Publications

HarmonicAnalysisEngineersCover

  • Stochastic Models, Information Theory, and Lie Groups: Volume 2 Analytic Methods and Modern Applications. G. S. Chirikjian. Boston: Birkhäuser. Nov. 2011.

Stochastic Models Vol 2

  • Stochastic Models, Information Theory, and Lie Groups: Volume 1 Classical Results and Geometric Methods. G. S. Chirikjian. Boston: Birkhäuser. Sept. 2009.

Please note the associated Addenda and Erratum.

Stochastic Vol 1

  • Engineering Applications of Noncommutative Harmonic Analysis. G. S. Chirikjian, A. B. Kyatkin. CRC Press. Oct. 2000.

Purple Book


Dissertation

  • Theory and applications of hyper-redundant robotic manipulators. G.S. Chirikjian. Ph.D. Dissertation, California Institute of Technology. 1992 [Download]

Robotic Repair

  • Module Design and Functionally Non-Isomorphic Configurations of the Hex-DMR II System. J. D. Davis, Y. Sevimli, B. R. Eldridge, and G. S. Chirikjian. Journal of Mechanisms and Robotics 8 (5), 051008. 2016 [Download]
  • A Robot Capable of Autonomous Robotic Team Repair: The Hex-DMR II System. J. D. Davis, Y. Sevimli, M. K. Ackerman, and G. S. Chirikjian. Advances in Reconfigurable Mechanisms and Robots II, 619-631. 2016 [Download]
  • Hex-DMR: A modular robotic test-bed for demonstrating team repair. Ackerman, M.K., Chirikjian, G.S., IEEE International Conference on Robotics and Automation (ICRA 2012), Minneapolis, MN, 14-18 May 2012, pp. 4148 – 4153 [Download]
  • Toward Cooperative Team-diagnosis in Multi-robot Systems. M. D.M. Kutzer, M. Armand, D. H. Scheid, E. Lin, G. S. Chirikjian. International Journal of Robotics Research, 27(9):1069-1090. Sept. 2008 [Download]

Polymer Science

  • Inverse Kinematic Solutions of 6-DOF Biopolymer Segments. J. S. Kim and G. S. Chirikjian. Robotica 34 (08): 1734-1753. 2016 [Download]
  • A Unified Approach to Conformational Statistics of Classical Polymer and Polypeptide Models. J. S. Kim and G. S. Chirikjian. Polymer 46: 11904-11917. 2005 [Download]
  • Analysis of the Conformational Dependence of Mass-Metric Tensor Determinants in Serial Polymers with Constraints. A. Patriciu, G. S. Chirikjian, R. V. Pappu. Journal of Chemical Physics. vol. 121. 2004 [Download]
  • Determining the Gaussian Probability Distribution of the Best-Fit Ellipsoid of Revolution for a Polymer Chain from Planar Projections. Y. Zhou, D. Wirtz, G. S. Chirikjian. Inverse Problems. 19:725-738. 2003 [Download]
  • Conformational Statistics of Macromolecules using Generalized Convolution. G. S. Chirikjian. Computational and Theoretical Polymer Science. 11:143-153. 2003 [Download]

Robotic Self-Replication

  • An Architecture for Universal Construction via Modular Robotic Components. Moses, M.S., Ma, H., Wolfe, K.C., Chirikjian, G.S., Robotics and Autonomous Systems. 62 (2014) pp. 945-965 [Download]
  • Design of an Electromagnetic Actuator Suitable for Production by Rapid Prototyping. M.S. Moses, G.S. Chirikjian. DETC2011-48602. ASME IDETC/CIE 2011 [Download][Code]
  • An Autonomous Robot that Duplicates Itself from Low-Complexity Components. K. Lee and G. S. Chirikjian. IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May 3-8, 2010 [Download]
  • Towards cyclic fabrication systems for modular robotics and rapid manufacturing. M. S. Moses, H. Yamaguchi, and G. S. Chirikjian. Proceedings of Robotics: Science and Systems, June 2009 [Download]
  • Robotic Self-Replication in Structured Environments: Physical Demonstrations and Complexity Measures. K. Lee, M. Moses and G. S. Chirikjian. IJRR 2007, 27(3-4): 387-401. March 2008 [Download]
  • Robotic Self-Replication: a descriptive framework and a physical demonstration from low complexity parts. K. Lee and G. S. Chirikjian. IEEE Robotics & Automation Magazine. 14(4): 34-43. December 2007 [Download]
  • Robotic Self-Replication in a Structured Environment without Computer Control. S. Eno, L. Mace, J. Liu, B. Benson, K. Raman, K. Lee, M. Moses and G. S. Chirikjian. Proceedings of the 2007 IEEE ICRA. 2007 [Download]
  • A Memoryless Robot that Assembles Seven Subsystmes to Copy Itself. A. Liu, M. Sterling, D. Kim, A. Pierpont, A. Schlothauer, M. Moses, K. Lee and G. S. Chirikjian. Proceedings of the 2007 IEEE ISAM. 2007 [Download]
  • Measures of Reliability and Task Complexity for Self-Replicating Systems. K. Lee and G. S. Chirikjian. Proceedings of ICAR 2007, Jeju, Korea, Aug. 2007 [Download]
  • Robotic Self-Replication in Structured and Adaptable Environment (extended abstract). K. Lee, M. Moses and G. S. Chirikjian. Proceedings of Robotics: Science and Systems Workshop on Self-Reconfigurable. Aug. 2006 [Download]
  • Robotic Self-Repair in a Semi-Structured Environment. W. Park, D. Albright, C. Eddleston, W. K. Won, K. Lee and G. S. Chirikjian. Proceedings of Robosphere 2004. NASA Ames. Nov. 2004 [Download]
  • A Minimalist Parts Manipulation System for a Self-Replicating Electromechanical Circuit. W. Hastings, M. Labarre, A. Viswanathan, et al. Proceedings of IMG 04′. Jul. 2004 [Download]
  • An Autonomous Self-Replicating Robotic System. J. Suthakorn, A. Cushing, G. S. Chirikjian. Proceedings of the 2003 IEEE/ASME Intl. Conf. on Advanced Intelligent Mechatronics [Download]
  • A Semi-Autonomous Replicating Robotic System. J. Suthakorn, Y. Kwon, G. S. Chirikjian. Proceedings of 2003 IEEE CIRA. Jul. 2003 [Download]
  • Self-Replicating Robots for Lunar Development. G. S. Chirikjian, Y. Zhou, J. Suthakorn. ASME/IEEE Trans. on Mechatronics. 7(4) Dec. 2002 [Download]
  • Self-Replicating Robots for Space Utilization. J. Suthakorn, Y. Zhou, G. S. Chirikjian. Proceedings of the 2002 Roboshpere. NASA Ames. 2002 [Download]
  • Toward Self-Replicating Robots. G. S. Chirikjian and J. Suthakorn. Proceedings of the 8th ISER. Jul. 2002 [Download]

