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Nancy S. Pollard

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affiliation: Carnegie Mellon University, Pittsburgh, USA

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1994
[b1]
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Nancy S. Pollard:
Parallel methods for synthesizing whole-hand grasps from generalized prototypes. Massachusetts Institute of Technology, Cambridge, MA, USA, 1994

Journal Articles

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2023
[j29]
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Arjun Sriram Lakshmipathy, Nicole Feng, Yu Xi Lee, Moshe Mahler, Nancy S. Pollard:
Contact Edit: Artist Tools for Intuitive Modeling of Hand-Object Interactions. ACM Trans. Graph. 42(4): 45:1-45:20 (2023)
2021
[j28]
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Jiatian Sun, Jonathan P. King, Nancy S. Pollard:
Characterizing Continuous Manipulation Families for Dexterous Soft Robot Hands. Frontiers Robotics AI 8: 645290 (2021)
2020
[j27]
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Christopher Hazard, Nancy S. Pollard, Stelian Coros:
Automated Design of Robotic Hands for In-Hand Manipulation Tasks. Int. J. Humanoid Robotics 17(1): 1950029:1-1950029:27 (2020)
[j26]
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Dominik Bauer, Cornelia Bauer, Jonathan P. King, Daniele Moro, Kai-Hung Chang, Stelian Coros, Nancy S. Pollard:
Design and Control of Foam Hands for Dexterous Manipulation. Int. J. Humanoid Robotics 17(1): 1950033:1-1950033:29 (2020)
2017
[j25]
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Kaiyu Hang, Johannes A. Stork, Nancy S. Pollard, Danica Kragic:
A Framework for Optimal Grasp Contact Planning. IEEE Robotics Autom. Lett. 2(2): 704-711 (2017)
2016
[j24]
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Michael C. Koval, Nancy S. Pollard, Siddhartha S. Srinivasa:
Pre- and post-contact policy decomposition for planar contact manipulation under uncertainty. Int. J. Robotics Res. 35(1-3): 244-264 (2016)
[j23]
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Se-Joon Chung, Nancy S. Pollard:
Predictable behavior during contact simulation: a comparison of selected physics engines. Comput. Animat. Virtual Worlds 27(3-4): 262-270 (2016)
2015
[j22]
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Michael C. Koval, Nancy S. Pollard, Siddhartha S. Srinivasa:
Pose estimation for planar contact manipulation with manifold particle filters. Int. J. Robotics Res. 34(7): 922-945 (2015)
2014
[j21]
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Moslem Kazemi, Jean-Sebastien Valois, J. Andrew Bagnell, Nancy S. Pollard:
Human-inspired force compliant grasping primitives. Auton. Robots 37(2): 209-225 (2014)
[j20]
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Laura C. Trutoiu, Elizabeth J. Carter, Nancy S. Pollard, Jeffrey F. Cohn, Jessica K. Hodgins:
Spatial and Temporal Linearities in Posed and Spontaneous Smiles. ACM Trans. Appl. Percept. 11(3): 12:1-12:15 (2014)
2013
[j19]
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Gayatri Mehta, Krunalkumar Patel, Natalie Parde, Nancy S. Pollard:
Data-Driven Mapping Using Local Patterns. IEEE Trans. Comput. Aided Des. Integr. Circuits Syst. 32(11): 1668-1681 (2013)
[j18]
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Junggon Kim, Kunihiro Iwamoto, James J. Kuffner, Yasuhiro Ota, Nancy S. Pollard:
Physically Based Grasp Quality Evaluation Under Pose Uncertainty. IEEE Trans. Robotics 29(6): 1424-1439 (2013)
