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

  2. Ravi Balasubramanian, Alfred A. Rizzi, and Matthew T. Mason. An Approximate Decoupled Dynamics and Kinematics Analysis of Legless Locomotion. In Nonlinear Dynamics, 2011. PDF

  3. Ravi Balasubramanian, Ling Xu, Peter Brook, Joshua R. Smith, and Yoky Matsuoka. Physical Human Interactive Guidance: A Simple Method to Study Human-Planned Grasping. In the IEEE Transactions on Robotics, 2012. PDF

  4. Ravi Balasubramanian, Joseph T. Belter, and Aaron M. Dollar. Disturbance response of Two-link Underactuated Serial Mechanisms. In ASME Journal of Mechanisms and Robotics, 2012. PDF

  5. Stefan Kolbrecher et al. Human-Robot Teaming for Rescue Missions: Team ViGIR's Approach to the 2013 DARPA Robotics Challenge Trials. In Journal of Field Robotics, 2014. PDF.
  6. Ryan Carpenter, Ross Hatton, and Ravi Balasubramanian. Evaluation of Linear and Revolute Underactuated Grippers for Steel Foundry Operations. Industrial Robot, 2015. Link to PDF

Neurophysiology

  1. Ravi Balasubramanian, Robert D. Howe, and Yoky Matsuoka. Task Performance is Prioritized over Energy Expenditure. In IEEE Transactions on Biomedical Engineering, DOI: 10.1109/TBME.2008.2006683, 2009. PDF

  2. Pedram Afshar*, Ravi Balasubramanian*, and Yoky Matsuoka. A Framework for Manipulation with Neuromusculoskeletal Redundancy. In the Journal of Bionic Engineering (Under preparation). * => Equal contribution

Orthopedic Surgery

  1. Taymaz Homayouni, Kelsey N. Underwood, Kamin C. Beyer, Elon R. Martin, Christopher H. Allan, and Ravi Balasubramanian. Modeling Implantable Passive Mechanisms For Modifying the transmission of Forces and Movements Between Muscles and Tendons.IEEE Transactions on Biomedical Engineering, 62(9), 2015. PDF
  2. Katherine L. Mardula, Ravi Balasubramanian, Christopher H. Allan. Implanted Passive Engineering Mechanism Improves Hand Function After Tendon Transfer Surgery. Hand, 2014. DOI: 10.1007/s11552-014-9676-0. PDF.
  3. Connor M. Pihl, Christina J. Stender, Ravi Balasubramanian, Kylie M. Edinger, Bruce J. San- georzan, William R. Ledoux. Passive Engineering Mechanism Enhancement of a Flexor Digito- rum Longus Tendon Transfer Procedure. In Proc. American Orthopedic Foot and Ankle Society, 2017. PDF

Biomechanics

  1. Ashish D. Deshpande, Ravi Balasubramanian, Jonathan Ko, and YokyMatsuoka. Acquiring Variable Moment Arms for Index Finger Using a Robotic Testbed. In the IEEE Transactions on Biomedical Engineering, 2010. PDF

Bioethics

  1. Sarani Chatterjee, Ravi Balasubramanian, Courtney Campbell. The Bioethics of Implantable Engineered Mechanisms in Orthopedic Surgery. In Ethics in Biology, Engineering, and Medicine: An International Journal, 5(2):95–105, 2015. Link to PDF

     

Book Chapters

  1. Ravi Balasubramanian and Aaron M. Dollar. Performance of Serial Underactuated Mechanisms: Number of Degrees of Freedom and Actuators. In Redundancy in Robot Manipulators and Multi-robot Systems; Lecture Notes in Electrical Engineering, Vol 57, Eds. D. Milutinovic and J. Rosen, 2013. (Link)