DNA Mechanics and Conformation

  • The stochastic elastica and excluded volume perturbations of DNA conformational ensembles. G. S. Chirikjian. International Journal of Non-Linear Mechanics. 43(10):1108–1120. 2008 [Download]
  • Conformational Analysis of Stiff Chiral Polymers with End-Constraints. J. S. Kim, G. S. Chirikjian. Molecular Simulation. 32(14):1139-1154. 2006 [Download]
  • Conformational Statistics of Semiflexible Macromolecular Chains with Internal Joints. Y. Zhou, G. S. Chirikjian. Macromolecules. 39:1950-1960. 2006 [Download]
  • Conformational Statistics of Bent Semiflexible Polymers. Y. Zhou, G. S. Chirikjian. Journal of Chemical Physics. 119(9). 2003 [Download]
  • Conformational Statistics of Stiff Macromolecules as Solutions to PDEs on the Rotation and Motion Groups. G. S. Chirikjian, Y. Wang. Physical Review E. 62(1):880-892. 2000 [Download]

Structural Bioinformatics

  • Structural and Dynamical Classication of RNA Single-Base Bulges for Nanostructure Design. W. Hastings Y. G. Yingling, G. S. Chirikjian, B. A. Shapiro. Journal of Computatioanl and Theoretical Nanoscience. 3:63-77. 2006 [Download]
  • Pose Analysis of Alpha-Carbons in Proteins. S. Lee, G. S. Chirikjian. International Journal of Robotics Research. 23(2-3):183-210. 2005 [Download]
  • Interhelical Angle and Distance Preferences in Globular Proteins. S. Lee, G. S. Chirikjian. Biophysical Journal. 86:1105-1117. 2004 [Download]

Protein Kinematics

  • Framed curves and knotted DNA. G.S. Chirikjian. Biochemical Society Transactions, 41:635-638, 2013 [Download]
  • Multiscale Modeling of Double-Helical DNA and RNA: A Uni cation through Lie Groups. Wolfe, K.C., Hastings, W.A., Dutta, S., Long, A., Shapiro, B.A., Woolf, T.B., Guthold, M., Chirikjian, G.S., J. Phys. Chem. B, 116 (29), pp 8556-8572, 2012 [Download]
  • Quantitative Comparison of Conformational Ensembles. Wolfe, K.C., Chirikjian, G.S., Entropy, 2012, 14(2), 213-232 [Download]
  • Modeling Loop Entropy. G. S. Chirikjian. Methods in Enzymology, Part C, 487: 101-130, 2011 [Download]
  • Group Theory and Biomolecular Conformation: I. Mathematical and Computational Models. G. S. Chirikjian. Journal of Physics: Condensed Matter 22(32):323103. 2010 [Link]
  • Position and Orientation Distributions for Non-Reversal Random Walks using Space-Group Fourier Transforms. A. Skliros, W. Park, G. S. Chirikjian. Journal of Algebraic Statistics 1(1):27–46. 2010 [Link]
  • Iterative cluster-NMA: A tool for generating conformational transitions in proteins. A. D. Schuyler, R. L. Jernigan, P. K. Qasba, B. Ramakrishnan, G. S. Chirikjian. Proteinsstructure Function and Bioinformatics. 74(3):760–776. 2009 [Download]
  • Parts Entropy and the Principal Kinematic Formula. G. S. Chirikjian. Proc. IEEE Conference on Automation Science and Engineering, pp. 864-869, Washington D.C., August 23-26, 2008 [Download]
  • A Method for Finding Candidate Conformations for Molecular Replacement using Relative Rotation between Domains of a Known Structure. J. Jeong, E. E. Lattman, G. S. Chirikjian. Acta Crystallographica Section D. Biological Crystallography 2006 [Download]
  • Efficient determination of Low-Frequency Normal Modes of Large Protein Structures by Cluster-NMA. A. Schuyler, G. S. Chirikjian. Journal of Molecular Graphics and Modeling 24:46-58. 2005 [Download]
  • Rigid-Cluster Models of Conformational Transitions in Macromolecular Machines and Assemblies. M. K. Kim, R. L. Jernigan, G. S. Chirikjian. Biophysical Journal. 89:43-55. 2005 [Download]
  • A Methodology for Determining Mechanical Properties of Macromolecules from Ensemble Motion Data. G.S. Chirikjian. Trends in Analytical Chemistry. 22(9) 2003 [Download]
  • A Comparison between Elastic Network Interpolation and MD Simulation of 16S Ribosomal RNA. M. K. Kim, W. Li, B. A. Shapiro, G. S. Chirikjian. Journal of Biomolecular Structure & Dynamics. ISSN 0739-1102. 21(3) 2003 [Download]
  • Normal Mode Analysis of Proteins: A Comparison of Rigid Cluster Modes with Ca Coarse Graing. A. Schuyler, G. S. Chirikjian. Journal of Molecular Graphics and Modeling. 22(3): 183-193. November 2003 [Download]
  • An Elastic Network Model of HK97 Capsid Maturation. M. K. Kim, R. L. Jernigan, G. S. Chirikjian. Journal of Structural Biology. 143: 107-117. 2003 [Download]
  • Elastic Models of Conformational Transitions in Macromolecules. M. K. Kim, G. S. Chirikjian, R. L. Jernigan. Journal of Molecular Graphics and Modelling. 21:151-160. 2002 [Download]
  • Efficient Generation of Feasible Pathways for Protein Conformational Transitions. M. K. Kim, R. L. Jernigan, G. S. Chirikjian. Biophysical Journal. 83:1620-1630. 2002 [Download]