2012
[j17]
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James McCann, Nancy S. Pollard:
Soft Stacking. Comput. Graph. Forum 31(2pt2): 469-478 (2012)
[j16]
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Daniel Kappler, Lillian Y. Chang, Nancy S. Pollard, Tamim Asfour, Rüdiger Dillmann:
Templates for pre-grasp sliding interactions. Robotics Auton. Syst. 60(3): 411-423 (2012)
2011
[j15]
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Junggon Kim, Nancy S. Pollard:
Direct Control of Simulated Nonhuman Characters. IEEE Computer Graphics and Applications 31(4): 56-65 (2011)
[j14]
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Junggon Kim, Nancy S. Pollard:
Fast simulation of skeleton-driven deformable body characters. ACM Trans. Graph. 30(5): 121:1-121:19 (2011)
2009
[j13]
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James McCann, Nancy S. Pollard:
Local layering. ACM Trans. Graph. 28(3): 84 (2009)
2008
[j12]
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Remco Chang, Thomas Butkiewicz, Caroline Ziemkiewicz, Zachary Wartell, Nancy S. Pollard, William Ribarsky:
Legible Simplification of Textured Urban Models. IEEE Computer Graphics and Applications 28(3): 27-36 (2008)
[j11]
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Paul S. A. Reitsma, James Andrews, Nancy S. Pollard:
Effect of Character Animacy and Preparatory Motion on Perceptual Magnitude of Errors in Ballistic Motion. Comput. Graph. Forum 27(2): 201-210 (2008)
[j10]
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Lillian Y. Chang, Nancy S. Pollard:
Method for Determining Kinematic Parameters of the In Vivo Thumb Carpometacarpal Joint. IEEE Trans. Biomed. Eng. 55(7): 1897-1906 (2008)
[j9]
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James McCann, Nancy S. Pollard:
Real-time gradient-domain painting. ACM Trans. Graph. 27(3): 93 (2008)
2007
[j8]
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James McCann, Nancy S. Pollard:
Responsive characters from motion fragments. ACM Trans. Graph. 26(3): 6 (2007)
[j7]
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Paul S. A. Reitsma, Nancy S. Pollard:
Evaluating motion graphs for character animation. ACM Trans. Graph. 26(4): 18 (2007)
[j6]
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Ying Li, Jiaxin L. Fu, Nancy S. Pollard:
Data-Driven Grasp Synthesis Using Shape Matching and Task-Based Pruning. IEEE Trans. Vis. Comput. Graph. 13(4): 732-747 (2007)
2004
[j5]
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Nancy S. Pollard:
Closure and Quality Equivalence for Efficient Synthesis of Grasps from Examples. Int. J. Robotics Res. 23(6): 595-613 (2004)
[j4]
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Alla Safonova, Jessica K. Hodgins, Nancy S. Pollard:
Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces. ACM Trans. Graph. 23(3): 514-521 (2004)
2003
[j3]
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Anthony C. Fang, Nancy S. Pollard:
Efficient synthesis of physically valid human motion. ACM Trans. Graph. 22(3): 417-426 (2003)
[j2]
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Paul S. A. Reitsma, Nancy S. Pollard:
Perceptual metrics for character animation: sensitivity to errors in ballistic motion. ACM Trans. Graph. 22(3): 537-542 (2003)
2002
[j1]
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Jehee Lee, Jinxiang Chai, Paul S. A. Reitsma, Jessica K. Hodgins, Nancy S. Pollard:
Interactive control of avatars animated with human motion data. ACM Trans. Graph. 21(3): 491-500 (2002)