Conference Papers

Neural Robotics, Biomechanics, and Hand Surgery

  1. Anthony Le, Duncan S. Russell, Maureen K. Larson, Jennifer Warnock, Geoffrey R. Browning, Kay A. Fischer, James Sweeney, and Ravi Balasubramanian. Histopathological Analysis of Healing Responses to a Novel Tendon Transfer Surgery in a Chicken Model. In Proc. ORS 47th International Musculoskeletal Biology Workshop, 2017.
  2. Ravi Balasubramanian and Francisco Valero-Cuevas. Implantable passive mechanisms for differentially distributing movement across multiple tendons in tendon-transfer surgery. In Proc. Hand Wrist Biomechanics International Workshop held at the International Society of Biomechanics, 2017.
  3. Anthony Le, Duncan S. Russell, Jennifer Warnock, Maureen K. Larson, Geoffrey R. Browning, Kay A. Fischer, James Sweeney, and Ravi Balasubramanian. Histopathological Healing Responses to a Novel Tendon-Transfer Surgery in a Chicken Model In Military Health System Research Symposium, 2017.
  4. Forrest Ling and Ravi Balasubramanian. Passive implanted mechanism to improve foot-arch restoration for adult- acquired flatfoot disorder: validation through gait analysis. In Proc. American Society of Biomechanics, 2017.
  5. Connor M. Pihl, Christina J. Stender, Ravi Balasubramanian, Kylie M. Edinger, Bruce J. Sangeorzan, William R. Ledoux. Passive Engineering Mechanism Enhancement of a Flexor Digito- rum Longus Tendon Transfer Procedure. In Proc. American Orthopedic Foot and Ankle Society, 2017.
  6. Mandich, Jacob; Casebier, Justin; Francis, James; Chandramouli, Sushruta; Balasubramanian, Ravi; Warnock, Jennifer. Implantable Mechanisms for Orthopedic Surgery: Validation using Biomechanical Simulation and Cadaver Study in Chicken Foot. In Proc. Veterinary Orthopedics Society, 2017.
  7. A. Le, J. Casebier, J. Mandich, M. K. Larson, J. Warnock, J. Sweeney, R. Balasubramanian. Evaluation of Postoperative Healing for Novel Tendon-Transfer Surgery Using an Implantable Passive Mechanism: A Pilot In Vivo Study. In Proc. Veterinary Orthopedics Society, 2017.
  8. Forrest Ling, Rose Newberry, Ravi Balasubramanian. Improved Foot-Arch Restoration for Flat- foot Disorder Using Passive Implanted Mechanism. In Proc. American Society of Biomechanics, 2016.
  9. Sarani Chatterjee, Katherine L. Mardula, Christopher H. Allan, and Ravi Balasubramanian. Implanted Pulleys in Tendon-Transfer Surgery Improve Grasping Capability. In Proceedings of the American Society of Biomechanics (ASB) Annual Meeting, 2014.
  10. Katherine L. Mardula, Christopher H. Allan, and Ravi Balasubramanian. Implanted Engineering Mechanisms Improve Finger Movement Post Tendon Transfer Surgery for High MedianUlnar Palsy. In Proceedings of the American Society of Biomechanics (ASB) Annual Meeting, 2014.
  11. Thane Somers, Katherine L. Mardula, Christopher H. Allan, and Ravi Balasubramanian. Implanted Adaptive Mechanism Improves Grasp Force Ability After Tendon Transfer Surgery: A CadaverBased Study. In Proceedings of the American Society of Biomechanics (ASB) Annual Meeting, 2014.
  12. Elon Martin, Taymaz Homayouni, and Ravi Balasubramanian. A Passive Implant that Scales Muscle Force in Knee-Replacement Surgery. In Proceedings of the Workshop on Rehabilitation & Assistive Robotics at IROS 2014. (PDF)
  13. Ravi Balasubramanian, J. Montgomery, K. L. Mardula, and C. H. Allan, Implanted Miniature Engineering Mechanisms in Tendon-Transfer Surgery Improve Robustness of Post-Surgery Hand Function, In the Proceedings of the Hamlyn Symposium on Medical Robotics, 2013. (PDF)
  14. Ravi Balasubramanian, J. Montgomery, K. L. Mardula, and C. H. Allan, New Tendon-Transfer Surgery for Ulnar-Median Palsy Using Embedded Adaptive Engineering Mechanisms. In the Proceedings of the International Symposium in Biomechanics and Biomedical Engineering, 2013.(PDF)
  15. K. L. Mardula and Ravi Balasubramanian.Optimization of Tendon Transfer Surgery based on Hand Biomechanics. In the Proceedings of the ASB Northwest Biomechanics Symposium, Eugene, 2012.
  16. Ravi Balasubramanian, Brian Dellon, Sujata Pradhan, Spencer Gibbs, Yoky Matsuoka. Quantifying the Dimensions of Human Hand Dexterity Through a Survey of Daily Tasks. In The Workshop on Understanding the Human Hand for Advancing Robotic Manipulation at Robotics: Science and Systems, 2009, Seattle, WA. (Workshop Link, PDF)
  17. 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).
  18. 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)
  19. 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)