Image Analysis

  • Accurate Image Rotation Using Hermite Expansions. W. Park, G. Leibon, D. N. Rockmore and G. S. Chirikjian. IEEE Transactions on Image Processing. 18(9):1988-2003. 2009 [Download][Matlab Code Available]
  • A fast Hermite transform. G. Leibon, D. N. Rockmore, W. Park, R. Taintor, G. S. Chirikjian. Theoretical Computer Science. 409(2):221-228. Dec. 2008 [Download]
  • Interconversion between Truncated Cartesian and Polar Expansions of Images. W. Park and G. S. Chirikjian. IEEE Transactions on Image Processing. 16(8):1946-1955. 2007 [Download]
  • Pattern Matching as a Correlation on the Discrete Motion Group. A. B. Kyatkin and G. S. Chirikjian. Conputer vision and Image Understanding. 74(1):22-35. 1999 [Download]

Robot Motion Planning

  • Lie-Theoretic Multi-Robot Localization. Li, X., Chirikjian, G.S., Book Chapter in: Riemannian Computing in Computer Vision, Editors: Pavan K. Turaga, Anuj Srivastava, pp. 165-186, Springer, 2016. [Download]
  • A Comparison of Gaussian and Fourier Methods for Degenerate Diffusions on SE(2). H. Dong and G. S. Chirikjian. 2015 54th IEEE Conference on Decision and Control (CDC), 6016-6022. 2015 [Download]
  • A Jacobian-Based Algorithm for Planning Attitude Maneuvers Using Forward and Reverse Rotations. S. K. Koh, G. S. Chirikjian, and G. K. Ananthasuresh. Journal of Computational and Nonlinear Dynamics. 4(1). 2009 [Download]
  • Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map. W. Park, Y. Liu, Y. Zhou, M. Moses, G. S. Chirikjian. Robotica. 26(4):419–434. 2008 [Download]
  • Probabilistic Models of Dead-Reckoning Error in Nonholonomic Mobile Robots. Y. Zhou, G. S. Chirikjian. Proceedings of the 2003 IEEE ICRA [Download]
  • A Diffusion-based Algorithm for Workspace Generation of Highly Articulated Manipulators. Y. Wang, G. S. Chirikjian. Proceedings of the 2002 IEEE ICRA [Download]
  • A New Potential Field Method for Robot Path Planning. Y. Wang, G. S. Chirikjian. Proceedings of the 2000 IEEE ICRA [Download]
  • Computation of Robot Configuration and Workspaces via the Fourier Transform on the Discrete Motion Group. A. B. Kyatkin, G. S. Chirikjian. International Journal of Robotics Research. 18(6):601-615. 1999 [Download]

Nano Science

  • Random-Walk Statistics in Moment-based O(N) Tight Binding and Applications in Carbon Nauotubes. A. Schuyler, G. S. Chirikjian, J. Lu, H. T. Johnson, Physical Review E. 71: 046701. 2005 [Download]
  • Analysis and Design of Protein Based Nanodevices: Challenges and Opportunities in Mechanical Design. G. S. Chirikjian, K. Kazerounian, C. Mavroidis. Journal of Mechanical Design. 127(4):695-698. Jul 2005 [Download]

