Publications

• Evan Drumwright and Dylan Shell. "An Evaluation of Methods for Modeling Contact in Multibody Simulation". Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA). Shanghai, 2011. [pdf]


• Evan Drumwright and Dylan Shell. "Modeling Contact Friction and Joint Friction in Dynamic Robotic Simulation Using the Principle of Maximum Dissipation". Proc. of the 9th International Workshop on the Algorithmic Foundations of Robotics (WAFR). Singapore, 2010. [pdf]


• Evan Drumwright, John Hsu, Nathan Koenig, and Dylan Shell. "Extending the Open Dynamics Engine for Robotic Simulation". Proc. of the Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) Darmstadt, Germany. 2010.


• Evan Drumwright. "Avoiding Zeno Points in Rigid Body Simulation". Proc. of IEEE International Conference on Robotics and Automation (ICRA). Anchorage, AK. 2010. [pdf]


• Evan Drumwright and Dylan Shell. "A Robust and Tractable Contact Model for Dynamic Robotic Simulation". Proc. of ACM Symposium on Applied Computing. Honolulu, Hawaii. March 2009. [pdf] (Winner: Best Paper Award, Artificial Intelligence and Agents).


• Dylan Shell and Evan Drumwright. "Precise Generalized Contact Point and Normal Determination for Rigid Body Simulation"{. Proc. of ACM Symposium on Applied Computing. Honolulu, Hawaii. March 2009. [pdf]


• Evan Drumwright. "A Fast and Stable Penalty Method for Rigid Body Simulation." IEEE Trans. on Visualization and Computer Graphics, vol. 14, no. 1, pp. 231-240, January/February, 2008. [pdf]


• Victor Ng-Thow-Hing, Evan Drumwright, Kris Hauser, Qinjuan Wu, and Joel Wormer. "Expanding Task Functionality in Established Humanoid Robots". Proc. of the IEEE-RAS Intl. Conf. on Humanoid Robotics. Pittsburgh, PA. 2007.


• Evan Drumwright. "The Task Matrix: a Robot-Independent Framework for Programming Humanoids". PhD Thesis, The University of Southern California, 2007.


• Evan Drumwright and Maja Mataric'. "Collision-free Humanoid Reaching: Past, Present, and Future". Humanoid Robotics. Matthias Hackel, ed. Advanced Robotic Systems, Vienna, 2007. [pdf]


• Evan Drumwright, Victor Ng-Thow-Hing, and Maja Mataric'. "The Task Matrix Framework for Platform-Independent Humanoid Programming." Proc. of IEEE-RAS Intl. Conf. on Humanoid Robotics. Genova, Italy. December, 2006. [pdf]


• Evan Drumwright and Victor Ng-Thow-Hing. "Toward Interactive Reaching for Humanoid Robots in Interactive Environments". Proc. of the IEEE Intl. Conf. on Intelligent Robots and Systems (IROS). Beijing, China. October, 2006. [pdf]


• Evan Drumwright, Victor Ng-Thow-Hing, and Maja Mataric'. "Toward a Vocabulary of Primitive Task Programs for Humanoid Robots". Proc. of the IEEE Intl. Conf. on Development and Learning (ICDL). Bloomington, IN. May-June, 2006. [pdf]


• Evan Drumwright and Victor Ng-Thow-Hing. "The Task Matrix: An Extensible Framework for Creating Versatile Humanoid Robots". Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA). Orlando, FL. 2006. [pdf]


• Evan Drumwright, Marcelo Kallmann, and Maja Mataric'. "Towards Single-Arm Reaching for Humanoid Robots in Dynamic Environments". Proc. of the IEEE-RAS Intl. Conf. on Humanoid Robotics, Santa Monica, CA, Nov 2004. [pdf]


• Evan Drumwright, Odest Jenkins, and Maja Mataric'. "Exemplar-Based Primitives for Humanoid Movement Classification and Control". In IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 140-145, Apr 2004. [pdf]


• Evan Drumwright and Maja Mataric'. "Generating and Recognizing Free-Space Movement in Humanoid Robotics". In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), pp. 1672-1678, Las Vegas, NV, Oct 2003. [pdf]