Chirikjian, Gregory S.

Professor
Mechanical Engineering
https://rpk.lcsr.jhu.edu/

Hackerman Hall 116
(410) 516-7127
gchirik1@jhu.edu

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About

Education
  • Ph.D. 1992, CALIF INSTITUTE TECH
Experience
  • 2014 - 2015:  Program Director, National Science Foundation
  • 2011 - 2012:  Chair, ME Robotics Search
  • 2011 - 2011:  Chair, ad hoc promotion committee
  • 2011 - 2011:  Chair, UG recruiting
  • 2010 - Present:  Chair, ad hoc promotion committees
  • 2010 - Present:  Chair, ME undergraduate recruiting
Research Areas
  • Applied mathematics (Applications of Group Theory in Engineering)
  • Computational Structural Biology (in particular, computational mechanics of large proteins)
  • Conformational Statistics of Biological Macromolecules
  • Designs and builds hyper-redundant robotic manipulator arms
  • Developed theory for "hyper-redundant" (snakelike) robot motion planning
  • Self-replicating robotic systems
Awards
  • 2018:  NASA Certificate of Recognition
  • 2018:  Outstanding Paper Award IEEE Robotics and Automation Conference
  • 2014:  A.T. Yang Memorial Award
  • 2014:  ASME Mechanisms and Robotics Award
  • 2014:  Selected as Program Director
  • 2010:  IEEE Fellow
  • 2008:  IEEE Senior Member
  • 2008:  ASME Fellow
  • 2000:  ASME Design Engineering Division Certificate of Appreciation
  • 1994:  Presidential Faculty Fellow
  • 1993:  NSF Young Investigator Award
  • 1990:  Best Student Paper Award - Proceedings 2nd International Workshop on Advances in Kinematics
  • 1990:  NASA Fellow
  • 1988:  General Electric Fellow
Presentations
  • "Robot and Protein Kinematics", ROBIO.  Qingdao, China.  December 1, 2016
  • "A Modular Manufacturing System", Seminar.  December 1, 2016
  • "Stochastic Models in Robotics", Seminar.  September 1, 2016
  • "Quotients of Euclidean Groups by Space Groups", Workshop on Mathematical Structural Biology.  Boston.  August 1, 2016
  • "Lie Groups and Machine Learning", Workshop on Geometry in Machine Learning.  New York.  July 1, 2016
  • "Quotients of Euclidean Groups by Space Groups", Workshop on Mathematical Crystallography.  Philadelphia.  May 1, 2016
  • "Stochastic Models in Robotics".  Vanderbilt University, Mechanical Engineering.  November 10, 2014
  • "Applications of Noncommutative Harmonic Analysis", Modern Applications of Representation Theory.  University of Chicago.  July 28, 2014
  • "Configuration Spaces of Symmetry-Constrained Motions in Crystals", Workshop on Computational Structural Biology.  UC Berkeley.  July 12, 2014
  • "Robotic Self-Diagnosis and Self-Repair", Workshop on Modular Robotics.  Hong Kong.  June 1, 2014
  • "Series of two 2-hour lectures".  Beihang University.  June 1, 2014
  • "Kinematics and Calibration".  Tianjin University.  June 1, 2014
  • "Series of Four Lectures".  Harbin Institute of Technology.  February 22, 2014

Publications

Journal Articles
  • Chirikjian GS, Mahony R, Ruan S, Trumpf J (2018).  Pose changes from a different point of view.  Journal of Mechanisms and Robotics.  10(2).
  • Chirikjian GS (2018).  Discussion of “Geometric algorithms for robot dynamics: A tutorial review” (F. C. Park, B. Kim, C. Jang, and J. Hong, 2018, ASME Appl. Mech. Rev., 70(1), p. 010803).  Applied Mechanics Reviews.  70(1).
  • Chirikjian GS (2017).  Signal Classification in Quotient Spaces via Globally Optimal Variational Calculus.  IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops.  2017-July.
  • Huang X, Chen S, Guo S, Xu T, Ma Q, Jin S, Chirikjian GS (2017).  A 3D Localization Approach for Subsea Pipelines Using a Spherical Detector.  IEEE Sensors Journal.  17(6).
  • Ruan S, Kim JS, Chirikjian GS (2017).  Symmetrical rigid body parameterizations for humanoid robots.  2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016.
  • Li X, Ding X, Chirikjian GS (2017).  Analysis of a mechanism with redundant drive for antenna pointing.  Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering.  231(2).
  • Kim JS, Chirikjian GS (2017).  Symmetrical rigid body parameterization for biomolecular structures.  Proceedings - 2016 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2016.
  • Chirikjian GS, Mahony R, Ruan S, Trumpf J (2017).  Pose changes from a different point of view.  Proceedings of the ASME Design Engineering Technical Conference.  5B-2017.
  • Chirikjian GS, Sajjadi S, Shiffman B, Zucker SM (2017).  Mathematical aspects of molecular replacement. IV. Measure-theoretic decompositions of motion spaces.  Acta Crystallographica Section A: Foundations and Advances.  73.
  • Kim JS, Afsari B, Chirikjian GS (2017).  Cross-Validation of Data Compatibility between Small Angle X-ray Scattering and Cryo-Electron Microscopy.  Journal of Computational Biology.  24(1).
  • Chirikjian GS (2017).  Degenerate diffusions and harmonic analysis on SE(3): A tutorial.  Springer Proceedings in Mathematics and Statistics.  202.
  • Ma Q, Davis JD, Cheng A, Kim Y, Chirikjian GS, Boctor EM (2016).  A new robotic ultrasound system for tracking a catheter with an active piezoelectric element.  IEEE International Conference on Intelligent Robots and Systems.  2016-November.
  • Davis JD, Sevimli Y, Eldridge BR, Chirikjian GS (2016).  Module design and functionally non-isomorphic configurations of the Hex-DMR II system.  Journal of Mechanisms and Robotics.  8(5).
  • Ma Q, Li H, Chirikjian GS (2016).  New probabilistic approaches to the AX = XB hand-eye calibration without correspondence.  Proceedings - IEEE International Conference on Robotics and Automation.  2016-June.
  • Davis JD, Kutzer MD, Chirikjian GS (2016).  Algorithms for multilayer conformal additive manufacturing.  Journal of Computing and Information Science in Engineering.  16(2).
  • Kim JS, Chirikjian GS (2016).  Inverse kinematic solutions of 6-D.O.F. biopolymer segments.  Robotica.  (8).
  • Dong H, Chirikjian GS (2016).  A comparison of Gaussian and Fourier methods for degenerate diffusions on SE(2).  Proceedings of the IEEE Conference on Decision and Control.  2016-February.
  • Chirikjian GS, Shiffman B (2016).  Collision-free configuration-spaces in macromolecular crystals.  Robotica.  (8).
  • Chirikjian G, Davis J, Kutzer M (2016).  Algorithms for Multilayer Conformal Additive Manufacturing.  ASME Journal of Computing and Information Science in Engineering.  16(2).  021003.
  • Chirikjian G, Li X, Ding X (2016).  Analysis of a mechanism with redundant drive for antenna pointing.  Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering.  0954410016636157.
  • Chirikjian G, Davis J, Sevimli Y, Eldridge BR (2016).  Module Design and Functionally Non-Isomorphic Configurations of the Hex-DMR II System.  ASME Journal of Mechanisms and Robotics.  8(5).  051008.
  • Chirikjian G, Li H, Ma Q, Wang T (2016).  Simultaneous Hand-Eye and Robot-World Calibration by Solving the AX= YB Problem Without Correspondence.  IEEE Robotics and Automation Letters.  1(1).  145-152.
  • Chirikjian G, Huang X, Chen S, Guo S, Xu T, Ma Q, Jin S (2016).  A 3D localization approach for subsea pipelines using a spherical detector.  IEEE Sensors Journal.
  • Yang F, Ding X, Chirikjian GS (2016).  Kinematic analysis of hexapod manipulation.  Proceedings of the ASME Design Engineering Technical Conference.  5B-2016.
  • Li H, Ma Q, Wang T, Chirikjian GS (2016).  Simultaneous Hand-Eye and Robot-World Calibration by Solving the AX = YB Problem Without Correspondence.  IEEE Robotics and Automation Letters.  1(1).
  • Hui D, Chirikjian G (2016).  Information fusion in polar coordinates.  Proceedings of the ASME Design Engineering Technical Conference.  1A-2016.