Applied Mathematics

  • Algorithms for Multilayer Conformal Additive Manufacturing. J. D. Davis, M. D. Kutzer, and G. S. Chirikjian. Journal of Computing and Information Science in Engineering 16 (2), 021003. 2016 [Download]
  • Analysis of a Mechanism with Redundant Drive for Antenna Pointing. X. Li, X. Ding, and G. S. Chirikjian. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering. 2016 [Download]
  • Analysis of Angular-Error Uncertainty in Planar Multiple-Loop Structures with Joint Clearances. X. Li, X. Ding, and G. S. Chirikjian. Mechanism and Machine Theory 91 (2015), 69-85 [Download]
  • Closed-Form Characterization of the Minkowski Sum and Difference of Two Ellipsoids. Y. Yan and G. S. Chirikjian. Geometriae Dedicata (2015). 177 (1), 103-128 [Download]
  • Signal Detection on Euclidean Groups: Applications to DNA Bends, Robot Localization, and Optical Communication. K.C. Wolfe and G. S. Chirikjian. IEEE Journal of Selected Topics in Signal Processing, 7(4): 708 – 719, Aug. 2013 [Download]
  • Information-Theoretic Inequalities on Unimodular Lie Groups. G. S. Chirikjian. The Journal of Geometric Mechanics 2(2):119–158. June 2010 [Link]
  • Information Theory on Lie Groups and Mobile Robotics Applications. G. S. Chirikjian. IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, 2751-2757, 2010 [Download]
  • Solving Phase-Noise Fokker-Planck Equations Using the Motion-Group Fourier Transform. Y. Wang, Y. Zhou, D. K. Maslen, G. S. Chirikjian. IEEE Trans. on Communications. 54(5):868-877. 2006 [Download]
  • Rotational Matching Problems. G. S. Chirikjian, T. Peter, J. Koo, C. H. Lee. Intl. Journal of Computational Intelligence and Applications. 4(4). 2004 [Download]
  • Sampling and Convolution on Motion Groups Using Generalized Gaussian Functions. G. S. Chirikjian, O. Chetelat. Computational Kinematics Conference. 2001 Seoul, Korea. [Download]
  • An Operational Calculus for the Euclidean Motion Group: Applications in Robotics and Polymer Science. G. S. Chirikjian, A. B. Kyatkin. Journal of Fourier Analysis and Applications. 6(6):583-606. 2000 [Download]
  • Fourier Analysis on Motion Using Screw Parameters. G. S. Chirikjian. Proceedings of a Symposium Commemorating the Legacy, Works and Life of Sir Robert Stawell Ball, July 2000 [Download]
  • Algorithms for Fast Convolutions on Motion Groups. A. B. Kyatkin and G. S. Chirikjian. Applied and Computational Harmonic Analysis. 9:220-241. Sep 2000 [Download]
  • Regularized Solutions of a Nonlinear Convolution Equation on the Euclidean Group. A. B. Kyatkin and G. S. Chirikjian. Acta Applicandae Mathematicae. 53:89-123. 1998 [Download]
  • Numerical Synthesis of Binary Manipulator Workspaces using the Fourier Transform on the Euclidean Motion Group. A. B. Kyatkin, G. S. Chirikjian. Proceedings of DETC’98. Sep. 1998 [Download]
  • Fredhom Integral Equations on the Euclidean Motion Group. G. S. Chirikjian. Inverse Problems. 12:579-599. 1996 [Download]

Medical Applications

  • Ultrasound Probe and Needle-Guide Calibration for Robotic Ultrasound Scanning and Needle Targeting. Kim, C., Chang, D., Petrisor, D., Chirikjian, G., Han, M., Stoianovici, D., IEEE Trans. on Biomedical Engineering, 60(6):1728-1734, Aug 2013 [Download]
  • Constrained workspace generation for snake-like manipulators with applications to minimally invasive surgery. Murphy, R.J., Kutzer, M.D.M., Chirikjian, G.S., Armand,,M., in Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), May 2013, pp. 5341 – 5347 [Download]
  • Equilibrium Conformations of Concentric-Tube Continuum Robots. Rucker, D.C., Webster, R.J. III, Chirikjian, G.S., Cowan, N.J., International Journal of Robotics Research, vol. 29 no. 10 1263-1280, 2010 [Download]
  • Estimation of model parameters for steerable needles. Park, W., Reed, K. B., Okamura, A. M., Chirikjian, G. S., IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, 2010 [Download]
  • The path-of-probability algorithm for steering and feedback control of flexible needles. Park, W., Wang, Y., Chirikjian, G.S., International Journal of Robotics Research, Vol. 29, No. 7, 813-830. 2010 [Download]
  • Path Planning for Flexible Needles Using Second Order Error Propagation. Park, W., Wang, Y., Chirikjian, G.S., Workshop on Algorithmic Foundations of Robotics, Guanajuato, Mexico, December 7-9, 2008. Proceedings Published January 2010., Springer [Download]
  • Tomographic Reconstruction of Band-limited Hermite Expansions. Park, W., Chirikjian, G.S., Medical Imaging 2008: Physics of Medical Imaging, edited by Jiang Hsieh, Ehsan Samei, Proc. of SPIE Vol. 6913, 691330, (2008) 1605-7422 [Download]
  • Incorporating Seed Orientation in Brachytherapy Implant Reconstruction. Zhou Y., Jain, A.K., Chirikjian, G.S., Fichtinger, G., Medical Imaging 2006: Visualization, Image-Guided Procedures, and Display. Edited by Cleary, Kevin R.; Galloway, Robert L., Jr. Proceedings of the SPIE, Volume 6141, pp. 438-452 (2006) [Download]
  • Nonholonomic Model of Needle Steering. R. J. Webster, J. S. Kim, N. J. Cowan, G. S. Chirikjian, A. M. Okamura, International Journal of Robotics Research. 25(5-6):509-525. May-Jun 2006 [Download]
  • Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model. W. Park, J. S. Kim, Y. Zhou, N. J. Cowan, A. M. Okamura, G. S. Chirikjian, in Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), April 2005, pp. 4600 – 4605  [Download]
  • Matching and Reconstruction of Brachytherapy Seeds using the Hungarian Algorithm (MARSHAL). A. K. Jain, Y. Zhou, M. T, et al. Medical Physics. 32(11):3475-3492. Nov. 2005 [Download]
  • FTRAC-A Robust Fluoroscope Tracking Fiducial. A. K. Jain, T. Mustafa, Y. Zhou, et al. Medical Physics. 32(10):3185-3198. Oct. 2005 [Download]
  • Numerical Algorithms for Spatial Registration of Line Fiducials from Cross-Sectional Images. S. Lee, G. Fichtinger, G. S. Chirikjian. Medical Physics. 29(8):1881-1891. 2002 [Download]

