Mark A Minor portrait
  • Adjunct Associate Professor, School Of Computing
  • Associate Professor, Mechanical Engineering
801-587-7771

Publications

  • Leng. Z., Wang, Y., Xin, M. & Minor, M.A. (2022). The Effect of Sideslip on Jackknife Limits During Low Speed Trailer Operation. Robotics. Vol. 11(6), 28. Published, 11/2022.
    https://doi.org/10.3390/robotics11060133
  • Pollard, C., Truong, T.E., Aston, J. & Minor, M.A. (2022). Estimation of Soft Robotic Bladder Compression for Smart Helmets using Hall Effect Magnetic Sensing with Neural Networks. 2022 IEEE/RSJ Int’l Conf. Intel. Robots and Systems (IROS 2022). Published, 10/2022.
    https://doi.org/10.1109/IROS47612.2022.9981160
  • Baum, N. I & Minor, M.A. (2022). Identification and Control of a Soft-Robotic Bladder Towards Impedance-Style Haptic Terrain Display. IEEE Robotics and Automation Letters. 12355-12362. Published, 10/2022.
    https://doi.org/10.1109/LRA.2022.3216251
  • Truong, T.E., Luttmer, N.G., Eshete, E. R., Zaki, A. B. M., Greer, D. D., Hirschi T. J., Stewart, B.R., Gregory, C.A. & Minor, M.A (2022). Evaluating the Effect of Multi-sensory Stimulation on Startle Response using the Virtual Reality Locomotion Interface MS.TPAWT. Virtual Worlds. Vol. 1, 62-81. Published, 09/2022.
    https://doi.org/10.3390/virtualworlds1010005
  • E. De Momi, Tavakoli, M., Delmerico, J., Frisoli, A., Minor, M.A., Rossini, G. & Chippendale, P., (2022). Extended Reality in Robotics [From the Guest Editors]. (pp. 8-9). Vol. 29(1). IEEE Robotics and Automation Magazine. Published, 03/2022.
    https://doi.org/10.1109/MRA.2022.3143186
  • Xin, Ming, Yin, Y., Zhang, K., Lackner, D. & Minor, M.A. (2021). Continuous Robust Trajectory Tracking Control for Autonomous Ground Vehicles Considering Lateral and Longitudinal Kinematics and Dynamics via Recursive Backstepping. 2021 IEEE/RSJ Int’l Conf. Intel. Robots and Systems (IROS 2021). 8. Published, 10/2021.
    https://doi.org/10.1109/IROS51168.2021.9635920
  • Dunlop, D. J, & Minor, M.A. (2021). Modelling and Simulation of Perching with a Quadrotor Aerial Robot With Passive Bio-Inspired Legs And Feet. Letters Dyn. Sys. Control., Paper No. ALDSC-19-1157. Published, 04/2021.
    https://doi.org/10.1115/1.4046778
  • Wang, Y. & Truong, Takara, E., Chesebrough, S., Willemsen, P., Foreman, K. B., Foreman, K.B., Merryweather, A.S., Hollerbach, J. M., and Minor, M.A (2020). Augmenting Virtual Reality Terrain Display with Smart Shoe Physical Rendering: A Pilot Study A Pilot Study. IEEE Trans. Haptics. Published, 10/2020.
    https://doi.org/10.1109/TOH.2020.3029896
  • Kitchen, R. & Bierwolf, N., Harbertson, S., Platt, B., Owen, D., Griessmann, K., Minor, M. A (2020). Design and Evaluation of a Perching Hexacopter Drone for Energy Harvesting from Power Lines. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Published, 10/2020.
    https://ras.papercept.net/proceedings/IROS20/2227....
  • Aston, J. & Truong,T., Eshete, E., Olsen, N., Zaki, A., Benko, N., Luttmer, N.G., Coats, B., Minor, M.A. (2020). Optimization of a Soft Robotic Bladder Array for Dissipating High Impact Loads: an Initial Study in Designing a Smart Helmet. 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft). Published, 06/2020.
    https://doi-org/10.1109/RoboSoft48309.2020.9116034
  • Xin, M & Zhang, K., Lackner, D., Minor, M.A. (2020). Slip-Based Nonlinear Recursive Backstepping Path Following Controller for Autonomous Ground Vehicles. 2020 IEEE Int’l Conf. Robotics and Automation (ICRA 2020), Paris, France, May 2020. Published, 05/2020.
    https://doi.org/10.1109/ICRA40945.2020.9197165
  • Luttmer, N.G. & Truong, T. E, Boynton, A. M., Carrier, D., Minor, M.A. (2020). Treadmill Based Three Tether Parallel Robot for Evaluating Auditory Warnings While Running. 2020 IEEE Int’l Conf. Robotics and Automation (ICRA 2020), Paris, France, May 2020. Published, 05/2020.