  • Li H, Ma Q, Wang T, Chirikjian GS (2016).  Simultaneous Hand-Eye and Robot-World Calibration by Solving the AX = YB Problem Without Correspondence.  IEEE Robotics and Automation Letters.  1(1).
  • Li H, Ma Q, Wang T, Chirikjian GS (2016).  Simultaneous Hand-Eye and Robot-World Calibration by Solving the AX = YB Problem Without Correspondence.  IEEE Robotics and Automation Letters.  1(1).
  • Chirikjian G, Kim J (2016).  Inverse kinematic solutions of 6-DOF biopolymer segments.  Robotica.  34(8).  1734-1753.
  • Chirikjian G, Kim J, Afsari B (2016).  Cross-Validation of Data Compatibility Between SAXS and Cryo-EM.  Journal of Computational Biology.
  • Chirikjian G, Shiffman B (2016).  Collision-free configuration-spaces in macromolecular crystals.  Robotica.  34(8).  1679-1704.
  • Chirikjian G (2016).  Mathematical Stereochemistry. By Shinsaku Fujita. De Gruyter, 2015..  Acta Crystallographica Section A: Foundations and Advances.  72(5).  588-588.
  • Afsari B, Kim JS, Chirikjian GS (2015).  Cross-validation of data in SAXS and cryo-EM.  Proceedings - 2015 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2015.
  • Chirikjian GS, Ratnayake K, Sajjadi S (2015).  Decomposition of Sohncke space groups into products of Bieberbach and symmorphic parts.  Zeitschrift fur Kristallographie - Crystalline Materials.  230(12).
  • Kim JS, Chirikjian GS (2015).  Bayesian filtering for orientational distributions: A fourier approach.  2015 18th International Conference on Information Fusion, Fusion 2015.
  • Li X, Ding X, Chirikjian GS (2015).  Analysis of angular-error uncertainty in planar multiple-loop structures with joint clearances.  Mechanism and Machine Theory.  91.
  • Chirikjian GS (2015).  Kinematics Meets Crystallography: The Concept of a Motion Space.  Journal of Computing and Information Science in Engineering.  15(1).
  • Chirikjian GS (2015).  Partial Bi-Invariance of SE(3) Metrics.  Journal of Computing and Information Science in Engineering.  15(1).
  • Chirikjian G, Sajjadi S, Toptygin D, Yan Y (2015).  Mathematical aspects of molecular replacement. III. Properties of space groupspreferred by proteins in the Protein Data Bank.  Acta Crystallographica Section A.  71(2).
  • Chirikjian G, Sajjadi S, Toptygin D, Yan Y (2015).  Mathematical aspects of molecular replacement. III. Properties of space groups preferred by proteins in the Protein Data Bank.  Acta Crystallographica Section A: Foundations and Advances.  71.
  • Chirikjian GS (2015).  Conformational Modeling of Continuum Structures in Robotics and Structural Biology: A Review.  Advanced Robotics.  29(13).
  • Chirikjian G (2015).  Kinematics Meets Crystallography: The Concept of a Motion Space.  ASME Journal of Computing and Information Science in Engineering.  15(1).  Article 011012.
  • Afsari B, Chirikjian GS (2015).  A methodology for deblurring and recovering conformational states of biomolecular complexes from single particle electron microscopy.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  9389.
  • Chirikjian G, Ratnayake K, Sajjadi S (2015).  Decomposition of Sohncke Space Groups into Products of Bieberbach and Symmorphic Parts.  Zeitschrift fur Kristallographie.  230(12).  719 - 741.
  • Dong H, Fan T, Du Z, Chirikjian G (2015).  Inverse kinematics of discretely actuated ball-joint manipulators using workspace density.  Proceedings of the ASME Design Engineering Technical Conference.  5C-2015.
  • Dong H, Kim J, Chirikjian G (2015).  Computational Analysis of SAXS Data Acquisition.  Journal of Computational Biology.  22(9).  787-805.
  • Li X, Ding X, Chirikjian G (2015).  Analysis of Angular-Error Uncertainty in Planar Multiple- Loop Structures with Joint Clearances.  Mechanism and Machine Theory.  91.  69-85.
  • Dong H, Kim JS, Chirikjian GS (2015).  Computational Analysis of SAXS Data Acquisition.  Journal of Computational Biology.  22(9).
  • Chirikjian G (2015).  Partial Bi-Invariance of SE(3) Metrics.  ASME Journal of Computing and Information Science in Engineering.  15(1).  Article 011008.
  • Kim JS, Chirikjian GS (2015).  Principles of transference in theoretical kinematics.  Proceedings of the ASME Design Engineering Technical Conference.  5C-2015.
  • Ma Q, Chirikjian GS (2015).  A closed-form lower bound on the allowable motion for an ellipsoidal body and environment.  Proceedings of the ASME Design Engineering Technical Conference.  5C-2015.
  • Davis JD, Sevimli Y, Eldridge BR, Chirikjian GS (2015).  Module design and functionally non-isomorphic configurations of the Hex-DMR II system.  Proceedings of the ASME Design Engineering Technical Conference.  5B-2015.
  • Chirikjian G (2015).  Conformational Modeling of Continuum Structures in Robotics and Struc- tural Biology: A Review.  Advanced Robotics.  29(13).  817 - 829.
  • Yan Y, Chirikjian G (2015).  Closed-form characterization of the Minkowski sum and difference of twoellipsoids.  Geometriae Dedicata.  1-26.
  • Davis JD, Kutzer MD, Chirikjian GS (2015).  Algorithms for multilayer conformal additive manufacturing.  Proceedings of the ASME Design Engineering Technical Conference.  1A-2015.
  • Park W, Chirikjian G (2014).  An Assembly Automation Approach to Alignment of Non-Circular Projections in Electron Microscopy.  IEEE Transactions on Automation Science and Engineering.  11(3).  668-679.
  • Moses MS, Ma H, Wolfe KC, Chirikjian G (2014).  An Architecture for Universal Construction via Modular Robotic Components.  Robotics and Autonomous Systems.  62(7).  945-965.
  • Moses MS, Ma H, Wolfe KC, Chirikjian G (2014).  An Architecture for Universal Construction via Modular Robotic Components.  Robotics and Autonomous Systems.  62(7).  945-965.
  • Park W, Chirikjian G (2014).  An Assembly Automation Approach to Alignment of Non-Circular Projections in Electron Microscopy.  IEEE Transactions on Automation Science and Engineering.  11(3).  668-679.
  • Yan Y, Chirikjian GS (2014).  Closed-form characterization of the Minkowski sum and difference of two ellipsoids.  Geometriae Dedicata.  177(1).
  • Ackerman MK, Cheng A, Boctor E, Chirikjian G (2014).  Online ultrasound sensor calibration using gradient descent on the Euclidean Group.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Chirikjian GS (2014).  Rigid-body parameters for molecular docking applications.  Proceedings of the ASME Design Engineering Technical Conference.  5B.
  • Wolfe KC, Chirikjian GS (2014).  Error-tolerant cyclic sequences for vision-based absolute encoders.  Springer Tracts in Advanced Robotics.  104.
  • Chirikjian G, Kobilarov M (2014).  Gaussian approximation of non-linear measurement models on Lie groups.  Proceedings of the IEEE Conference on Decision and Control.  2015-February(February).
  • Moses MS, Ma H, Wolfe KC, Chirikjian GS (2014).  An architecture for universal construction via modular robotic components.  Robotics and Autonomous Systems.  62(7).
  • Chirikjian GS (2014).  Kinematics meets crystallography: The concept of a motion space.  Proceedings of the ASME Design Engineering Technical Conference.  5B.
  • Chirikjian G, Kobilarov M (2014).  Gaussian approximation of non-linear measurement models on Lie groups.  Proceedings of the IEEE Conference on Decision and Control.  2015-February(February).
  • Chirikjian GS (2014).  Partial bi-invariance of SE(3) metrics.  Proceedings of the ASME Design Engineering Technical Conference.  5B.
  • Cheng A, Ackerman MK, Chirikjian GS, Boctor EM (2014).  Design and development of an ultrasound calibration phantom and system.  Progress in Biomedical Optics and Imaging - Proceedings of SPIE.  9036.
  • Kutzer MDM, Brown CY, Chirikjian GS, Armand M (2014).  Buckybot: A robot based on the geometry of a truncated icosahedron.  Proceedings of the ASME Design Engineering Technical Conference.  5B.
  • Chirikjian G (2014).  Introduction.  Robotica.  32(2).