Library Robots

  • A Robotic Library System for an Off-Site Shelving Facility. J. Suthakorn, S. Lee, Y. Zhou, R. Thomas, S. Choudhury, G. S. Chirikjian. Proceedings of the 2002 IEEE ICRA. 4:3589-3594 [Download]
  • An Enhanced Robotic Library System for an Off-Site Shelving Facility. J. Suthakorn, S. Lee, Y. Zhou, S. Choudhury, G. S. Chirikjian. Proceedings of the 2003 FSR [Download]

Metamorphic Robots

  • Self-assembly Planning of a Shape by Regular Modular Robots. H. Li, T. Wang, and G. S. Chirikjian. Advances in Reconfigurable Mechanisms and Robots II, 867-877. 2016 [Download]
  • M3Express: A low-cost independentlymobile recon gurable modular robot. Wolfe, K.C., Moses, M.S., Kutzer, M.D.M., Chirikjian, G.S., IEEE International Conference on Robotics and Automation (ICRA 2012), Minneapolis, MN, 14-18 May 2012, pp. 2704 – 2710 [Download]
  • Reconfigurable Robotic System with Independently Mobile Modules. M. Kutzer, C. Brown, D. Scheidt, M. Armand, K. Wolfe, M. Moses, and G. Chirikjian. Johns Hopkins APL Technical Digest, Vol. 28, No. 3. 2010 [Link]
  • Design of a new independently-mobile reconfigurable modular robot. M.D.M. Kutzer, M.S. Moses, C.Y. Brown, D.H. Scheidt, G.S. Chirikjian, and M. Armand. Proceedings of the 2010 IEEE ICRA. May 2010 [Download]
  • Trajectory generation and steering optimization for self-assembly of a modular robotic system. K.C. Wolfe, M.D.M. Kutzer, M. Armand, and G.S. Chirikjian. Proceedings of the 2010 IEEE ICRA. May 2010 [Download]
  • Simple Components for a Reconfigurable Modular Robotic System. M.S. Moses, G.S. Chirikjian. Proceedings of 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems [Download]
  • Modular Self-Reconfigurable Robot Systems: Challenges and Opportunities for the Future. M. Yim, W. Shen, B. Salemi, D. Rus, M. Moll, H. Lipson, E. Klavins and G. S. Chirikjian. IEEE RAM. 14(1):43-52 Mar. 2007 [Download]
  • Similarity Metric with Applications in Modular Robot Motion Planning. C.-J. Chiang, G. S. Chirikjian. Autonomous Robots. 10(1):91-106. 2001 [Download]
  • Useful Metrics for Modular Robot Motion Planning. A. Pamecha. I. Ebert-Uphoff, G. S. Chirikjian. IEEE Trans. on Robotics and Automation. 13(4):531-545. 1997 [Download]
  • A Useful Metric for Modular Robot Motion Planning. A. Pamecha, G. S. Chirikjian. Proceedings of the 1996 IEEE ICRA, Minneapolis, Minnesota. April 1996 [Download]
  • Evaluating Efficiency of Self-Reconfiguration in a Class of Modular Robots. G. S. Chirikjian, A. Pamecha, I. Ebert-Uphoff. Journal of Robotic Systems. 13(5):317-338. 1996 [Download]
  • Design and Implementation of Metamorphic Robots. A. Pamecha, C. Chiang, D. Stein, G. S. Chirikjian. Proceedings of the 1996 ASME Design Engineering Technical Conference and Computers in Engineering Conference. Aug. 1996 [Download]
  • Bounds for Self-Reconfiguration of Metamorphic Robots. G. S. Chirikjian, A. Pamecha. Proceedings of the 1996 IEEE ICRA [Download]
  • Design of Error Tolerant Coupling Mechanisms for Metamorphic Robots. A. Pamecha, Y. Kohaya, G. S. Chirikjian. Proceedings of the 3rd IASTED International Conference. Jun 14-16, 1995, Cancun, Mexico [Download]
  • Kinematics of a Metamorphic Robotic System. G. S. Chirikjian. Proceedings of the 1994 IEEE ICRA [Download]
  • Metamorphic Hyper-redundant Manipulators. G. S. Chirikjian. Proceedings of the 1993 JSME International Conference on Advanced Mechatronics. Tokyo, Japan. August 1993 [Download]

Theoretical Kinematics and CAD

  • Convolution Metrics for Rigid Body Motion. A. B. Kyatkin, G. S. Chirikjian. Proceedings of ASME DETC’98. Sep. 1998
  • Metrics on Motion and Deformation of Solid Models. G. S. Chirikjian, S. Zhou. Journal of Mechanical Design. 120:252-261. 1998 [Download]
  • Closed-Form Primitives for Generating Locally Volume Preserving Deformations. G. S. Chirikjian. Journal of Mechanical Design. 117:347-354. 1995 [Download]
  • Closed-Form Primitives for Generating Volume Preserving Deformations. G. S. Chirikjian. DE-Vol. 65-2, Advances in Design Automation. Vol 2. pp. 397-402, ASME 1993 [Download]

