan, A. S., and Dollar, A. M., "Complex manipulation with a simple robotic hand through contact breaking and caging", Science Robotics, Vol. 5, No. 54, 2021.
Cover Article
Cover Article
J9. Morgan, A. S., Bircher, W. G., and Dollar, A. M., "Towards Generalized Manipulation Learning through Grasp Mechanics-based Features and Self-Supervision", Transactions on Robotics, Vol. 37, No. 5, pp. 1553-1569, 2021.
J8. Morgan, A.S., Hang, K., and Dollar, A. M., "Object-Agnostic Dexterous Manipulation of Partially Constrained Trajectories", Robotics and Automation Letters (with IROS option), Vol. 5, No. 4, pp. 5494-5501, 2020.
J7. Spiers, A., Morgan, A. S., Srinivasan, K., Calli, B., and Dollar, A. M., “Using Variable-Friction Finger Surfaces and Proprioceptive Sensing to Classify Objects during Robotic Within-Hand Manipulation”, Transactions on Haptics, Vol. 13, No. 3, pp. 600-610, 2020.
J6. Hang, K.*, Bircher, W. G.*, Morgan, A. S., and Dollar, A.M., "Hand-Object Configuration Estimation using Particle Filters for Dexterous In-Hand Manipulation", Special Issue on Soft Manipulation: International Journal of Robotics Research, Vol. 37, No. 14, pp. 1760-1774, 2020.
J5. Morgan, A. S., Hang, K., Bircher, W.G., Alladkani, F.M., Gandhi, A., Calli, B., and Dollar, A. M., "Benchmarking Robot Pick-and-Place Manipulation with the Box and Blocks Test", Special Issue on Benchmarking Robot Manipulation: IEEE Robotics and Automation Letters, Vol. 5, No. 2, pp. 454-461, 2019.
J4. Sintov, A., Morgan, A. S., Kimmel, A., Dollar, A. M., Bekris, K. E., and Boularias, A., “Learning a State Transition Model of an Underactuated Adaptive Hand”, IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 1287-1294, 2019.
J3. Hang, K., Morgan, A. S., and Dollar, A. M., “Pre-Grasp Sliding Manipulation of Thin Objects Using Soft, Compliant, or Underactuated Hands”, IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 662-669, 2019.
Nominated for best paper in robot manipulation (ICRA '19)
Nominated for best paper in robot manipulation (ICRA '19)
J2. Morgan, A. S., Jones, Z., Chapman, R., and Biaz, S., “An Unmanned Aircraft “See and Avoid” Algorithm Development Platform using OpenGL and OpenCV”, Journal of Computing Sciences in Colleges, Consortium for Computing in Colleges, Vol. 33, No. 2, pp. 229-236, 2017.
J1. Meyers, K., Morgan, A. S., and Conner, B. “3D printing to introduce design in a cornerstone project", Global Journal for Engineering Education, Vol. 18, No. 1, 2016.
Refereed Conference Papers (full manuscripts):
C13. Paper submitted to RSS 2024. (In Review)
C12. Morgan, A.S., Bateux, Q., Hao, M., and Dollar, A.M.,"Towards Generalized Robot Assembly through Compliance-Enabled Contact Formations", IEEE International Conference on Robotics and Automation (ICRA), London, UK 2023.
C11. Wang, W., Morgan, A.S., Dollar, A.M., and Hager, G., "Dynamical Scene Representation and Control with Keypoint-Conditioned Neural Radiance Field", IEEE International Conference on Automation Science and Engineering (CASE), Mexico City, Mexico, 2022.
C10. Morgan, A.S., Wen, B., Liang, J., Boularias, A., Dollar, A.M., and Bekris, K., "Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks", Robotics: Science and Systems (RSS), Virtual, 2021.
IEEE Spectrum
IEEE Spectrum
C9. Morgan, A.S.*, Nandha, D.*, Chalvatzaki, G., D'Eramo, C., Dollar, A.M., and Peters, J., "Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning", IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021.
C8. Patel, V. V., Morgan, A. S., and Dollar, A. M., "Highly Underactuated Radial Gripper for Automated Planar Grasping and Part Fixturing", IEEE International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, 2020.
C7. Morgan, A. S., Hang, K., Bircher, W. G., and Dollar, A. M., “A Data-Driven Framework for Learning Dexterous Manipulation of Unknown Objects", IEEE International Conference on Intelligent Robots and Systems (IROS), Macao, China, 2019.
C6. Morgan, A. S.*, Baines, R. L.*, McClintock, H., and Scassellati, B., "Unstructured Terrain Navigation and Topographic Mapping with a Low-cost Mobile Cuboid Robot", IEEE International Conference on Intelligent Robots and Systems (IROS), Macao, China, 2019.
C5. Bircher, W. G., Morgan, A. S., Hang, K., and Dollar, A. M., “Energy Gradient-Based Graphs for Planning Within-Hand Caging Manipulation”, IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019.