  • Dong H, Chirikjian GS (2014).  A computational model for data acquisition in SAXS.  ACM BCB 2014 - 5th ACM Conference on Bioinformatics, Computational Biology, and Health Informatics.
  • Park W, Chirikjian GS (2014).  An assembly automation approach to alignment of noncircular projections in electron microscopy.  IEEE Transactions on Automation Science and Engineering.  11(3).
  • Ackerman MK, Cheng A, Chirikjian G (2014).  An information-Theoretic approach to the correspondence-free AX=XB sensor calibration problem.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Ani Hsieh M, Chirikjian G (2014).  Preface.  Springer Tracts in Advanced Robotics.  104.
  • Ackerman MK, Cheng A, Shiffman B, Boctor E, Chirikjian G (2013).  Sensor calibration with unknown correspondence: Solving AX=XB using Euclidean-group invariants.  IEEE International Conference on Intelligent Robots and Systems.
  • Murphy RJ, Moses MS, Kutzer MDM, Chirikjian GS, Armand M (2013).  Constrained workspace generation for snake-like manipulators with applications to minimally invasive surgery.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Ackerman MK, Chirikjian GS (2013).  A probabilistic solution to the AX=XB problem: Sensor calibration without correspondence.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  8085 LNCS.
  • Chirikjian GS (2013).  Editorial.  Robotica.  31(7).
  • Dong H, Du Z, Chirikjian GS (2013).  Workspace density and inverse kinematics for planar serial revolute manipulators.  Mechanism and Machine Theory.  70.
  • Wolfe KC, Chirikjian GS (2013).  Signal detection on euclidean groups: Applications to DNA bends, robot localization, and optical communication.  IEEE Journal on Selected Topics in Signal Processing.  7(4).
  • Kim C, Chang D, Petrisor D, Chirikjian G, Han M, Stoianovici D (2013).  Ultrasound probe and needle-guide calibration for robotic ultrasound scanning and needle targeting.  IEEE Transactions on Biomedical Engineering.  60(6).
  • Chirikjian G (2013).  Framed curves and knotted DNA..  Biochemical Society transactions.  41(2).  635-8.
  • Chirikjian GS (2013).  Framed curves and knotted DNA.  Biochemical Society Transactions.  41(2).
  • Chirikjian GS (2013).  Variational analysis of snakelike robots.  Lecture Notes in Electrical Engineering.  57 LNEE.
  • Moses MS, Ackerman MK, Chirikjian GS (2013).  Origami rotors: Imparting continuous rotation to a moving platform using compliant flexure hinges.  Proceedings of the ASME Design Engineering Technical Conference.  6 B.
  • Long AW, Wolfe CK, Mashner MJ, Chirikjian GS (2013).  The banana distribution is Gaussian: A localization study with exponential coordinates.  Robotics: Science and Systems.  8.
  • Long AW, Wolfe KC, Chirikjian GS (2013).  Planar uncertainty propagation and a probabilistic algorithm for interception.  Springer Tracts in Advanced Robotics.  86.
  • Yan Y, Chirikjian G (2013).  Voronoi cells in lie groups and coset decompositions: Implications for optimization, integration, and Fourier analysis.  Proceedings of the IEEE Conference on Decision and Control.
  • Yan Y, Chirikjian GS (2013).  Packing models for multi-domain biomolecular structures in crystals with P212121 space-group symmetry.  AAAI Workshop - Technical Report.  WS-13-06.
  • Wolfe KC, Moses MS, Kutzer MDM, Chirikjian GS (2012).  M 3Express: A low-cost independently-mobile reconfigurable modular robot.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Yan Y, Chirikjian GS (2012).  Almost-uniform sampling of rotations for conformational searches in Robotics and Structural Biology.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Ackerman MK, Chirikjian GS (2012).  Hex-DMR: A modular robotic test-bed for demonstrating team repair.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Wolfe KC, Hastings WA, Dutta S, Long A, Shapiro BA, Woolf TB, Guthold M, Chirikjian G (2012).  Multiscale modeling of double-helical DNA and RNA: a unification through Lie groups..  The journal of physical chemistry. B.  116(29).  8556-72.
  • Wolfe KC, Hastings WA, Dutta S, Long A, Shapiro BA, Woolf TB, Guthold M, Chirikjian GS (2012).  Multiscale modeling of double-helical DNA and RNA: A unification through lie groups.  Journal of Physical Chemistry B.  116(29).
  • Chirikjian GS, Yan Y (2012).  Mathematical aspects of molecular replacement. II. Geometry of motion spaces.  Acta Crystallographica Section A: Foundations of Crystallography.  68(2).
  • Chirikjian G, Yan Y (2012).  Mathematical aspects of molecular replacement. II. Geometry of motion spaces..  Acta crystallographica. Section A, Foundations of crystallography.  68(Pt 2).  208-21.
  • Wolfe KC, Chirikjian GS (2012).  Quantitative comparison of conformational ensembles.  Entropy.  14(2).
  • Yan Y, Chirikjian GS (2011).  Molecular replacement for multi-domain structures using packing models.  Proceedings of the ASME Design Engineering Technical Conference.  4(PARTS A AND B).
  • Moses MS, Chirikjian GS (2011).  Design of an electromagnetic actuator suitable for production by rapid prototyping.  Proceedings of the ASME Design Engineering Technical Conference.  3(PARTS A AND B).
  • Chirikjian GS (2011).  Mathematical aspects of molecular replacement. I. Algebraic properties of motion spaces.  Acta Crystallographica Section A: Foundations of Crystallography.  67(5).
  • Chirikjian G (2011).  Mathematical aspects of molecular replacement. I. Algebraic properties of motion spaces..  Acta crystallographica. Section A, Foundations of crystallography.  67(Pt 5).  435-46.
  • Park W, Midgett CR, Madden DR, Chirikjian GS (2011).  A stochastic kinematic model of class averaging in single-particle electron microscopy.  International Journal of Robotics Research.  30(6).
  • Park W, Midgett CR, Madden DR, Chirikjian G (2011).  A Stochastic Kinematic Model of Class Averaging in Single-Particle Electron Microscopy..  The International journal of robotics research.  30(6).  730-754.
  • Chirikjian GS (2011).  Modeling loop entropy.  Methods in Enzymology.  487(C).
  • Kaloutsakis G, Chirikjian GS (2011).  A stochastic self-replicating robot capable of hierarchical assembly.  Robotica.  29(1 SPEC. ISSUE).
  • Chirikjian G (2011).  Modeling loop entropy..  Methods in enzymology.  487.  99-132.
  • Rucker DC, Webster RJ, Chirikjian GS, Cowan NJ (2010).  Equilibrium conformations of concentric-tube continuum robots.  International Journal of Robotics Research.  29(10).
  • Kutzer MDM, Moses MS, Brown CY, Scheidt DH, Chirikjian GS, Armand M (2010).  Design of a new independently-mobile reconfigurable modular robot.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Lee K, Chirikjian GS (2010).  An autonomous robot that duplicates itself from low-complexity components.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Park W, Reed KB, Okamura AM, Chirikjian GS (2010).  Estimation of model parameters for steerable needles.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Wolfe KC, Kutzer MDM, Armand M, Chirikjian GS (2010).  Trajectory generation and steering optimization for self-assembly of a modular robotic system.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Chirikjian GS (2010).  Information theory on lie groups and mobile robotics applications.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Chirikjian G (2010).  Group theory and biomolecular conformation: I. Mathematical and computational models..  Journal of physics. Condensed matter : an Institute of Physics journal.  22(32).  323103.
  • Chirikjian GS (2010).  Group theory and biomolecular conformation: I. Mathematical and computational models.  Journal of Physics Condensed Matter.  22(32).
  • Chirikjian G (2010).  INFORMATION-THEORETIC INEQUALITIES ON UNIMODULAR LIE GROUPS..  Journal of geometric mechanics.  2(2).  119-158.
  • Park W, Wang Y, Chirikjian G (2010).  The Path-of-Probability Algorithm for Steering and Feedback Control of Flexible Needles..  The International journal of robotics research.  29(7).  813-830.
  • Park W, Wang Y, Chirikjian GS (2010).  The path-of-probability algorithm for steering and feedback control of flexible needles.  International Journal of Robotics Research.  29(7).
  • Chirikjian G, Choset H, Morales M, Murphey T (2010).  Editorial: Special issue on the eighth international workshop on the algorithmic foundations of robotics.  International Journal of Robotics Research.  29(7).