Hyper-Redundant Robots

  • Inverse Kinematics of Active Rotation Ball Joint Manipulators Using Workspaces Density Functions. H. Dong, T. Fan, Z. Du, and G. S. Chirikjian. Advances in Reconfigurable Mechanisms and Robots II, 633-644. 2016 [Download]
  • Conformational Modeling of Continuum Structures in Robotics and Structural Biology: A Review. G. S. Chirikjian. Advanced Robotics 29 (13), 817-829. 2015 [Download]
  • Workspace Density and Inverse Kinematics for Planar Serial Revolute Manipulators. H. Dong, Z. Du, and G. S. Chirikjian. Mechanism and Machine Theory, 70: 508522, Dec. 2013 [Download]
  • O(n) Mass-Matrix Inversion for Serial Manipulators and Polypeptide Chains using Lie Derivatives. K. Lee, Y. Wang, and G. S. Chirikjian. Robotica. 25(6). pp. 729-750 [Download]
  • A New O(n) Method for Inverting the Mass Matrix for Serial Chains Composed of Rigid Bodies. Y. Wang and G. S. Chirikjian. Proceedings of IDETC/CIE 2005 [Download]
  • A New Perspective on O(n) Mass-Matrix Inversion for Serial Revolute Manipulators. K. Lee and G. S. Chirikjian. Proceedings of ICRA 2005 [Download]
  • Workspace Generation of Hyper-Redundant Manipulators as a Diffusion Process on SE(N). Y. Wang and G. S. Chirikjian. IEEE Transaction on Robotics and Automation. 20(3): 399-408. June 2004 [Download]
  • Design and Analysis of Some Nonanthropomorphic, Biologically Inspired Robots: An Overview. G. S. Chirikjian. Journal of Robotic Systems, 18(12):710-713. December 2001 [Download]
  • Workspace Generation as a Diffusion Process. Y. Wang, G. S. Chirikjian. Proceedings of DETC/ASME 2000 [Download]
  • Hyper-Redundant Manipulator Dynamics: A Continuum Approximation. G. S. Chirikjian. Advanced Robotics (Invited, Special Issue on Highly Redundant Manipulators). 9(3):217-243. 1995 [Download]
  • The Kinematics of Hyper-Redundant Robot Locomotion. G. S. Chirikjian and J. W. Burdick. IEEE Transactions on Robotics and Automation. 11:781-793. 1995 [Download]
  • Kinematically Optimal Hyper-Redundant Manipulator Configurations. G. S. Chirikjian and J. W. Burdick. IEEE Transactions on Robotics and Automation. 11(6): 794-806. December 1995 [Download]
  • Kinematically Optimal Hyper-Redundant Manipulator Configurations. G. S. Chirikjian and J. W. Burdick. Proceedings of IEEE ICRA 1992 [Download]
  • A ‘Sidewinding’ Locomotion Gait for Hyper-Redundant Robots. J. W. Burdick, J. Radford and G. S. Chirikjian. Advanced Robotics. 9(3):195-216. 1995 [Download]
  • A Hyper-Redundant Manipulator. G. S. Chirikjian and J. W. Burdick. IEEE RAM. pp. 22-29. Dec. 1994 [Download]
  • A Modal Approach to Hyper-Redundant Manipulator Kinematics. G. S. Chirikjian and J. W. Burdick. IEEE Transactions on Robotics and Automation, pp. 343-354, Vol. 10, 1994 [Download]
  • General Method for Computing Hyper-Redundant Manipulator Inverse Kinematics. G. S. Chirikjian. Proceedings of the 1993 IEEE/RSJ Intl. Conf. Intelligent Robots and Systems. [Download]
  • A Continuum Approach to Hyper-Redundant Manipulator Dyanmics. G. S. Chirikjian. Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robotos and Systems. Yokohama, Japan. July 26-30. 1993 [Download]
  • A Geometric Approach to Hyper-Redundant Manipulator Obstacle Avoidance. G. S. Chirikjian and J. W. Burdick. ASME Journal of Mechanical Design. 114: 580-585. Dec. 1992 [Download]
  • An Obstacle Avoidance Algorithm for Hyper-Redundant Manipulators. G. S. Chirikjian and J. W. Burdick. IEEE Trans. on Robotics and Automations. 1990 [Download]
  • Kinematics of Hyper-redundant Manipulators. G. S. Chirikjian and J. W. Burdick. DE-Vol. 25. ASME. 1990 [Download]