Conference and Workshop Papers

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2024
[c63]
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Pragna Mannam, Xingyu Liu, Ding Zhao, Jean Oh, Nancy S. Pollard:
Design and Control Co-Optimization for Automated Design Iteration of Dexterous Anthropomorphic Soft Robotic Hands. RoboSoft 2024: 332-339
2023
[c62]
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  - conf/humanoids/BauerP23
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Cornelia Bauer, Nancy S. Pollard:
Human-Informed Robot Agility: Understanding Human Pushing Interactions for Skill Transfer to Humanoids. Humanoids 2023: 1-8
[c61]
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Pragna Mannam, Kenneth Shaw, Dominik Bauer, Jean Oh, Deepak Pathak, Nancy S. Pollard:
Designing Anthropomorphic Soft Hands Through Interaction. Humanoids 2023: 1-8
2022
[c60]
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  - conf/humanoids/LiP22
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Chao Li, Nancy S. Pollard:
SoftTouch: A Sensor-Placement Framework for Soft Robotic Hands. Humanoids 2022: 504-511
[c59]
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Cornelia Bauer, Dominik Bauer, Alisa Allaire, Christopher G. Atkeson, Nancy S. Pollard:
Learning to Navigate by Pushing. ICRA 2022: 171-177
[c58]
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Arjun Lakshmipathy, Dominik Bauer, Cornelia Bauer, Nancy S. Pollard:
Contact Transfer: A Direct, User-Driven Method for Human to Robot Transfer of Grasps and Manipulations. ICRA 2022: 6195-6201
[c57]
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Dominik Bauer, Cornelia Bauer, Arjun Lakshmipathy, Roberto Shu, Nancy S. Pollard:
Towards Very Low-Cost Iterative Prototyping for Fully Printable Dexterous Soft Robotic Hands. RoboSoft 2022: 490-497
2021
[c56]
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Ryan Coulson, Chao Li, Carmel Majidi, Nancy S. Pollard:
The Elliott and Connolly Benchmark: A Test for Evaluating the In-Hand Dexterity of Robot Hands. HUMANOIDS 2021: 238-245
[c55]
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Oscar Dadfar, Nancy S. Pollard:
3A2A: A Character Animation Pipeline for 3D-Assisted 2D-Animation. ICIG (3) 2021: 557-568
[c54]
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Arjun Lakshmipathy, Dominik Bauer, Nancy S. Pollard:
Contact Tracing: A Low Cost Reconstruction Framework for Surface Contact Interpolation. IROS 2021: 5165-5172
2019
[c53]
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  - conf/humanoids/MeixnerHP19
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André Meixner, Christopher Hazard, Nancy S. Pollard:
Automated Design of Simple and Robust Manipulators for Dexterous In-Hand Manipulation Tasks using Evolutionary Strategies. Humanoids 2019: 281-288
2018
[c52]
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Christopher Hazard, Nancy S. Pollard, Stelian Coros:
Automated Design of Manipulators for In-Hand Tasks. Humanoids 2018: 1-8
[c51]
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Jonathan P. King, Dominik Bauer, Cornelia Schlagenhauf, Kai-Hung Chang, Daniele Moro, Nancy S. Pollard, Stelian Coros:
Design. Fabrication, and Evaluation of Tendon-Driven Multi-Fingered Foam Hands. Humanoids 2018: 1-9
[c50]
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Cornelia Schlagenhauf, Dominik Bauer, Kai-Hung Chang, Jonathan P. King, Daniele Moro, Stelian Coros, Nancy S. Pollard:
Control of Tendon-Driven Soft Foam Robot Hands. Humanoids 2018: 1-7
2017
[c49]
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Yuzuko C. Nakamura, Daniel M. Troniak, Alberto Rodriguez, Matthew T. Mason, Nancy S. Pollard:
The complexities of grasping in the wild. Humanoids 2017: 233-240
[c48]
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Michael C. Koval, Matthew Klingensmith, Siddhartha S. Srinivasa, Nancy S. Pollard, Michael Kaess:
The manifold particle filter for state estimation on high-dimensional implicit manifolds. ICRA 2017: 4673-4680
2016
[c47]
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Michael C. Koval, David Hsu, Nancy S. Pollard, Siddhartha S. Srinivasa:
Configuration Lattices for Planar Contact Manipulation Under Uncertainty. WAFR 2016: 768-783
2015
[c46]
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  - conf/eurographics/ChungKHP15
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Se-Joon Chung, Junggon Kim, Shangchen Han, Nancy S. Pollard:
Quadratic Encoding for Hand Pose Reconstruction from Multi-Touch Input. Eurographics (Short Papers) 2015: 13-16
[c45]
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Michael C. Koval, Jennifer E. King, Nancy S. Pollard, Siddhartha S. Srinivasa:
Robust trajectory selection for rearrangement planning as a multi-armed bandit problem. IROS 2015: 2678-2685
2014
[c44]
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  - conf/amf/LiuFNP14
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Jia Liu, Fangxiaoyu Feng, Yuzuko C. Nakamura, Nancy S. Pollard:
Annotating Everyday Grasps in Action. Dance Notations and Robot Motion 2014: 263-282
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Jia Liu, Fangxiaoyu Feng, Yuzuko C. Nakamura, Nancy S. Pollard:
A taxonomy of everyday grasps in action. Humanoids 2014: 573-580
[c42]
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  - conf/iros/IllingAP14
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Boris Illing, Tamim Asfour, Nancy S. Pollard:
Changing pre-grasp strategies with increasing object location uncertainty. IROS 2014: 2468-2475
[c41]
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Michael C. Koval, Nancy S. Pollard, Siddhartha S. Srinivasa:
Pre- and Post-Contact Policy Decomposition for Planar Contact Manipulation Under Uncertainty. Robotics: Science and Systems 2014
2013
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Junggon Kim, Nancy S. Pollard, Christopher G. Atkeson:
Quadratic encoding of optimized humanoid walking. Humanoids 2013: 300-306
[c39]
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  - conf/icra/JavdaniKBPS13
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Shervin Javdani, Matthew Klingensmith, J. Andrew Bagnell, Nancy S. Pollard, Siddhartha S. Srinivasa:
Efficient touch based localization through submodularity. ICRA 2013: 1828-1835
[c38]
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Michael C. Koval, Mehmet Remzi Dogar, Nancy S. Pollard, Siddhartha S. Srinivasa:
Pose estimation for contact manipulation with manifold particle filters. IROS 2013: 4541-4548
[c37]
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Michael C. Koval, Nancy S. Pollard, Siddhartha S. Srinivasa:
Manifold Representations for State Estimation in Contact Manipulation. ISRR 2013: 375-391
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Jennifer E. King, Matthew Klingensmith, Christopher M. Dellin, Mehmet Remzi Dogar, Prasanna Velagapudi, Nancy S. Pollard, Siddhartha S. Srinivasa:
Pregrasp Manipulation as Trajectory Optimization. Robotics: Science and Systems 2013
2012
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Yue Peng Toh, Shan Huang, Joy Lin, Maria Bajzek, Garth Zeglin, Nancy S. Pollard:
Dexterous telemanipulation with a multi-touch interface. Humanoids 2012: 270-277
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Junggon Kim, Kunihiro Iwamoto, James J. Kuffner, Yasuhiro Ota, Nancy S. Pollard:
Physically-based grasp quality evaluation under uncertainty. ICRA 2012: 3258-3263
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J. Andrew Bagnell, Felipe Cavalcanti, Lei Cui, Thomas Galluzzo, Martial Hebert, Moslem Kazemi, Matthew Klingensmith, Jacqueline Libby, Tian Yu Liu, Nancy S. Pollard, Mihail Pivtoraiko, Jean-Sebastien Valois, Ranqi Zhu:
An integrated system for autonomous robotics manipulation. IROS 2012: 2955-2962
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Moslem Kazemi, Jean-Sebastien Valois, J. Andrew Bagnell, Nancy S. Pollard:
Robust Object Grasping using Force Compliant Motion Primitives. Robotics: Science and Systems 2012
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Alfred Barnat, Nancy S. Pollard:
Smoke Sheets for Graph-Structured Vortex Filaments. Symposium on Computer Animation 2012: 77-86
2011
[c30]
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Alfred Barnat, Zeyang Li, James McCann, Nancy S. Pollard:
Mid-level smoke control for 2D animation. Graphics Interface 2011: 25-32
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Gurdayal S. Koonjul, Garth Zeglin, Nancy S. Pollard:
Measuring contact points from displacements with a compliant, articulated robot hand. ICRA 2011: 489-495
2010
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Daniel Kappler, Lillian Y. Chang, Markus Przybylski, Nancy S. Pollard, Tamim Asfour, Rüdiger Dillmann:
Representation of pre-grasp strategies for object manipulation. Humanoids 2010: 617-624
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Lillian Y. Chang, Siddhartha S. Srinivasa, Nancy S. Pollard:
Planning pre-grasp manipulation for transport tasks. ICRA 2010: 2697-2704
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Lei Li, James McCann, Nancy S. Pollard, Christos Faloutsos:
BoLeRO: A Principled Technique for Including Bone Length Constraints in Motion Capture Occlusion Filling. Symposium on Computer Animation 2010: 179-188
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Lillian Y. Chang, Nancy S. Pollard:
Estimating subject-specific parameters for modeling hand joints. SIGGRAPH Talks 2010
2009
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Lei Li, James McCann, Nancy S. Pollard, Christos Faloutsos:
DynaMMo: mining and summarization of coevolving sequences with missing values. KDD 2009: 507-516
2008
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Lei Li, James McCann, Christos Faloutsos, Nancy S. Pollard:
Laziness is a Virtue: Motion Stitching Using Effort Minimization. Eurographics (Short Papers) 2008: 87-90
[c22]
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Lillian Y. Chang, Garth Zeglin, Nancy S. Pollard:
Preparatory object rotation as a human-inspired grasping strategy. Humanoids 2008: 527-534
2007
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Jiaxin L. Fu, Siddhartha S. Srinivasa, Nancy S. Pollard, Bart C. Nabbe:
Planar batting under shape, pose, and impact uncertainty. ICRA 2007: 336-342
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Lillian Y. Chang, Nancy S. Pollard, Tom M. Mitchell, Eric P. Xing:
Feature selection for grasp recognition from optical markers. IROS 2007: 2944-2950
[c19]
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Christos Faloutsos, Jessica K. Hodgins, Nancy S. Pollard:
Database techniques with motion capture. SIGGRAPH Courses 2007: 1
2006
[c18]
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Jiaxin L. Fu, Nancy S. Pollard:
On the Importance of Asymmetries in Grasp Quality Metrics for Tendon Driven Hands. IROS 2006: 1068-1075
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James McCann, Nancy S. Pollard, Siddhartha S. Srinivasa:
Physics-based motion retiming. Symposium on Computer Animation 2006: 205-214
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Remco Chang, Thomas Butkiewicz, Caroline Ziemkiewicz, Zachary Wartell, Nancy S. Pollard, William Ribarsky:
Hierarchical simplification of city models to maintain urban legibility. SIGGRAPH Sketches 2006: 130
2005
[c15]
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Ying Li, Nancy S. Pollard:
A shape matching algorithm for synthesizing humanlike enveloping grasps. Humanoids 2005: 442-449
[c14]
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Nancy S. Pollard, Victor B. Zordan:
Physically based grasping control from example. Symposium on Computer Animation 2005: 311-318
2004
[c13]
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Jernej Barbic, Alla Safonova, Jia-Yu Pan, Christos Faloutsos, Jessica K. Hodgins, Nancy S. Pollard:
Segmenting Motion Capture Data into Distinct Behaviors. Graphics Interface 2004: 185-194
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Paul S. A. Reitsma, Nancy S. Pollard:
Evaluating motion graphs for character navigation. Symposium on Computer Animation 2004: 89-98
2002
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Nancy S. Pollard, Jessica K. Hodgins, Marcia Riley, Christopher G. Atkeson:
Adapting Human Motion for the Control of a Humanoid Robot. ICRA 2002: 1390-1397
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Nancy S. Pollard, Richards C. Gilbert:
Tendon Arrangement and Muscle Force Requirements for Humanlike Force Capabilities in a Robotic Finger. ICRA 2002: 3755-3762
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Michael Gleicher, Michael F. Cohen, Nancy S. Pollard, Jessica K. Hodgins, Michiel van de Panne:
Symposium on computer animation in fast forward. SIGGRAPH Abstracts and Applications 2002: 95
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Nancy S. Pollard, Jessica K. Hodgins:
Generalizing Demonstrated Manipulation Tasks. WAFR 2002: 523-540
2000
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Nancy S. Pollard, Fareed Behmaram-Mosavat:
Force-Based Motion Editing for Locomotion Tasks. ICRA 2000: 663-669
1999
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Nancy S. Pollard:
Simple Machines for Scaling Human Motion. Computer Animation and Simulation 1999: 3-11
1997
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Nancy S. Pollard:
Parallel algorithms for synthesis of whole-hand grasps. ICRA 1997: 373-378
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Jessica K. Hodgins, Nancy S. Pollard:
Adapting simulated behaviors for new characters. SIGGRAPH 1997: 153-162
1996
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Nancy S. Pollard:
Synthesizing grasps from generalized prototypes. ICRA 1996: 2124-2130
1993
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Nancy S. Pollard:
Planning Grasps for a Robot Hand in the Presence of Obstacles. ICRA (3) 1993: 723-728
1990
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Nancy S. Pollard, Tomás Lozano-Pérez:
Grasp stability and feasibility for an arm with an articulated hand. ICRA 1990: 1581-1585