  • Park W, Wang Y, Chirikjian GS (2010).  Path planning for flexible needles using second order error propagation.  Springer Tracts in Advanced Robotics.  57.
  • Chirikjian GS, Choset H, Morales M, Murphey T (2010).  Algorithmic Foundations of Robotics VIII: Preface.  Springer Tracts in Advanced Robotics.  57.
  • Kutzer M, Brown C, Scheidt D, Armand M, Wolfe K, Moses M, Chirikjian G (2010).  Reconfigurable robotic system with independently mobile modules.  Johns Hopkins APL Technical Digest (Applied Physics Laboratory).  28(3).
  • Park W, Madden DR, Rockmore DN, Chirikjian G (2010).  Deblurring of Class-Averaged Images in Single-Particle Electron Microscopy..  Inverse problems.  26(3).  3500521-35005229.
  • Park W, Madden DR, Rockmore DN, Chirikjian GS (2010).  Deblurring of class-averaged images in single-particle electron microscopy.  Inverse Problems.  26(3).
  • Rucker DC, Webster, III RJ, Chirikjian G, Cowan N (2010).  Equilibrium Conformations of Concentric-Tube Continuum Robots.  Int J Robot Res.  29.  1263-1280.
  • Park W, Reed KB, Okamura AM, Chirikjian G (2010).  Estimation of Model Parameters for Steerable Needles..  IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation.  3703-3708.
  • Skliros A, Park W, Chirikjian G (2010).  Position and Orientation Distributions for Non-Reversal Random Walks using Space-Group Fourier Transforms..  Journal of algebraic statistics.  1(1).  27-46.
  • Moses MS, Yamaguchi H, Chirikjian GS (2010).  Towards cyclic fabrication systems for modular robotics and rapid manufacturing.  Robotics: Science and Systems.  5.
  • Moses MS, Chirikjian GS (2009).  Simple components for a reconfigurable modular robotic system.  2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009.
  • Chirikjian GS (2009).  Robotic self-replication, self-diagnosis, and self-repair: Probabilistic considerations.  Distributed Autonomous Robotic Systems 8.
  • Chirikjian GS (2009).  Parts entropy, symmetry, and the difficulty of self-replication.  2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008.  (PART A).
  • Park W, Leibon G, Rockmore DN, Chirikjian GS (2009).  Accurate image rotation using hermite expansions.  IEEE Transactions on Image Processing.  18(9).
  • Park W, Leibon G, Rockmore DN, Chirikjian G (2009).  Accurate image rotation using hermite expansions..  IEEE transactions on image processing : a publication of the IEEE Signal Processing Society.  18(9).  1988-2003.
  • Schuyler AD, Jernigan RL, Qasba PK, Ramakrishnan B, Chirikjian GS (2009).  Iterative cluster-NMA: A tool for generating conformational transitions in proteins.  Proteins: Structure, Function and Bioinformatics.  74(3).
  • Schuyler AD, Jernigan RL, Qasba PK, Ramakrishnan B, Chirikjian G (2009).  Iterative cluster-NMA: A tool for generating conformational transitions in proteins..  Proteins.  74(3).  760-76.
  • Koh SK, Chirikjian GS, Ananthasuresh GK (2009).  A Jacobian-based algorithm for planning attitude maneuvers using forward and reverse rotations.  Journal of Computational and Nonlinear Dynamics.  4(1).
  • Leibon G, Rockmore DN, Park W, Taintor R, Chirikjian GS (2008).  A fast Hermite transform.  Theoretical Computer Science.  409(2).
  • Leibon G, Rockmore DN, Park W, Taintor R, Chirikjian G (2008).  A Fast Hermite Transform..  Theoretical computer science.  409(2).  211-228.
  • Chirikjian G (2008).  The Stochastic Elastica and Excluded-Volume Perturbations of DNA Conformational Ensembles..  International journal of non-linear mechanics.  43(10).  1108-1120.
  • Chirikjian GS (2008).  The stochastic elastica and excluded-volume perturbations of DNA conformational ensembles.  International Journal of Non-Linear Mechanics.  43(10).
  • Chirikjian GS (2008).  Parts entropy and the principal kinematic formula.  4th IEEE Conference on Automation Science and Engineering, CASE 2008.
  • Wang Y, Chirikjian GS (2008).  Nonparametric second-order theory of error propagation on motion groups.  International Journal of Robotics Research.  27(11-12).
  • Wang Y, Chirikjian GS (2008).  Second-order theory of error propagation on motion groups.  Springer Tracts in Advanced Robotics.  47.
  • Kutzer MDM, Armand M, Scheid DH, Lin E, Chirikjian GS (2008).  Toward cooperative team-diagnosis in multi-robot systems.  International Journal of Robotics Research.  27(9).
  • Park W, Liu Y, Zhou Y, Moses M, Chirikjian GS (2008).  Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map.  Robotica.  26(4).
  • Koh SK, Chirikjian GS, Ananthasuresh GK (2008).  A Jacobian-based algorithm for the attitude control of a rigid body undergoing fully-reversed sequences of rotations.  2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007.  8 PART B.
  • Park W, Chirikjian GS (2008).  Tomographic reconstruction of band-limited hermite expansions.  Progress in Biomedical Optics and Imaging - Proceedings of SPIE.  6913.
  • Park W, Liu Y, Zhou Y, Moses M, Chirikjian G (2008).  Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map..  Robotica.  26.  419-434.
  • Park W, Chirikjian G (2008).  Tomographic Reconstruction of Band-limited Hermite Expansions..  Proceedings - Society of Photo-Optical Instrumentation Engineers.  6913.
  • Skliros A, Chirikjian G (2008).  Position and Orientation Distributions for Locally Self-Avoiding Walks in the Presence of Obstacles..  Polymer.  49(6).  1701-1715.
  • Skliros A, Chirikjian GS (2008).  Position and orientation distributions for locally self-avoiding walks in the presence of obstacles.  Polymer.  49(6).
  • Lee K, Moses M, Chirikjian GS (2008).  Robotic self-replication in structured environments: Physical demonstrations and complexity measures.  International Journal of Robotics Research.  27(3-4).
  • Wang Y, Chirikjian G (2008).  Nonparametric Second-Order Theory of Error Propagation on Motion Groups..  The International journal of robotics research.  27(11-12).  1258-1273.
  • Chirikjian GS (2007).  Reviewing the issues of robotic self-X.  IEEE Robotics and Automation Magazine.  14(4).
  • Lee K, Chirikjian GS (2007).  Robotic self-replication.  IEEE Robotics and Automation Magazine.  14(4).
  • Liu A, Sterling M, Kim D, Pierpont A, Schlothauer A, Moses M, Lee K, Chirikjian G (2007).  A memoryless robot that assembles seven subsystems to copy itself.  ISAM 2007 - IEEE International Symposium on Assembly and Manufacturing.
  • Leibon G, Rockmore D, Chirikjian G (2007).  A fast hermite transform with applications to protein structure determination.  SNC'07 - Proceedings of the 2007 International Workshop on Symbolic-Numeric Computation.
  • Lee K, Wang Y, Chirikjian G (2007).  A Lie-Theoretic Perspective on O(n) Mass Matrix Inversion for Serial Manipulators and Polypeptide Chains..  Robotica.  25(6).  739.
  • Lee K, Wang Y, Chirikjian GS (2007).  O(n) mass matrix inversion for serial manipulators and polypeptide chains using Lie derivatives.  Robotica.  25(6).
  • Eno S, Mace L, Liu J, Benson B, Raman K, Lee K, Moses M, Chirikjian GS (2007).  Robotic self-replication in a structured environment without computer control.  Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007.
  • Park W, Chirikjian G (2007).  Interconversion between truncated Cartesian and polar expansions of images..  IEEE transactions on image processing : a publication of the IEEE Signal Processing Society.  16(8).  1946-55.
  • Park W, Chirikjian GS (2007).  Interconversion between truncated Cartesian and polar expansions of images.  IEEE Transactions on Image Processing.  16(8).
  • Skliros A, Chirikjian G (2007).  Torsional random walk statistics on lattices using convolution on crystallographic motion groups..  Polymer.  48(7).  2155-2173.
  • Skliros A, Chirikjian GS (2007).  Torsional random-walk statistics on lattices using convolution on crystallographic motion groups.  Polymer.  48(7).
  • Yim M, Shen WM, Salemi B, Rus D, Moll M, Lipson H, Klavins E, Chirikjian GS (2007).  Modular self-reconfigurable robot systems [Grand challenges of robotics].  IEEE Robotics and Automation Magazine.  14(1).