Binary Manipulators

  • Optimal Base Placement for a Discretely Actuated Robotic Manipulator (D-ARM). K. Miyahara and G. S. Chirikjian. Proc. IEEE International Conference on Mechatronics and Automation, pp. 159-164, Luoyang, Henan, June 25-28, 2006 [Download]
  • Uniformly Distributed Elements of SE(3) and Their Application on Manipulator Design. K. Miyahara and G. S. Chirikjian. Proceedings of ICARCV 2006 [Download]
  • General Kinematic Synthesis Method for a Discretely Actuated Robotic Manipulator (D-Arm). K. Miyahara and G. S. Chirkijian. Proceedings of IROS 2006 [Download]
  • A New Inverse Kinematics Algorithm for Binary Manipulators with Many Actuators. J. Suthakorn and G. S. Chirikjian. Advanced Robotics. 15(2):225-244. 2001 [Download]
  • Design and Implementation of a New Discretely-Actuated Manipulator. J. Suthakorn, G. S. Chirikjian. 2000 ISER. Dec. 2000 [Download]
  • Discretely Actuated Manipulator Workspace Generation Using Numerical Convolution on the Euclidean Group. I. Ebert-Uphoff, G. S. Chirikjian. Proceedings of DETC 2000 [Download]
  • Synthesis of Binary Manipulators Using the Fourier Transform on the Euclidean Group. A. B. Kyatkin and G. S. Chirikjian. ASME Journal of Mechatronics Design. 121:9-14 Mar. 1999 [Download]
  • Numerical Convolution on the Euclidean Group with Applications to Workspace Generation. G. S. Chirikjian, I. Ebert-Uphoff. IEEE Trans. on Robotics and Automation. 14(1): 123-136. Feb. 1998 [Download]
  • Inverse Kinematics of Binary Manipulators Using a Continuum Model. G. S. Chirikjian. Journal of Intelligence and Robotic Systems. 19:5-22. 1997 [Download]
  • Discretely Actuated Manipulator Workspace Generation By Closed-Form Convolution. I. Ebert-Uphoff, G. S. Chirikjian. ASME DETC Aug. 1996 [Download]
  • Inverse Kinematics of Discretely Actuated Hyper-Redundant Manipulators Using Workspace Densities. I. Ebert-Uphoff, G. S. Chirikjian. IEEE ICRA 1996 [Download]
  • An Efficient Method for Computing the Forward Kinematics of Binary Manipulators. D. Lees, G. S. Chirikjian. Proceedings of the 1996 IEEE ICRA [Download]
  • A Combinatorial Approach to Trajectory Planning for Binary Manipulators. D. Lees, G. S. Chirikjian. Proceedings of the 1996 IEEE ICRA [Download]
  • Efficient Workspace Generation for Binary Manipulators with Many Actuators. I. Ebert-Uphoff, G. S. Chirikjian. Journal of Robotic Systems, 12(6):383-400. 1995 [Download]
  • Generation of Binary Manipulator Workspace and Work Envelopes. I. Ebert-Uphoff, G. S. Chirikjian. Proceedings of the 3rd IASTED 1995 [Download]
  • Kinematic Synthesis of Mechanisms and Robotic Manipulators with Binary Actuators. G. S. Chirikjian. Journal of Mechanical Design. 117:573-580. 1995 [Download]
  • A Binary Paradigm for Robotic Manipulators. G. S. Chirikjian. IEEE ICRA 1994 [Download]
  • A Comparison of Continuum and Lumped-Mass Models for Hyper-Redundant Manipulator Mechanics. G. S. Chirikjian. Vibrations and Dynamics of Robotic and Multibody Structures, ASME DE-Vol. 57, pp. 1-6, 1993 [Download]

Spherical Stepper Motor

  • Mathematical Models of Binary Spherical-Motion Encoders. D. Stein, E. R. Scheinerman, G. S. Chirikjian. IEEE/ASME Trans. on Mechatronics. 8(2) Jun. 2003 [Download]
  • Experiments in the Commutation and Motion Planning of a Spherical Stepper Motor. D. Stein, G. S. Chirikjian. Proceedings of DETC’00 ASME 2000 [Download]
  • Encoders for Spherical Motion Using Discrete Sensors. E. R. Scheinerman, G. S. Chirikjian and D. Stein. Fourth International Workshop on Algorithmic Foundations on Robotics. Mar. 2000
  • Kinematic Design and Communication of a Spherical Stepper Motor. G. S. Chirikjian, D. Stein. IEEE/ASME Trans. on Mechatronics. 4(4):342-353. Dec. 1999 [Download]

Error Propagation and Bayesian Fusion

  • Gaussian Approximation of Non-linear Measurement Models on Lie Groups. Chirikjian, G.S., Kobilarov, M., IEEE Conference on Decision and Control, Los Angeles, December, 2014 [Download]
  • Planar Uncertainty Propagation and a Probabilistic Algorithm for Interception. Long, A.W., Wolfe, K.C., Chirikjian, G.S., Proc. Workshop on Algorithmic Foundations of Robotics (WAFR), Boston, MA, August, 2012 [Download]
  • The Banana Distribution is Gaussian: A Localization Study with Exponential Coordinates. Long, A.W., Wolfe, K.C., Mashner, M.J., Chirikjian, G.S., Proc. Robotics: Science and Systems, Sydney, NSW, Australia, July 09 – July 13, 2012 [Download]
  • Bayesian Fusion on Lie Groups. Wolfe, K.C., Mashner, M.J., Chirikjian, G.S., Journal of Algebraic Statistics. 2(1):75–97. 2011 [Download]
  • Nonparametric Second-order Theory of Error Propagation on Motion Groups. Y. Wang, G. S. Chirikjian. International Journal of Robotics Research. 27(11-12):1258–1273. November, 2008 [Download]
  • Error Propagation on the Euclidean Group with Applications to Manipulator Kinematics. Y. Wang, G. S. Chirikjian. IEEE Trans. on Robotics. 22(4). August, 2006 [Download]
  • Large Kinematic Error Propagation in Revolute Manipulators. Y. Wang, G. S. Chirikjian. Proceedings of ARK 2006 [Download]
  • Second-Order Theory of Error Propagation on Motion Groups. Y. Wang, G. S. Chirikjian. Workshop on Algorithmic Foundations of Robotics (WAFR). New York City, August, 2006 [Download]
  • Propagation of Errors in Hybrid Manipulators. Y. Wang, G. S. Chirikjian. ICRA’06, Orlando Florida, May 15-19, 2006 [Download]