Parts in Books or Collections

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2014
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Lillian Y. Chang, Nancy S. Pollard:
Pre-grasp Interaction for Object Acquisition in Difficult Tasks. The Human Hand as an Inspiration for Robot Hand Development 2014: 501-530
2005
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Nancy S. Pollard, Alon Wolf:
Grasp Synthesis from Example: Tuning the Example to a Task or Object. Multi-point Interaction with Real and Virtual Objects 2005: 77-90

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2002
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Jessica K. Hodgins, Michiel van de Panne, Michael F. Cohen, Nancy S. Pollard:
Proceedings of the 2002 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, San Antonio, TX, USA, July 21-22, 2002. ACM 2002, ISBN 1-58113-573-4 [contents]

Informal and Other Publications

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2024
[i10]
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Arjun S. Lakshmipathy, Jessica K. Hodgins, Nancy S. Pollard:
Kinematic Motion Retargeting for Contact-Rich Anthropomorphic Manipulations. CoRR abs/2402.04820 (2024)
[i9]
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Pragna Mannam, Xingyu Liu, Ding Zhao, Jean Oh, Nancy S. Pollard:
Design and Control Co-Optimization for Automated Design Iteration of Dexterous Anthropomorphic Soft Robotic Hands. CoRR abs/2403.09933 (2024)
[i8]
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Sunyu Wang, Jean H. Oh, Nancy S. Pollard:
The Foundational Pose as a Selection Mechanism for the Design of Tool-Wielding Multi-Finger Robotic Hands. CoRR abs/2409.14158 (2024)
2023
[i7]
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Arjun S. Lakshmipathy, Nicole Feng, Yu Xi Lee, Moshe Mahler, Nancy S. Pollard:
Contact Edit: Artist Tools for Intuitive Modeling of Hand-Object Interactions. CoRR abs/2305.02051 (2023)
[i6]
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Pragna Mannam, Kenneth Shaw, Dominik Bauer, Jean Oh, Deepak Pathak, Nancy S. Pollard:
A Framework for Designing Anthropomorphic Soft Hands through Interaction. CoRR abs/2306.04784 (2023)
2021
[i5]
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Arjun Lakshmipathy, Dominik Bauer, Cornelia Bauer, Nancy S. Pollard:
Contact Transfer: A Direct, User-Driven Method for Human to Robot Transfer of Grasps and Manipulations. CoRR abs/2110.15532 (2021)
[i4]
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  - journals/corr/abs-2111-01869
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Dominik Bauer, Cornelia Bauer, Arjun Lakshmipathy, Roberto Shu, Nancy S. Pollard:
Towards Very Low-Cost Iterative Prototyping for Fully Printable Dexterous Soft Robotic Hands. CoRR abs/2111.01869 (2021)
2016
[i3]
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Matthew Klingensmith, Michael C. Koval, Siddhartha S. Srinivasa, Nancy S. Pollard, Michael Kaess:
The Manifold Particle Filter for State Estimation on High-dimensional Implicit Manifolds. CoRR abs/1604.07224 (2016)
[i2]
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Michael C. Koval, David Hsu, Nancy S. Pollard, Siddhartha S. Srinivasa:
Configuration Lattices for Planar Contact Manipulation Under Uncertainty. CoRR abs/1605.00169 (2016)
2012
[i1]
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  - journals/corr/abs-1208-6067
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Shervin Javdani, Matthew Klingensmith, Drew Bagnell, Nancy S. Pollard, Siddhartha S. Srinivasa:
Efficient Touch Based Localization through Submodularity. CoRR abs/1208.6067 (2012)

Coauthor Index

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