  • Wang Y, Chirikjian GS (2006).  Propagation of errors in hybrid manipulators.  Proceedings - IEEE International Conference on Robotics and Automation.  2006.
  • Suthakorn J, Chirikjian GS (2006).  Toward self-replication of robot control circuitry by self-inspection.  Springer Tracts in Advanced Robotics.  21.
  • Webster RJ, Cowan NJ, Chirikjian G, Okamura AM (2006).  Nonholonomic modeling of needle steering.  Springer Tracts in Advanced Robotics.  21.
  • Sangyoon L, Chirikjian GS (2006).  Mechanics of interactions of helices in proteins.  Key Engineering Materials.  326-328 I.
  • Kim JS, Chirikjian GS (2006).  Conformational analysis of stiff chiral polymers with end-constraints.  Molecular Simulation.  32(14).
  • Miyahara K, Chirikjian GS (2006).  General kinematic synthesis method for a discretely actuated robotic manipulator (D-ARM).  IEEE International Conference on Intelligent Robots and Systems.
  • Miyahara K, Chirikjian GS (2006).  Uniformly interpolated elements of SE(3) and their application to manipulator design.  9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06.
  • Miyahara K, Chirikjian GS (2006).  Optimal base placement for a discretely actuated robotic manipulator (D-ARM).  2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006.  2006.
  • Wang Y, Chirikjian GS (2006).  Robustness analysis of kinematic covariance propagation in serial manipulators.  Proceedings of the ASME Design Engineering Technical Conference.  2006.
  • Suthakorn J, Lee S, Zhou Y, Choudhury S, Chirikjian GS (2006).  An enhanced robotic library system for an off-site shelving facility.  Springer Tracts in Advanced Robotics.  24.
  • Wang Y, Chirikjian GS (2006).  Error propagation on the Euclidean group with applications to manipulator kinematics.  IEEE Transactions on Robotics.  22(4).
  • Zhou Y, Jain AK, Chirikjian GS, Fichtinger G (2006).  Incorporating seed orientation in brachytherapy implant reconstruction.  Progress in Biomedical Optics and Imaging - Proceedings of SPIE.  6141.
  • Webster RJ, Kim JS, Cowan NJ, Chirikjian GS, Okamura AM (2006).  Nonholonomic modeling of needle steering.  International Journal of Robotics Research.  25(5-6).
  • Wang Y, Zhou Y, Maslen DK, Chirikjian GS (2006).  Solving phase-noise Fokker - Planck equations using the motion-group fourier transform.  IEEE Transactions on Communications.  54(5).
  • Webster, III RJ, Kim J, Cowan N, Chirikjian G, Okamura AM (2006).  Nonholonomic Modeling of Needle Steering.  Int J Robot Res.  25(5/6).  509-526.
  • Jeong JI, Lattman EE, Chirikjian G (2006).  A method for finding candidate conformations for molecular replacement using relative rotation between domains of a known structure..  Acta crystallographica. Section D, Biological crystallography.  62(Pt 4).  398-409.
  • Jeong JI, Lattman EE, Chirikjian GS (2006).  A method for finding candidate conformations for molecular replacement using relative rotation between domains of a known structure.  Acta Crystallographica Section D: Biological Crystallography.  62(4).
  • Zhou Y, Chirikjian GS (2006).  Conformational statistics of semiflexible macromolecular chains with internal joints.  Macromolecules.  39(5).
  • Zhou Y, Chirikjian G (2006).  Conformational Statistics of Semi-Flexible Macromolecular Chains with Internal Joints..  Macromolecules.  39(5).  1950-1960.
  • Hastings WA, Yingling YG, Chirikjian GS, Shapiro BA (2006).  Structural and dynamical classification of RNA single-base bulges for nanostructure design.  Journal of Computational and Theoretical Nanoscience.  3(1).
  • Kim J, Chirikjian G (2006).  Conformational Analysis of Stiff Chiral Polymers with End-Constraints..  Molecular simulation.  32(14).  1139-1154.
  • Alterovitz R, Lim A, Goldberg K, Chirikjian GS, Okamura AM (2005).  Steering flexible needles under Markov motion uncertainty.  2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS.
  • Wang Y, Chirikjian GS (2005).  A new O(N) method for inverting the mass matrix for serial chains composed of rigid bodies.  Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005.  6 A.
  • Park W, Kim JS, Zhou Y, Cowan NJ, Okamura AM, Chirikjian GS (2005).  Diffusion-based motion planning for a nonholonomic flexible needle model.  Proceedings - IEEE International Conference on Robotics and Automation.  2005.
  • Kim MK, Chirikjian GS (2005).  Modeling Macromolecular machines using rigid-cluster networks.  Springer Tracts in Advanced Robotics.  17.
  • Lee K, Chirikjian GS (2005).  A new perspective on O(n) mass-matrix inversion for serial revolute manipulators.  Proceedings - IEEE International Conference on Robotics and Automation.  2005.
  • Kim JS, Chirikjian GRS (2005).  A unified approach to conformational statistics of classical polymer and polypeptide models.  Polymer.  46(25).
  • Kim J, Chirikjian G (2005).  A Unified Approach to Conformational Statistics of Classical Polymer and Polypeptide Models..  Polymer.  46(25).  11904.
  • Jain AK, Zhou Y, Mustufa T, Burdette EC, Chirikjian GS, Fichtinger G (2005).  Matching and reconstruction of brachytherapy seeds using the Hungarian algorithm (MARSHAL).  Medical Physics.  32(11).
  • Jain A, Zhou Y, Mustufa T, Burdette EC, Chirikjian G, Fichtinger G (2005).  Matching and reconstruction of brachytherapy seeds using the Hungarian algorithm (MARSHAL)..  Medical physics.  32(11).  3475-92.
  • Jain A, Mustafa T, Zhou Y, Burdette C, Chirikjian G, Fichtinger G (2005).  FTRAC--a robust fluoroscope tracking fiducial..  Medical physics.  32(10).  3185-98.
  • Jain AK, Mustafa T, Zhou Y, Burdette C, Chirikjian GS, Fichtinger G (2005).  FTRAC - A robust fluoroscope tracking fiducial.  Medical Physics.  32(10).
  • Schuyler AD, Chirikjian G (2005).  Efficient determination of low-frequency normal modes of large protein structures by cluster-NMA..  Journal of molecular graphics & modelling.  24(1).  46-58.
  • Schuyler AD, Chirikjian GS (2005).  Efficient determination of low-frequency normal modes of large protein structures by cluster-NMA.  Journal of Molecular Graphics and Modelling.  24(1).
  • Jain AK, Zhou Y, Mustufa T, Burdette EC, Chirikjian GS, Fichtinger G (2005).  Matching and reconstruction of brachytherapy seeds using the Hungarian algorithm (MARSHAL).  Progress in Biomedical Optics and Imaging - Proceedings of SPIE.  5744(II).
  • Jain AK, Mustufa T, Zhou Y, Burdette EC, Chirikjian GS, Fichtinger G (2005).  A robust fluoroscope tracking (FTRAC) fiducial.  Progress in Biomedical Optics and Imaging - Proceedings of SPIE.  5744(II).
  • Chirikjian GS, Kazerounian K, Mavroidis C (2005).  Analysis and design of protein based nanodevices: Challenges and opportunities in mechanical design.  Journal of Mechanical Design, Transactions of the ASME.  127(4).
  • Kim MK, Jernigan RL, Chirikjian GS (2005).  Rigid-cluster models of conformational transitions in macromolecular machines and assemblies.  Biophysical Journal.  89(1).
  • Kim MK, Jernigan RL, Chirikjian G (2005).  Rigid-cluster models of conformational transitions in macromolecular machines and assemblies..  Biophysical journal.  89(1).  43-55.
  • Schuyler AD, Chirikjian GS, Lu JQ, Johnson HT (2005).  Random-walk statistics in moment-based O(N) tight binding and applications in carbon nanotubes.  Physical Review E - Statistical, Nonlinear, and Soft Matter Physics.  71(4).
  • Schuyler AD, Chirikjian G, Lu JQ, Johnson HT (2005).  Random-walk statistics in moment-based O(N) tight binding and applications in carbon nanotubes..  Physical review. E, Statistical, nonlinear, and soft matter physics.  71(4 Pt 2).  046701.
  • Lee S, Chirikjian GS (2005).  Pose analysis of alpha-carbons in proteins.  International Journal of Robotics Research.  24(2-3).