Mathematical Crystallography

  • Kinematics Meets Crystallography: The Concept of a Motion Space. G. S. Chirikjian. J. Comput. Inf. Sci. Eng. 15(1), 011012-1-7 (Mar 01, 2015) [Download]
  • Mathematical Aspects of Molecular Replacement: III. Properties of Space Groups Preferred by Proteins in the Protein Data Bank. G. S. Chirikjian, S. Sajjadi, D. Toptygin and Y. Yan. Acta. Cryst. A, A71(2):186-194, 2015 [Download]
  • Collision-Free Configuration-Spaces in Macromolecular Crystals. G. S. Chirikjian and B. Shiffman. Robotics Science and Systems 2014 Workshop on Robotics Methods for Structural and Dynamic Modeling of Molecular Systems, Berkeley, California, July 12, 2014 [Download]
  • Voronoi Cells in Lie Groups and Coset Decompositions: Implications for Optimization, Integration, and Fourier Analysis. Y. Yan and G. S. Chirikjian. 52nd IEEE Conference on Decision and Control, Firenze, Italy on December 10-13 [Download]
  • Almost-Uniform Sampling of Rotations for Conformational Searches in Robotics and Structural Biology. Y. Yan and G. S. Chirikjian. IEEE International Conference on Robotics and Automation (ICRA 2012), Minneapolis, MN, 14-18 May 2012, pp. 4254 – 4259 [Download]
  • Mathematical Aspects of Molecular Replacement: II. Geometry of Motion Spaces. G. S. Chirikjian and Y. Yan. Acta. Cryst. A, A68(2):208-221, 2012 [Download]
  • Molecular Replacement for Multi-Domain Structures Using Packing Models. Y. Yan and G. S. Chirikjian. IDETC/CIE 2011 August 28-31, 2011, Washington, DC, USA [Download]
  • A Gaussian Packing Model For Phasing in Macromolecular Crystallography. Y. Yan and G. S. Chirikjian. Biocomp 2011 July 18-21, 2011, Las Vegas, Nevada, USA [Download]
  • Mathematical Aspects of Molecular Replacement: I. Algebraic Properties of Motion Spaces. G. S. Chirikjian. Acta. Cryst. A, A67(5):435-446, 2011 [Download]
  • Position and orientation distributions for locally self-avoiding walks in the presence of obstacles. A. Skliros, G. S. Chirikjian. Polymer. 49(6):1701–1715. March 2008 [Download]
  • Torsional Random-Walk Statistics on Lattices using Convolution on Crystallographic Motion Groups. A. Skliros, G. S. Chirikjian. Polymer. 48:2155-2173. 2007 [Download]

Electron Microscopy

  • Cross-Validation of Data in SAXS and Cryo-EM. B. Afsari, J. S. Kim, and G. S. Chirikjian. 2015 IEEE International Conference on Bioinformatics and Biomedicine (BIBM), 1224-1230. 2015 [Download]
  • A Methodology for Deblurring and Recovering Conformational States of Biomolecular Complexes from Single Particle Electron Microscopy. B. Afsari and G. S. Chirikjian. International Conference on Networked Geometric Science of Information, 643-653. 2015 [Download]
  • Computational Analysis of SAXS Data Acquisition. H. Dong, J. S. Kim, and G. S. Chirikjian. Journal of Computational Biology 22 (9), 787-805. 2015 [Download]
  • A Computational Modeling of Macromolecular Ensemble Conformation and Blurring in Cryo EM. B. Afsari, J. S. Kim, and G. S. Chirikjian. Biophysical Journal 108 (2), 619a. 2015 [Download]
  • A Computational Modeling of Macromolecular Assemblies in SAXS. J. S. Kim, B. Afsari, and G. S. Chirikjian. Biophysical Journal 108 (2), 619a. 2015 [Download]
  • An Assembly Automation Approach to Alignment of Non-Circular Projections in Electron Microscopy. Park, W., Chirikjian, G.S., IEEE Transactions on Automation Science and Engineering, 11(3): 668-679. July 2014 [Download]
  • A Stochastic Kinematic Model of Class Averaging in Single-Particle Electron Microscopy. Park, W., Midgett, C.R., Madden, D.R., Chirikjian, G.S., International Journal of Robotics Research, 30(6): 730-754. May 2011 [Download]
  • Deblurring of Class-Averaged Images in Single-Particle Electron Microscopy. W. Park, D. R. Madden, D. N. Rockmore, G. S. Chirikjian. Inverse Problems 26(3):3500521–35005229. 2010 [Link[Matlab Code Available]

Sensor Calibration

  • New probabilistic approaches to the AX= XB hand-eye calibration without correspondence. Q. Ma, H. Li, and G. S. Chirikjian. 2016 IEEE International Conference on Robotics and Automation (ICRA), 4365-4371. 2016 [Download]
  • Simultaneous Hand-Eye and Robot-World Calibration by Solving the AX=XB Problem Without Correspondence. H. Li, Q. Ma, T. Wang, and G. S. Chirikjian. IEEE Robotics and Automation Letters 1 (1), 145-152. 2016 [Download]
  • An Information-Theoretic Approach to the Correspondence-Free AX=XB Sensor Calibration Problem. M. K. Ackerman, A. Cheng, G. S. Chirikjian. IEEE International Conference on Robotics and Automation (ICRA 2014), pp. 4893-4899 [Download]
  • Online Ultrasound Sensor Calibration Using Gradient Descent on the Euclidean Group. M. K. Ackerman, A. Cheng, E. Boctor, G. S. Chirikjian. IEEE International Conference on Robotics and Automation (ICRA 2014), pp. 4900-4905 [Download]
  • Sensor Calibration with Unknown Correspondence: Solving AX=XB Using Euclidean-Group Invariants. M. K. Ackerman, A. Cheng, B. Shiff man, E. Boctor, G. S. Chirikjian. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, November 3-8, 2013, pp. 1308-1313 [Download]
  • A Probabilistic Solution to the AX=XB Problem: Sensor Calibration without Correspondence. M. K. Ackerman, G. S. Chirikjian. Geometric Science of Information, Paris, France, August 28-31, 2013. Proceedings appear as Springer LNCS 8085, pp. 693-701 [Download]
  • Error-Tolerant Cyclic Sequences for Vision-Based Absolute Encoders. K.C. Wolfe and G.S. Chirikjian, Proc. Distributed Autonomous Robotic Systems, Baltimore, Nov 2012 [Download]