C4. Morgan, A. S., Bircher, W. G., Calli, B., and Dollar, A. M., “Learning From Transferable Mechanics Models: Generalizable Online Mode Detection in Underactuated Dexterous Manipulation”, IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019.
C3. Calli, B., Srinivasan, K., Morgan, A. S., and Dollar, A. M., “Learning Modes of Within-hand Manipulation.” IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018.
Nominated for best paper in robot manipulation (ICRA '18).
Nominated for best paper in robot manipulation (ICRA '18).
C2. Meyers, K., Morgan, A. S., and Conner, B. “3D Printing in a First-Year Engineering Design Project”. American Society for Engineering Education National Conference, New Orleans, 2016.
C1. Morgan, A. S., Sharif, B., and Crosby, M. “Understanding a Novice Programmer’s Progression of Reading and Summarizing Source Code”, Koli Workshop 2014, Koli, Finland, 2014.
Workshop Papers (peer reviewed):
W2. Morgan, A. S., "Learning to Visually Observe, Plan, and Control Compliant In-Hand Manipulation", Robotics: Science and Systems Pioneers Workshop, New York City, New York, USA, May 2022.
W1. Bimbo, J., Morgan, A. S., and Dollar, A. M., "Using Contacts During Robot Manipulation to Map and Reconstruct a Scene", Robotics: Science and Systems Workshop on The Science of Bumping Into Things: Towards Robots That Aren't Afraid of Contact, New York City, New York, USA, May 2022.
Magazine Articles
M1. Morgan, A. S., Chapman, R., and Biaz, S., “DIY Drone Recovery Parachute”, Make Magazine, Vol. 61, Feb/March Issue, pp. 42., 2018.
Patents
P1. Morgan, A.S., and Kreatsoulas, N., Provisional Patent completed in April 2015, “IV Locking Device”, Patent Application Number: 62/146,434.
Presentations
Invited Seminar, Panel, Workshop, and Lecture Talks:
IP8. Rice University. Robot Manipulation Lecture. Fall 2023.
Title: "The complexities we face in robot in-hand manipulation"
IP7. TU Berlin. RBO Seminar. Spring 2023.
Title: "Towards Online Planning for Compliant Robot In-hand Manipulation"
IP6. Carnegie Mellon University. Interactive Autonomous Machines Meeting. Virtual. 2023.
Title: "Compliant Robot Manipulation: relaxing constraints for in-hand manipulation"
IP5. University of Chicago, Introduction to Robotics Course, Panel Discussion, Spring 2022
Title: "Perspectives on entering robotics research"
IP4. Instituto Superior Técnico, Robotics Seminar Series, Lisbon, Portugal, Spring 2022
Title: "Compliance-enabled in-hand manipulation"
IP3. Yale University, CPSC 559 Building Interactive Machines, New Haven, CT, Fall 2021
Title: "On the Utility of Compliance for Manipulation"
IP2. Technische Universität Darmstadt Intelligent and Autonomous Systems (IAS) Seminar Series, Virtual, Fall 2021
Title: "Challenges of In-Hand Manipulation"
IP1. ICRA Workshop, "Benchmarks for Robotic Manipulation", Montreal, Canada, Summer 2019
Title: "The Box and Blocks Test in Cluttered Robot Pick-and-Place Applications"
Oral Conference Talks:
OP8. ICRA, Philadelphia, PA, USA, 2022
Title: "Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning"
OP7. IROS, Macau, China, 2019
Title: “A Data-Driven Framework for Learning Dexterous Manipulation of Unknown Objects"
OP6. IROS, Macau, China, 2019
Title: "Unstructured Terrain Navigation and Topographic Mapping with a Low-cost Mobile Cuboid Robot"
OP5. Coalition for Life Sciences - Life Science Fair 2019. Capitol Hill, Washington D.C., 2019
Title: "Design Process Towards Robotic and Prosthetic Hands"
OP4. ICRA Workshop on Benchmarking in Manipulation, Montreal, Canada, 2019
Title: “The Box and Blocks Test in Cluttered Robot Pick-and-Place Applications”
OP3. YSU’s QUEST: a Forum for Undergraduate Research, Youngstown, OH, 2017
Title: “Digital Licensing Platform for Retro Games”
Best Honors College Project Award
OP2. NSF Emerging Researchers National Conference, Washington DC, 2017
Title: “Computer Vision ‘See and Avoid’ Simulation using OpenGL and OpenCV”
Second Place winner in Computer Sciences
OP1. Gulf Coast Undergraduate Research Symposium, Houston, TX, 2016
Title: “Computer Vision ‘See and Avoid’ Simulation using OpenGL and OpenCV”
Poster Conference Presentations:
PP8. ICRA, London, UK, 2023.