  • Chirikjian G, Amato NM, Kavraki LE (2005).  Editorial: Special issue on robotics techniques applied to computational biology.  International Journal of Robotics Research.  24(2-3).
  • Jain A, Zhou Y, Kennedy C, Mustufa T, Burdette C, Chirikjian G, Fichtinger G (2005).  TH‐C‐J‐6B‐02: Towards Intra‐Operative Dosimetry in Prostate Brachytherapy.  Medical Physics.  32(6).
  • Patriciu A, Chirikjian GS, Pappu RV (2004).  Analysis of the conformational dependence of mass-metric tensor determinants in serial polymers with constraints.  Journal of Chemical Physics.  121(24).
  • Patriciu A, Chirikjian G, Pappu RV (2004).  Analysis of the conformational dependence of mass-metric tensor determinants in serial polymers with constraints..  The Journal of chemical physics.  121(24).  12708-20.
  • Zhou Y, Chirikjian GS (2004).  Planning for noise-induced trajectory bias in nonholonomic robots with uncertainty.  Proceedings - IEEE International Conference on Robotics and Automation.  2004(5).
  • Wang Y, Chirikjian GS (2004).  Workspace generation of hyper-redundant manipulators as a diffusion process on SE(N).  IEEE Transactions on Robotics and Automation.  20(3).
  • Lee S, Chirikjian G (2004).  Interhelical angle and distance preferences in globular proteins..  Biophysical journal.  86(2).  1105-17.
  • Lee S, Chirikjian GS (2004).  Interhelical Angle and Distance Preferences in Globular Proteins.  Biophysical Journal.  86(2).
  • Schuyler AD, Chirikjian G (2004).  Normal mode analysis of proteins: a comparison of rigid cluster modes with C(alpha) coarse graining..  Journal of molecular graphics & modelling.  22(3).  183-93.
  • Schuyler AD, Chirikjian GS (2004).  Normal mode analysis of proteins: A comparison of rigid cluster modes with Cα coarse graining.  Journal of Molecular Graphics and Modelling.  22(3).
  • Zhou Y, Chirikjian GS (2003).  Probabilistic models of dead-reckoning error in nonholonomic mobile robots.  Proceedings - IEEE International Conference on Robotics and Automation.  2.
  • Kim MK, Li W, Shapiro BA, Chirikjian GS (2003).  A Comparison between Elastic Network Interpolation and MD Simulation of 16S Ribosomal RNA.  Journal of Biomolecular Structure and Dynamics.  21(3).
  • Kim MK, Li W, Shapiro BA, Chirikjian G (2003).  A comparison between elastic network interpolation and MD simulation of 16S ribosomal RNA..  Journal of biomolecular structure & dynamics.  21(3).  395-405.
  • Kim MK, Jernigan RL, Shapiro BA, Chirikjian GS (2003).  A Study of Conformational Changes in Macromolecules: The Coarse-grained Elastic Network Interpolation Method.  Proceedings of the International Conference on Mathematics and Engineering Techniques in Medicine and Biological Sciences.
  • Chirikjian GS (2003).  A methodology for determining mechanical properties of macromolecules from ensemble motion data.  TrAC - Trends in Analytical Chemistry.  22(8).
  • Zhou Y, Chirikjian GS (2003).  Conformational statistics of bent semiflexible polymers.  Journal of Chemical Physics.  119(9).
  • Kim MK, Jernigan RL, Chirikjian G (2003).  An elastic network model of HK97 capsid maturation..  Journal of structural biology.  143(2).  107-17.
  • Kim MK, Jernigan RL, Chirikjian GS (2003).  An elastic network model of HK97 capsid maturation.  Journal of Structural Biology.  143(2).
  • Zhou Y, Wirtz D, Chirikjian GS (2003).  Determining the Gaussian probability distribution of the best-fit ellipsoid of revolution for a polymer chain from planar projections.  Inverse Problems.  19(3).
  • Stein D, Scheinerman ER, Chirikjian GS (2003).  Mathematical models of binary spherical-motion encoders.  IEEE/ASME Transactions on Mechatronics.  8(2).
  • Zhou Y, Chirikjian GS (2003).  Nonholonomic motion planning using diffusion of workspace density functions.  American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC.  72(1).
  • Suthakorn J, Cushing AB, Chirikjian GS (2003).  An autonomous self-replicating robotic system.  IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM.  1.
  • Suthakorn J, Kwon YT, Chirikjian GS (2003).  A semi-autonomous replicating robotic system.  Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA.  2.
  • Wang Y, Chirikjian GS (2002).  The comparison of two workspace-density-driven inverse kinematics methods for hyper redundant manipulators.  Proceedings of the ASME Design Engineering Technical Conference.  5 A.
  • Chirikjian GS, Zhou Y, Suthakorn J (2002).  Self-replicating robots for lunar development.  IEEE/ASME Transactions on Mechatronics.  7(4).
  • Kim MK, Chirikjian GS, Jernigan RL (2002).  Elastic models of conformational transitions in macromolecules.  Journal of Molecular Graphics and Modelling.  21(2).
  • Kim MK, Chirikjian G, Jernigan RL (2002).  Elastic models of conformational transitions in macromolecules..  Journal of molecular graphics & modelling.  21(2).  151-60.
  • Kim MK, Jernigan RL, Chirikjian G (2002).  Efficient generation of feasible pathways for protein conformational transitions..  Biophysical journal.  83(3).  1620-30.
  • Kim MK, Jernigan RL, Chirikjian GS (2002).  Efficient generation of feasible pathways for protein conformational transitions.  Biophysical Journal.  83(3).
  • Lee S, Fichtinger G, Chirikjian G (2002).  Numerical algorithms for spatial registration of line fiducials from cross-sectional images..  Medical physics.  29(8).  1881-91.
  • Lee S, Fichtinger G, Chirikjian GS (2002).  Numerical algorithms for spatial registration of line fiducials from cross-sectional images.  Medical Physics.  29(8).
  • Wang Y, Chirikjian GS (2002).  A diffusion-based algorithm for workspace generation of highly articulated manipulators.  Proceedings - IEEE International Conference on Robotics and Automation.  2.
  • Suthakorn J, Lee S, Zhou Y, Thomas R, Choudhury S, Chirikjian GS (2002).  A robotic library system for an off-site shelving facility.  Proceedings - IEEE International Conference on Robotics and Automation.  4.
  • Chirikjian GS (2001).  Real-time actual pose determination of the general fully parallel spherical wrist, using only one extra sensor.  Journal of Robotic Systems.  18(12).
  • Choudhury GS, Lorie M, Fitzpatrick E, Hobbs B, Chirikjian G, Okamura A, Flores NE (2001).  Comprehensive access to printed materials (CAPM).  Proceedings of First ACM/IEEE-CS Joint Conference on Digital Libraries.
  • Choudhury GS, Lorie M, Fitzpatrick E, Hobbs B, Chirikjian G, Okamura A, Flores NE (2001).  Comprehensive access to printed materials (CAPM).  Proceedings of the ACM International Conference on Digital Libraries.
  • Stein D, Chirikjian GS, Scheinerman ER (2001).  Theory, design, and implementation of a spherical encoder.  Proceedings - IEEE International Conference on Robotics and Automation.  2.
  • Lee S, Fichtinger G, Chirikjian GS (2001).  Novel algorithms for robust registration of fiducials in CT and MRI.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  2208.
  • Chiang CJ, Chirikjian GS (2001).  Modular robot motion planning using similarity metrics.  Autonomous Robots.  10(1).
  • Suthakorn J, Chirikjian GS (2001).  A new inverse kinematics algorithm for binary manipulators with many actuators.  Advanced Robotics.  15(2).
  • Wang Y, Chirikjian GS (2000).  New potential field method for robot path planning.  Proceedings - IEEE International Conference on Robotics and Automation.  2.
  • Chirikjian GS, Kyatkin AB (2000).  An operational calculus for the Euclidean motion group with applications in robotics and polymer science.  Journal of Fourier Analysis and Applications.  6(6).
  • Chirikjian GS (2000).  Conformational statistics of macromolecules using generalized convolution.  Computational and Theoretical Polymer Science.  11(2).
  • Kyatkin AB, Chirikjian GS (2000).  Algorithms for Fast Convolutions on Motion Groups.  Applied and Computational Harmonic Analysis.  9(2).
  • Chirikjian G, Wang Y (2000).  Conformational statistics of stiff macromolecules as solutions to partial differential equations on the rotation and motion groups.  Physical review. E, Statistical physics, plasmas, fluids, and related interdisciplinary topics.  62(1 Pt B).  880-92.
