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Alexander Alspach

Alex Alspach

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affiliation: Toyota Research Institute, Cambridge, MA, USA
affiliation: Disney Research, Pittsburgh, PA, USA
affiliation: Drexel University, Philadelphia, PA, USA

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Journal Articles

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2020
[j4]
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  - journals/ral/KuppuswamyCPAT20
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Naveen Kuppuswamy, Alejandro M. Castro, Calder Phillips-Grafflin, Alex Alspach, Russ Tedrake:
Fast Model-Based Contact Patch and Pose Estimation for Highly Deformable Dense-Geometry Tactile Sensors. IEEE Robotics Autom. Lett. 5(2): 1811-1818 (2020)
[j3]
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  - journals/ral/CastroQKAS20
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Alejandro M. Castro, Ante Qu, Naveen Kuppuswamy, Alex Alspach, Michael Sherman:
A Transition-Aware Method for the Simulation of Compliant Contact With Regularized Friction. IEEE Robotics Autom. Lett. 5(2): 1859-1866 (2020)
2018
[j2]
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Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane:
Computational co-optimization of design parameters and motion trajectories for robotic systems. Int. J. Robotics Res. 37(13-14) (2018)
[j1]
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Sehoon Ha, Stelian Coros, Alexander Alspach, James M. Bern, Joohyung Kim, Katsu Yamane:
Computational Design of Robotic Devices From High-Level Motion Specifications. IEEE Trans. Robotics 34(5): 1240-1251 (2018)

Conference and Workshop Papers

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2022
[c16]
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  - conf/iros/SuhKPMAT22
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H. J. Terry Suh, Naveen Kuppuswamy, Tao Pang, Paul Mitiguy, Alex Alspach, Russ Tedrake:
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use. IROS 2022: 4684-4691
[c15]
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  - conf/robosoft/GoncalvesKBUTA22
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Aimee Goncalves, Naveen Kuppuswamy, Andrew Beaulieu, Avinash Uttamchandani, Katherine M. Tsui, Alex Alspach:
Punyo-1: Soft tactile-sensing upper-body robot for large object manipulation and physical human interaction. RoboSoft 2022: 844-851
2021
[c14]
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  - conf/robosoft/JoonhighKBAT21
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Sihah Joonhigh, Naveen Kuppuswamy, Andrew Beaulieu, Alex Alspach, Russ Tedrake:
Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control. RoboSoft 2021: 169-175
[c13]
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  - conf/robosoft/AmbrusGKBGA21
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Rares Ambrus, Vitor Guizilini, Naveen Kuppuswamy, Andrew Beaulieu, Adrien Gaidon, Alex Alspach:
Monocular Depth Estimation for Soft Visuotactile Sensors. RoboSoft 2021: 643-649
2020
[c12]
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  - conf/iros/KuppuswamyAUCIT20
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Naveen Kuppuswamy, Alex Alspach, Avinash Uttamchandani, Sam Creasey, Takuya Ikeda, Russ Tedrake:
Soft-bubble grippers for robust and perceptive manipulation. IROS 2020: 9917-9924
2019
[c11]
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  - conf/robosoft/AlspachHKT19
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Alex Alspach, Kunimatsu Hashimoto, Naveen Kuppuswamy, Russ Tedrake:
Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation. RoboSoft 2019: 597-604
2018
[c10]
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Alexander Alspach, Joohyung Kim, Katsu Yamane:
Design and fabrication of a soft robotic hand and arm system. RoboSoft 2018: 369-375
2017
[c9]
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  - conf/iros/KimAY17
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Joohyung Kim, Alexander Alspach, Katsu Yamane:
Snapbot: A reconfigurable legged robot. IROS 2017: 5861-5867
[c8]
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  - conf/rss/HaCAKY17
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Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane:
Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem. Robotics: Science and Systems 2017
2016
[c7]
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Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane:
Task-based limb optimization for legged robots. IROS 2016: 2062-2068
[c6]
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  - conf/ro-man/KimALY16
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Joohyung Kim, Alexander Alspach, Iolanda Leite, Katsu Yamane:
Study of children's hugging for interactive robot design. RO-MAN 2016: 557-561
[c5]
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  - conf/ro-man/AgarwalMAKCLY16
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Priyanshu Agarwal, Samer Al Moubayed, Alexander Alspach, Joohyung Kim, Elizabeth J. Carter, Jill Fain Lehman, Katsu Yamane:
Imitating human movement with teleoperated robotic head. RO-MAN 2016: 630-637
2015
[c4]
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  - conf/humanoids/AlspachKY15
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Alexander Alspach, Joohyung Kim, Katsu Yamane:
Design of a soft upper body robot for physical human-robot interaction. Humanoids 2015: 290-296
[c3]
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Joohyung Kim, Alexander Alspach, Katsu Yamane:
3D printed soft skin for safe human-robot interaction. IROS 2015: 2419-2425
[c2]
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  - conf/psivt/SagawaYAAYH15
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Ryusuke Sagawa, Yusuke Yoshiyasu, Alexander Alspach, Ko Ayusawa, Katsu Yamane, Adrian Hilton:
Analyzing Muscle Activity and Force with Skin Shape Captured by Non-contact Visual Sensor. PSIVT 2015: 488-501
2010
[c1]
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  - conf/humanoids/EllenbergSOAGO10
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Robert Ellenberg, Robert M. Sherbert, Paul Y. Oh, Alex Alspach, Roy James Gross, Jun-Ho Oh:
A common interface for humanoid simulation and hardware. Humanoids 2010: 587-592

Informal and Other Publications

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2021
[i7]
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  - journals/corr/abs-2101-01677
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Rares Ambrus, Vitor Guizilini, Naveen Kuppuswamy, Andrew Beaulieu, Adrien Gaidon, Alex Alspach:
Monocular Depth Estimation for Soft Visuotactile Sensors. CoRR abs/2101.01677 (2021)
[i6]
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  - journals/corr/abs-2103-08710
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Sihah Joonhigh, Naveen Kuppuswamy, Andrew Beaulieu, Alex Alspach, Russ Tedrake:
Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control. CoRR abs/2103.08710 (2021)
[i5]
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  - journals/corr/abs-2111-01376
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H. J. Terry Suh, Naveen Kuppuswamy, Tao Pang, Paul Mitiguy, Alex Alspach, Russ Tedrake:
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use. CoRR abs/2111.01376 (2021)
[i4]
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  - journals/corr/abs-2111-09354
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Aimee Goncalves, Naveen Kuppuswamy, Andrew Beaulieu, Avinash Uttamchandani, Katherine M. Tsui, Alex Alspach:
Punyo-1: Soft tactile-sensing upper-body robot for large object manipulation and physical human interaction. CoRR abs/2111.09354 (2021)
2020
[i3]
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  - journals/corr/abs-2004-03691
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Naveen Kuppuswamy, Alex Alspach, Avinash Uttamchandani, Sam Creasey, Takuya Ikeda, Russ Tedrake:
Soft-Bubble grippers for robust and perceptive manipulation. CoRR abs/2004.03691 (2020)
2019
[i2]
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  - journals/corr/abs-1904-02252
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Alex Alspach, Kunimatsu Hashimoto, Naveen Kuppuswamy, Russ Tedrake:
Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation. CoRR abs/1904.02252 (2019)
[i1]
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  - journals/corr/abs-1909-05700
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Alejandro M. Castro, Ante Qu, Naveen Kuppuswamy, Alex Alspach, Michael Sherman:
A Transition-Aware Method for the Simulation of Compliant Contact with Regularized Friction. CoRR abs/1909.05700 (2019)

Coauthor Index

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