Robotic Grasping and Manipulation

  1. Ravi Balasubramanian, Ling Xu, Peter Brook, Joshua R. Smith, and Yoky Matsuoka. Human-Guided Grasp Measures Improve Grasp Robustness on Physical Robot. In Proceedings of the IEEE/RSJ International Conference on Robotics and Automation, pp. 2294--2301, 2010, Anchorage, Alaska. (PDF)

  2. S. A. J. Spanjer, Ravi Balasubramanian, J. L. Herder, and Aaron M. Dollar. Improved Grasp Robustness through Variable Transmission Ratio in Underactuated Fingers. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp2289--2294, 2012, Vilamoura, Algarve, Portugal. (PDF)
  3. S. A. J. Spanjer, Ravi Balasubramanian, J. L. Herder, and Aaron M. Dollar. Underactuated Gripper that is able to Convert from Precision to Powet Grasp by a Variable Transmission Ratio. In Proceedings of the IEEE International Conference on Reconfigurable Mechanisms and Robots, 2012. (PDF)
  4. Alex K. Goins, Ryan Carpenter, Weng-Keen Wong, Ravi Balasubramanian. Evaluating the Efficacy of Grasp Metrics For Utilization in a Gaussian Process-Based Grasp Predictor. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems, 2014, Chicago, IL, USA. (PDF)
  5. Sai Krishna Allani, Brendan John, Javier Ruiz, Saurabh Dixit, Jackson Carter, Cindy Grimm, Ravi Balasubramanian. Evaluating Human Gaze Patterns Durng Grasping Tasks: Robot Versus Human Hand. In Proceedings on the ACM Symposium on Applied Perception, 2016, Anaheim, CA, USA. (PDF)
  6. Brendan John, Jackson Carter, Javier Ruiz, Sai Krishna Allani, Saurabh Dixit, Ravi Balasubramanian and Cindy Grimm. Human-Planned Robotic Grasp Ranges: Capture and Validation. In AAAI Fall Symposium on AI for Human-Robot Interaction, 2016, Arlington, VA.(PDF)
  7. Saurabh Dixit*, Jackson Carter***, Brendan John^, Javier Ruiz, Cindy Grimm, and Ravi Balasubramanian. Human-Planned Robotic Grasp Ranges: Capture and Validation. In Proc. AAAI Fall Symposium on AI for Human-Robot Interaction, 2016, Arlington, VA. (Single track)

Mechanisms

  1. Ravi Balasubramanian and Aaron M. Dollar. Performance of Serial Underactuated Mechanisms: Number of Degrees of Freedom and Actuators. In Proceedings of the IEEE International conference on Intelligent Robots and Systems, 2011. PDF
  2. Ravi Balasubramanian and Aaron M. Dollar. A Comparison of Workspace and Force Capabilities between Classes of Underactuated Mechanisms. In Proceedings of the IEEE International conference on Robotics and Automation, 2011. PDF
  3. Ravi Balasubramanian and Aaron M. Dollar. Variation in Compliance In Two Classes of Two-Link Underactuated Mechanisms. In Proceedings of the IEEE International conference on Robotics and Automation, 2011. PDF
  4. Ravi Balasubramanian, Joseph T. Belter, and Aaron M. Dollar. External Disturbances and Coupling Mechanisms in Underactuated Robots. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2010, Montreal, Quebec. (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 Aaron M. Dollar. A Framework for Studying Underactuation in the Human Hand. In the Annual Meeting of the American Society of Biomechanics, 2010, Providence, RI.
  2. Spencer Gibbs, Ravi Balasubramanian, Sujata Pradhan, Brian Dellon, and Yoky Matsuoka. Defining a dexterity framework. In The Workshop on Understanding the Human Hand for Advancing Robotic Manipulation, 2009, Seattle, WA.
  3. 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.
  4. 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

1. 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. MPG
 2. Alberto Romay, Felipe Bacim, Ravi Balasubramanian, Doug Bowman, David C. Conner, Alex Goins, Stefan Kohlbrecher, Alexander Stumpf, Oskar von Stryk. Hose Task at the 2013 DARPA Robotics Challenge Trials: Team ViGIR's Results Video, Humanoids 2014.

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.