  • Chirikjian GS, Wang Y (2000).  Conformational statistics of stiff macromolecules as solutions to partial differential equations on the rotation and motion groups.  Physical Review E - Statistical Physics, Plasmas, Fluids, and Related Interdisciplinary Topics.  62(1).
  • Chirikjian GS, Stein D (1999).  Kinematic design and commutation of a spherical stepper motor.  IEEE/ASME Transactions on Mechatronics.  4(4).
  • Kyatkin AB, Chirikjian GS (1999).  Computation of robot configuration and workspaces via the Fourier transform on the discrete-motion group.  International Journal of Robotics Research.  18(6).
  • Kyatkin AB, Chirikjian GS (1999).  Pattern matching as a correlation on the discrete motion group.  Computer Vision and Image Understanding.  74(1).
  • Kyatkin AB, Chirikjian GS (1999).  Synthesis of binary manipulators using the fourier transform on the Euclidean group.  Journal of Mechanical Design, Transactions of the ASME.  121(1).
  • Chirikjian GS, Ebert-Uphoff I (1998).  Numerical convolution on the euclidean group with applications to workspace generation.  IEEE Transactions on Robotics and Automation.  14(1).
  • Kyatkin AB, Chirikjian GS (1998).  Regularized solutions of a nonlinear convolution equation on the Euclidean group.  Acta Applicandae Mathematicae.  53(1).
  • Chirikjian GS, Zhou S (1998).  Metrics on motion and deformation of solid models.  Journal of Mechanical Design, Transactions of the ASME.  120(2).
  • Ebert-Uphoff I, Chirikjian GS (1998).  Discretely actuated manipulator workspace generation by closed form convolution.  Journal of Mechanical Design, Transactions of the ASME.  120(2).
  • Chirikjian GS, Ebert-Uphoff I (1998).  Discretely actuated manipulator workspace generation using numerical convolution on the Euclidean Group.  Proceedings - IEEE International Conference on Robotics and Automation.  1.
  • Chirikjian GS (1997).  Inverse Kinematics of Binary Manipulators Using a Continuum Model.  Journal of Intelligent and Robotic Systems: Theory and Applications.  19(1).
  • Pamecha A, Ebert-Uphoff I, Chirikjian GS (1997).  Useful metrics for modular robot motion planning.  IEEE Transactions on Robotics and Automation.  13(4).
  • Chirikjian GS (1996).  Fredholm integral equations on the Euclidean motion group.  Inverse Problems.  12(5).
  • Chirikjian G, Pamecha A, Ebert-Uphoff I (1996).  Evaluating efficiency of self-reconfiguration in a class of modular robots.  Journal of Robotic Systems.  13(5).
  • Lees DS, Chirikjian GS (1996).  Combinatorial approach to trajectory planning for binary manipulators.  Proceedings - IEEE International Conference on Robotics and Automation.  3.
  • Lees DS, Chirikjian GS (1996).  Efficient method for computing the forward kinematics of binary manipulators.  Proceedings - IEEE International Conference on Robotics and Automation.  2.
  • Chirikjian G, Pamecha A (1996).  Bounds for self-reconfiguration of metamorphic robots.  Proceedings - IEEE International Conference on Robotics and Automation.  2.
  • Pamecha A, Chirikjian G (1996).  Useful metric for modular robot motion planning.  Proceedings - IEEE International Conference on Robotics and Automation.  1.
  • Ebert-Uphoff I, Chirikjian GS (1996).  Inverse kinematics of discretely actuated hyper-redundant manipulators using workspace densities.  Proceedings - IEEE International Conference on Robotics and Automation.  1.
  • Chirikjian GS (1995).  Kinematic synthesis of mechanisms and robotic manipulators with binary actuators.  Journal of Mechanical Design, Transactions of the ASME.  117(4).
  • Chirikjian GS (1995).  Closed-form primitives for generating locally volume preserving deformations.  Journal of Mechanical Design, Transactions of the ASME.  117(3).
  • Burdick JW, Radford J, Chirikjian GS (1995).  'Sidewinding' locomotion gait for hyper-redundant robots.  Advanced Robotics.  9(3).
  • Ebert-uphoff I, Chirikjian GS (1995).  Efficient workspace generation for binary manipulators with many actuators.  Journal of Robotic Systems.  12(6).
  • Chirikjian GS, Burdick JW (1995).  Kinematically Optimal Hyper-Redundant Manipulator Configurations.  IEEE Transactions on Robotics and Automation.  11(6).
  • Chirikjian GS, Lees DS (1995).  Inverse kinematics of binary manipulators with applications to service robotics.  IEEE International Conference on Intelligent Robots and Systems.  3.
  • Chirikjian GS (1995).  Hyper-redundant manipulator dynamics: a continuum approximation.  Advanced Robotics.  9(3).
  • Chirikjian GS, Burdick JW (1995).  The Kinematics of Hyper-Redundant Robot Locomotion.  IEEE Transactions on Robotics and Automation.  11(6).
  • Chirikjian GS, Burdick JW (1994).  Hyper-redundant manipulator.  IEEE Robotics and Automation Magazine.  1(4).
  • Chirikjian GS (1994).  Kinematic synthesis of mechanisms and robotic manipulators with binary actuators.  American Society of Mechanical Engineers, Design Engineering Division (Publication) DE.  72(pt 3).
  • Chirikjian GS (1994).  Kinematics of a metamorphic robotic system.  Proceedings - IEEE International Conference on Robotics and Automation.  (pt 1).
  • Chirikjian GS (1994).  A Modal Approach to Hyper-Redundant Manipulator Kinematics.  IEEE Transactions on Robotics and Automation.  10(3).
  • Chirikjian GS (1994).  Binary paradigm for robotic manipulators.  Proceedings - IEEE International Conference on Robotics and Automation.  (pt 4).
  • Chirikjian GS (1993).  Closed-form primitives for generating volume preserving deformations.  American Society of Mechanical Engineers, Design Engineering Division (Publication) DE.  65 pt 2.
  • Chirikjian GS (1993).  Continuum approach to hyper-redundant manipulator dynamics.
  • Chirikjian GS (1993).  General methods for computing hyper-redundant manipulator inverse kinematics.
  • Chirikjian GS, Ramesh KT, Bao G (1993).  Smart structures with application to soft robots.  American Society of Mechanical Engineers, Applied Mechanics Division, AMD.  181.
  • Chirikjian GS (1993).  Comparison of continuum and lumped-mass models for hyper-redundant manipulator mechanics.  American Society of Mechanical Engineers, Design Engineering Division (Publication) DE.  57.
  • Chirikjian GS (1993).  General numerical method for hyper-redundant manipulator inverse kinematics.  Proceedings - IEEE International Conference on Robotics and Automation.  3.
  • Chirikjian GS, Burdick JW (1993).  Design and experiments with a 30 DOF robot.  Proceedings - IEEE International Conference on Robotics and Automation.  3.
  • Chirikjian GS, Burdick JW (1992).  Geometric approach to hyper-redundant manipulator obstacle avoidance.  Journal of Mechanical Design - Transactions of the ASME.  114(4).
  • Chirikjian G, Burdick J (1992).  Hyper-redundant robot mechanisms and their applications.
  • Chirikjian GS, Burdick JW (1992).  Kinematically optimal hyper-redundant manipulator configurations.  Proceedings - IEEE International Conference on Robotics and Automation.  1.
  • Zimmerman W, Backes P, Chirikjian G (1992).  Telerobot control mode performance assessment.  Advances in the Astronautical Sciences.  78.
  • Chirikjian GS, Burdick JW (1991).  Parallel formulation of the inverse kinematics of modular hyper-redundant manipulators.  Proceedings - IEEE International Conference on Robotics and Automation.  1.
  • Chirikjian GS, Burdick JW (1991).  Kinematics of hyper-redundant robot locomotion with applications to grasping.  Proceedings - IEEE International Conference on Robotics and Automation.  1.
  • Chirikjian GSI, Burdick JW (1990).  Geometric approach to hyper-redundant manipulator obstacle avoidance.  American Society of Mechanical Engineers, Design Engineering Division (Publication) DE.  24.
  • Chirikjian GS, Burdick JW (1990).  An obstacle avoidance algorithm for hyper-redundant manipulators.
  • Chirikjian GS, Burdick JW (1990).  Kinematics of hyper-redundant manipulators.  American Society of Mechanical Engineers, Design Engineering Division (Publication) DE.  25.