Title: "Towards Generalized Robot Assembly through Compliance-Enabled Contact Formations"
PP8. ICRA, Philadelphia, PA, USA, 2022
Title: "Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning"
PP7. Robotics: Science and Systems (RSS) 2021, Virtual
Title: "Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks"
PP6. Coalition for Life Sciences-Life Science Fair 2019, Capitol Hill, Washington D.C., Winter 2019
Title: "Design Process Towards Robotic and Prosthetic Hands"
PP5. International Conference on Robotics and Automation, Montreal, Canada, 2019
Title: “Learning from Transferable Mechanics Models: Generalizable Online Mode Detection in Underactuated Dexterous Manipulation”
PP4. International Conference on Robotics and Automation, Montreal, Canada, 2019
Title: “Energy Gradient-Based Graphs for Planning Within-Hand Caging Manipulation”
PP3. New England Manipulation Symposium, New Haven, CT, 2018
Title: “Data Driven Detection of Manipulation States”
PP2. American Society for Engineering Education National Conference, New Orleans, LA, 2016
Title: “3D Printing in a First-Year Engineering Design Project”
PP1. Koli Workshop, Koli, Finland, 2014
Title: “Understanding a Novice Programmer’s Progression of Reading and Summarizing Code”
Invited Seminar, Panel, Workshop, and Lecture Talks:
IP8. Rice University. Robot Manipulation Lecture. Fall 2023.
Title: "The complexities we face in robot in-hand manipulation"
IP7. TU Berlin. RBO Seminar. Spring 2023.
Title: "Towards Online Planning for Compliant Robot In-hand Manipulation"
IP6. Carnegie Mellon University. Interactive Autonomous Machines Meeting. Virtual. 2023.
Title: "Compliant Robot Manipulation: relaxing constraints for in-hand manipulation"
IP5. University of Chicago, Introduction to Robotics Course, Panel Discussion, Spring 2022
Title: "Perspectives on entering robotics research"
IP4. Instituto Superior Técnico, Robotics Seminar Series, Lisbon, Portugal, Spring 2022
Title: "Compliance-enabled in-hand manipulation"
IP3. Yale University, CPSC 559 Building Interactive Machines, New Haven, CT, Fall 2021
Title: "On the Utility of Compliance for Manipulation"
IP2. Technische Universität Darmstadt Intelligent and Autonomous Systems (IAS) Seminar Series, Virtual, Fall 2021
Title: "Challenges of In-Hand Manipulation"
IP1. ICRA Workshop, "Benchmarks for Robotic Manipulation", Montreal, Canada, Summer 2019
Title: "The Box and Blocks Test in Cluttered Robot Pick-and-Place Applications"
Oral Conference Talks:
OP8. ICRA, Philadelphia, PA, USA, 2022
Title: "Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning"
OP7. IROS, Macau, China, 2019
Title: “A Data-Driven Framework for Learning Dexterous Manipulation of Unknown Objects"
OP6. IROS, Macau, China, 2019
Title: "Unstructured Terrain Navigation and Topographic Mapping with a Low-cost Mobile Cuboid Robot"
OP5. Coalition for Life Sciences - Life Science Fair 2019. Capitol Hill, Washington D.C., 2019
Title: "Design Process Towards Robotic and Prosthetic Hands"
OP4. ICRA Workshop on Benchmarking in Manipulation, Montreal, Canada, 2019
Title: “The Box and Blocks Test in Cluttered Robot Pick-and-Place Applications”
OP3. YSU’s QUEST: a Forum for Undergraduate Research, Youngstown, OH, 2017
Title: “Digital Licensing Platform for Retro Games”
Best Honors College Project Award
OP2. NSF Emerging Researchers National Conference, Washington DC, 2017
Title: “Computer Vision ‘See and Avoid’ Simulation using OpenGL and OpenCV”
Second Place winner in Computer Sciences
OP1. Gulf Coast Undergraduate Research Symposium, Houston, TX, 2016
Title: “Computer Vision ‘See and Avoid’ Simulation using OpenGL and OpenCV”
Poster Conference Presentations:
PP8. ICRA, London, UK, 2023.
Title: "Towards Generalized Robot Assembly through Compliance-Enabled Contact Formations"
PP8. ICRA, Philadelphia, PA, USA, 2022
Title: "Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning"
PP7. Robotics: Science and Systems (RSS) 2021, Virtual
Title: "Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks"
PP6. Coalition for Life Sciences-Life Science Fair 2019, Capitol Hill, Washington D.C., Winter 2019
Title: "Design Process Towards Robotic and Prosthetic Hands"
PP5. International Conference on Robotics and Automation, Montreal, Canada, 2019
Title: “Learning from Transferable Mechanics Models: Generalizable Online Mode Detection in Underactuated Dexterous Manipulation”
PP4. International Conference on Robotics and Automation, Montreal, Canada, 2019
Title: “Energy Gradient-Based Graphs for Planning Within-Hand Caging Manipulation”
PP3. New England Manipulation Symposium, New Haven, CT, 2018
Title: “Data Driven Detection of Manipulation States”
PP2. American Society for Engineering Education National Conference, New Orleans, LA, 2016
Title: “3D Printing in a First-Year Engineering Design Project”
PP1. Koli Workshop, Koli, Finland, 2014
Title: “Understanding a Novice Programmer’s Progression of Reading and Summarizing Code”
