Publications

Dynamic Simulation and Physically-based Modeling

``Impulse-based Dynamic Simulation of Rigid Body Systems,''

Brian Mirtich, ``Fast and Accurate Computation of Polyhedral Mass Properties,'' journal of graphics tools, volume 1, number 2, 1996. [258K postscript] [69K gzipped postscript]

Brian Mirtich, Yan Zhuang, Ken Goldberg, John Craig, Rob Zanutta, Brian Carlisle, John Canny, ``Estimating Pose Statistics for Robotic Part Feeders,'' to appear in Proceedings of IEEE International Conference on Robotics and Automation, April 1996. [1.44M postscript] [227K gzipped postscript]

Brian Mirtich, ``Hybrid Simulation: Combining Constraints and Impulses,'' in Proceedings of First Workshop on Simulation and Interaction in Virtual Environments, July 1995. [238K postscript] [50K gzipped postscript]

Brian Mirtich and John Canny, ``Impulse-based Simulation of Rigid Bodies,'' in Proceedings of 1995 Symposium on Interactive 3D Graphics, April 1995. [3.46M postscript] [184K gzipped postscript]

Brian Mirtich and John Canny, ``Impulse-based Dynamic Simulation,'' in Proceedings of Workshop on Algorithmic Foundations of Robotics, February 1994. [2.54M postscript] [166K gzipped postscript]

Robotics

Brian Mirtich and John Canny, ``A Skeleton-based Planner for the Two-axle Car,'' to appear in IEEE Transactions on Robotics and Automation

Philippe Moutarlier, Brian Mirtich, and John Canny, ``Shortest Paths for a Car-like Robot to Manifolds in Configuration Space,'' in International Journal of Robotics Research. , 15 (1) : 36-60, 1996.

L. Bushnell, B. Mirtich, A. Sahai, M. Secor, ``Off-tracking Bounds for a Car Pulling Trailiers with Kingpin Hitching,'' in Proceedings of IEEE Conference on Decision and Control, December 1994.

Brian Mirtich and John Canny, ``Using Skeletons for Nonholonomic Path Planning,'' ESRC memo 92-16/RAMP memo 92-6, Engineering System Research Center, University of California, Berkeley, June, 1992 (Master's Thesis).
Brian Mirtich and John Canny, ``Using Skeletons for Nonholonomic Path Planning among Obstacles,'' in Proceedings of IEEE International Conference on Robotics and Automation, pp. 2533-2540, May 1992. [996K postscript] [249K gzipped postscript]

Brian Mirtich and John Canny, ``Easily Computable Optimum Grasps,'' in Proceedings of IEEE International Conference on Robotics and Automation, May 1994. [280K postscript] [65K gzipped postscript]

Brian Mirtich and John Canny, ``Optimum Force Closure Grasps,'' ESRC memo 93-11/RAMP memo 93-5, Engineering System Research Center, University of California, Berkeley, July 1993.

Brian Mirtich / mirtich@merl.com / 15 Jan 1997