Books
  • Chirikjian G, Kyatkin A (2016).  Harmonic Analysis for Engineers and Applied Scientists.  Dover.  850 pages.
  • Hsieh MA, Chirikjian G (2014).  Distributed Autonomous Robotic Systems: The 11th International Symposium.  Springer Publishing Company, Incorporated.
  • Chirikjian GS (2012).  Stochastic models, information theory, and Lie groups.  2.
Book Chapters
  • Chirikjian G, Ma Q (2016).  Sensor Calibration, Modeling and Simulation.  Humanoid Robotics: A Reference.  Springer.
  • Chirikjian G, Dong H, Fan T, Du Z (2016).  Inverse kinematics of active rotation ball joint manipulators using workspaces density functions.  Advances in Reconfigurable Mechanisms and Robots II.  Springer.  633-644.
  • Li H, Wang T, Chirikjian GS (2016).  Self-assembly planning of a shape by regular modular robots.  Mechanisms and Machine Science.  36.
  • Chirikjian G, Walker ID, Choset H (2016).  Snake-Like and Continuum Robots.  Springer Handbook of Robotics.  Springer.  481-498.
  • Dong H, Fan T, Du Z, Chirikjian GS (2016).  Inverse kinematics of active rotation ball joint manipulators using workspaces density functions.  Mechanisms and Machine Science.  36.
  • Davis JD, Sevimli Y, Ackerman MK, Chirikjian GS (2016).  A robot capable of autonomous robotic team repair: The Hex-DMR II system.  Mechanisms and Machine Science.  36.
  • Chirikjian G, Li H, Wang T (2016).  Self-assembly Planning of a Shape by Regular Modular Robots.  Advances in Reconfigurable Mechanisms and Robots II.  Springer.  867-877.
  • Chirikjian G, Li X (2016).  Lie-Theoretic Multi-Robot Localization.  Riemannian Computing in Computer Vision.  165-186.
  • Chirikjian G, Davis J, Ackerman MK, Sevimli Y (2016).  A Robot Capable of Autonomous Robotic Team Repair: The Hex-DMR II System.  Advances in Reconfigurable Mechanisms and Robots II.  Springer.  619-631.
  • Li X, Chirikjian GS (2015).  Lie-theoretic multi-robot localization.  Riemannian Computing in Computer Vision.
  • Afsari B, Chirikjian G (2015).  A Methodology for Deblurring and Recovering Conformational States of Biomolecular Complexes from Single Particle Electron Microscopy.  Geometric Science of Information.  643-653.
  • Chirikjian G, Yan Y (2014).  The Kinematics of Containment.  Advances in Robot Kinematics.  Springer International Publishing.  355-364.
  • Wolfe KC, Chirikjian G (2014).  Error-Tolerant Cyclic Sequences for Vision-Based Absolute Encoders.  Distributed Autonomous Robotic Systems.  Springer Berlin Heidelberg.  104.  233-245.
  • Chirikjian GS (2013).  Numerical harmonic analysis and diffusions on the 3D-motion group.  Excursions in Harmonic Analysis: The February Fourier Talks at the Norbert Wiener Center.  2.
  • Cowan NJ, Goldberg K, Chirikjian GS, Fichtinger G, Alterovitz R, Reed KB, Kallem V, Park W, Misra S, Okamura AM (2011).  Robotic needle steering: Design, modeling, planning, and image guidance.  Surgical Robotics: Systems Applications and Visions.
  • Cowan N, Goldberg K, Chirikjian G, Fichtinger G, Alterovitz R, Reed KB, Kallem V, Park W, Misra S, Okamura AM (2011).  Robotic Needle Steering: Design, Modeling, Planning, and Image Guidance..  Surgical Robotics - Systems, Applications, and Visions.  Springer.  557-582.
Conference Proceedings
  • Chirikjian G, Ruan S, Kim J (2016).  Symmetrical Rigid Body Parameterizations For Humanoid Robots.  Proceedings of ROBIO.  6.
  • Chirikjian G, Ma Q, Go Z (2016).  Probabilistic Approaches to the AXB = YCZ Calibration Problem in Multi-Robot Systems.  Robotics: Science and Systems.
  • Chirikjian G, Ma Q, Yan Y (2016).  Path Planning Based on Closed-Form Characterization of Collision-Free Configuration-Spaces for Ellipsoidal Bodies, Obstacles, and Environments.  RSS Workshop on Robot Learning and Planning (RLP 2016),.
  • Chirikjian G, Ma Q, Li H (2016).  New probabilistic approaches to the AX= XB hand-eye calibration without correspondence.  IEEE International Conference on Robotics and Automation (ICRA).  4365-4371.
  • Chirikjian G, Kim J (2016).  Symmetrical Rigid Body Parameterizations For Biomolecular Complexes.  Proceedings of IEEE BIBM.  6.
  • Chirikjian G, Ma Q, Davis J, Cheng A, Kim Y, Boctor E (2016).  A New Robotic Ultrasound System for Tracking a Catheter with an Active Piezoelectric Element.  Proceedings of IEEE IROS.  6.
  • Afsari B, Kim J, Chirikjian G (2015).  Cross-validation of data in SAXS and cryo-EM.  Proceedings 2015 IEEE International Conference on Bioinformatics and Biomedicine.  1224-1230.
  • Davis J, Sevimli Y, Eldridge B, Chirikjian G (2015).  Module Design and Functionally Non-Isomorphic Configurations of the Hex-DMR II System.  ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.  8 pages.
  • Ma Q, Chirikjian G (2015).  A Closed-Form Lower Bound on the Allowable Motion for an Ellipsoidal Body and Environment.  ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.  8 pages.
  • Kim J, Chirikjian G (2015).  Bayesian Filtering for Orientational Distributions: A Fourier Approach.  Proceedings of the 18th International Conference on Information Fusion: Fusion 2015.  748 - 753.
  • Davis J, Kutzer M, Chirikjian G (2015).  Algorithms for Multilayer Conformal Additive Manufacturing.  ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.
  • Kim J, Chirikjian G (2015).  Principles of Transference in Theoretical Kinematics.  ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.  8 pages.
  • Dong H, Chirikjian G (2015).  A Comparison of Gaussian and Fourier Methods for Degenerate Diffusions on SE(2).  Proc. 2015 IEEE Conference on Decision and Control.  8 pages.
  • Chirikjian G, Dong H (2014).  A computational model for data acquisition in SAXS.  5th ACM Conference on Bioinformatics, Computational Biology, and Health Informatics.  695-702.
  • Chirikjian G, Kutzer MD, Brown CY, Armand M (2014).  Buckybot: A Robot Based on the Geometry of a Truncated Icosahedron.  ASME Design Technical Meetings.  DETC2014- 35537.
  • Chirikjian G (2014).  Partial Bi-Invariance of SE(3) Metrics.  ASME Design Technical Meetings.  DETC2014-34276.
  • Chirikjian G (2014).  Kinematics Meets Crystallography: The Concept of a Motion Space.  ASME Design Technical Meetings.  DETC2014-34243.
  • Ackerman M, Cheng A, Chirikjian G (2014).  An information-theoretic approach to the correspondence-free AX #x003D;XB sensor calibration problem.  Robotics and Automation (ICRA), 2014 IEEE International Conference on.  4893-4899.
  • Ackerman M, Cheng A, Boctor E, Chirikjian G (2014).  Online ultrasound sensor calibration using gradient descent on the Euclidean Group.  Robotics and Automation (ICRA), 2014 IEEE International Conference on.  4900-4905.
  • Chirikjian G, Kobilarov M (2014).  Gaussian Approximation of Non-linear Measurement Models on Lie Groups.  53rd IEEE Conference on Decision and Control.  6401-6407.
  • Webster, III RJ, Cowan N, Chirikjian G, Okamura AM (2006).  Nonholonomic Models for Needle Steering.  Experimental Robotics IX.  21.  35-44.
  • Park W, Kim J, Zhou Y, Cowan N, Okamura AM, Chirikjian G (2005).  Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model.  Proc IEEE Int Conf Robot Autom.  4600-4605.
Patents
  • Burdette EC, Chirikjian G, Fictinger G, Jain A, Mustufa T, Zhou Y  "Image registration of multiple medical imaging modalities using a multiple degree-of-freedom-encoded fiducial device", 2015.
  • Chirikjian G, Cowan N, Goldberg KY, Okamura AM, Webster RJ  "Distal Bevel-Tip Needle Control Device and Algorithm", 2010.
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