Publications

Journal Papers

Robotics

  1. Ravi Balasubramanian, Alfred A. Rizzi, and Matthew T. Mason. Legless Locomotion: A Novel Locomotion Technique for Error Recovery. In The International Journal of Robotics Research, 27 (5), pp. 575--594, 2008. DOI: http://dx.doi.org/10.1177/0278364908091023. PDF

Neurophysiology

  1. Ravi Balasubramanian, Robert D. Howe, and Yoky Matsuoka. Task Performance is Prioritized over Internal Model Construction for a Brief Contact Task. In IEEE Transactions on Biomedical Engineering, DOI: 10.1109/TBME.2008.2006683, 2008. (In press) PDF

  2. Pedram Afshar*, Ravi Balasubramanian*, and Yoky Matsuoka. A Framework for Manipulation with Neuromusculoskeletal Redundancy. In the IEEE Transactions on Robotics (Submitted). * => Equal contribution

Biomechanics

  1. Ashish D. Deshpande, Ravi Balasubramanian, Jonathan Ko, and YokyMatsuoka. Understanding variable moment arms for the index finger through the ACT hand. In the Journal of Biomechanics (Submitted)

Conference Papers (Peer reviewed)

Neural Robotics

  1. Ravi Balasubramanian and Yoky Matsuoka. The Role of Small Redundant Actuators in Precise Manipulation. In the IEEE/RSJ International Conference on Robotics and Automation, 2009 (Preprint).

  2. Ravi Balasubramanian and Yoky Matsuoka. Biological Stiffness Control Strategies for the Anatomically Correct Testbed (ACT) Hand. In The IEEE/RSJ International Conference on Robotics and Automation, pp 737--742, DOI: 10.1109/ROBOT.2008.4543293, 2008, Pasadena, CA. PDF

  3. Ashish D. Deshpande, Ravi Balasubramanian, Ralph Lin, Brian T. Dellon, and Yoky Matsuoka. Understanding variable moment arms for the index finger MCP joints through the ACT hand. In The IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 776–782, 2008, Scottsdale, AZ. PDF

Mobile Robotics

  1. Ravi Balasubramanian, Alfred A. Rizzi, and Matthew T. Mason. Toward Legless Locomotion Control. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5594–5599, 2006, Beijing, China. PDF

  2. Ravi Balasubramanian, Alfred A. Rizzi, and Matthew T. Mason. Legless Locomotion: Models and Experimental Demonstration. The IEEE/RSJ International Conference on Robotics and Automation, pp. 1803–1808, 2004, New Orleans, LA. (Best Student Paper finalist. Top 3 from over 1000 selected papers.) PDF

  3. Ravi Balasubramanian, Alfred A. Rizzi, and Matthew T. Mason. Legless Motion for Legged Robots. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 880–885, 2003, Las Vegas, NV. PDF

  4. Brett Browning, Michael Bowling, James Bruce, Ravi Balasubramanian, and Manuela Veloso. CM-Dragons 2001 Team Description. In RoboCup-2001: The Fifth RoboCup Competitions and Conferences, Springer Verlag, Berlin, 2002.

  5. S.B. Stancliff, R. Balasubramanian, T. Balch, R. Emery-Montemerlo, K. Sikorski, and A. Stroupe. CMU Hammerheads 2001 Team Description. In RoboCup 2001: Robot Soccer World, A. Birk, S. Coradeschi and S. Tadokoro, ed., Springer, New York, 2002, pp. 631–634.

Control and Dynamics

  1. Ravi Balasubramanian and Alfred A. Rizzi. Kinematic reduction and planning using symmetry for a variable inertia mechanical system. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 4, pp. 3829–3834, 2004, Sendai, Japan. PDF

Computational Intelligence

  1. Ravi Balasubramanian and Marcelo H. Ang Jr. Fuzzy Logic Based Character Recognizer, In Proceedings of the Philippines Computing Science Congress,
    pp. 69--74, 2000, Phillippines.

Posters

  1. Ravi Balasubramanian and Yoky Matsuoka. Exploring Control Redundancy for a Human-like Robotic Hand. In the Workshop ”Is Human-like Dexterous Manipulation Within our Robotic Grasp?” at The IEEE/RSJ International Conference on Robotics and Automation, 2008, Pasadena,
    CA.

  2. Ashish D. Deshpande, Ravi Balasubramanian, Ralph Lin, Brian T. Dellon, and Yoky Matsuoka. Understanding the index finger mechanics through the ACT hand. In the Workshop ”Is Human-like Dexterous Manipulation Within our Robotic Grasp?” at The IEEE/RAS-EMBS International Conference on on Robotics and Automation, 2008, Pasadena, CA.

Videos (Peer reviewed)
Ravi Balasubramanian, Brendan R. Meeder, Alfred A. Rizzi, and Matthew T. Mason. Legless Locomotion for Legged Robots. In The IEEE/RSJ International Conference on Robotics and Automation, 2004, New Orleans, LA.

Technical Reports
R. Balasubramanian and T. Balch. Energy-Optimal Trajectories for Overactuated Robots. Tech. report CMU-RI-TR-02-17, Robotics Institute, Carnegie Mellon University, July, 2002.