    https://doi.org10.1109/ICRA40945.2020.9196600
  • David J. Dunlop (2019). Modelling and Simulation of Perching with a Quadrotor Aerial Robot With Passive Bio-Inspired Legs And Feet. 2019 ASME Dynamic Systems and Control Conference, Oct 9-11, Park City, UT. DSCC2019-9241. Published, 10/2019.
    https://doi.org/10.1115/DSCC2019-9241
  • Shantnu Kakkar & Mark Minor (2019). Fast and Reliable Motion Model for Articulated Wheeled Mobile Robots on Extremely Rough and Rocky Terrains. IEEE Robotics and Automation Letters. Vol. 4, 2252-2259. Published, 03/19/2019.
    http://dx.doi.org/10.1109/LRA.2019.2900523
  • Yue Wang & Mark Minor (2018). Design and Evaluation of a Soft Robotic Smart Shoe for Haptic Terrain Rendering. ASME/IEEE Trans. Mechatronics. Vol. 23(6), 2974-2979. Published, 09/2018.
    https://doi.org/10.1109/TMECH.2018.2871631
  • Yue Wang, Christopher Wilson, Sam Chesebrough, Pete Willemsen, K. Bo Foreman, Andrew Merryweather, John Hollerbach & Mark Minor (2018). Towards Terrain-Enabled Gait Therapy using Immersive VR with Physical Terrain Display for Parkinson’s Disease. 4th Neurological Disorders Summit, Los Angles, CA. Abstract and Podium Presentation. Published, 07/2018.
  • Yue Wang & Cherry Gregory, Mark Minor (2018). Improving Mechanical Properties of Molded Silicone Rubber for Soft Robotics via Fabric Compositing. Soft Robotics. Vol. 5(3), 272-290. Published, 06/2018.
    https://doi.org/10.1089/soro.2017.0035
  • Beau Freckleton & Mark Minor (2018). Modeling and Characterization of a Potential Bladder Based Orthotic Device to Mitigate Shoe Slip. IEEE Int'l Conference on Robotic and Automation. 1496 – 1503. Published, 05/2018.
    https://doi.org/10.1109/ICRA.2018.8460791
  • Zhe Leng & Mark Minor (2016). Curvature Based Ground Vehicle Control of Trailer Path Following Considering Sideslip and Limited Steering Actuation. IEEE Trans. Intel. Trans Systems. Vol. 18(2), 332-348. Published, 07/2016.
    https://doi.org/10.1109/TITS.2016.2572208
  • Miller, J., Merryweather, A., Minor, M, “Design and Simulation of an Ankle Foot Simulator”, Extended Abstract, SB3C, June 2015. Published, 06/2015.
  • Kulkarni, Sandip, Fisher, Charles, Lefler, Price, Desai, Aditya, Chakravarthy, Shanthanu, Minor, Mark, Pardyjak, Eric & Hollerbach, John M (2015). A Full-Body Steerable Wind Display for a Locomotion Interface. Institute of Electrical & Electronics Engineers (IEEE). , 1-1. Published, 04/2015.
  • Zhu, X., Qiu, C., Minor, M.A. "Terrain inclination based three dimensional localization for mobile robot in outdoor Environments", Journal of Field Robots, V31, N3, P477-492, May 2014. Published, 05/2014.
    http://onlinelibrary.wiley.com/doi/10.1002/rob.215...
  • M.Xin, and Minor, M.A. "Backstepping Variable Structure Control of Slip-Based Kinematics and Dynamics for Improved AGV Cornering Performance" 2014 IEEE International Conference on Robotics and Automation, P5286-91. Published, 05/2014.
    http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnum...
  • Xin, M., Minor, M. “Variable Structure Backstepping Control via Hierarchal Manifolds Set for Graceful Ground Vehicle Path Following,” 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, p 2826-32, 2013. Published, 05/2013.
  • Doyle, C. E.; Bird, J. J., Isom, T. A.; Kallman, J. C., Bareiss, Daman F., Dunlop, D. J., King, R. J., Abbott, J. J., Minor, M. A., “An Avian-Inspired Passive Mechanism for Quadrotor Perching” IEEE/ASME Transactions on Mechatronics, v 18, no 2, p 506-517, April 2013. Published, 09/2012.
  • Kulkarni, S.K., Chakravarthy, S., Minor, M.A, Pardyjak, E.R., and Hollerbach, J.M., “Control of a Duct Flow Network for Wind Display in a Virtual Environment,” ASME/IEEE Transactions on Mechatronics, v 17, n 6, p 1021-1030, 2012. Published, 09/2012.
  • Kulkarni, S.K., Deaver, M.W., Pardyjak, E.R., Minor, M.A., Hollerbach, J.M, “Design of a Novel Atmospheric Flow Simulator,” Journal of Fluid Engineering, Vol 133, No 12, 121402 (10 pages), 2011. Published, 12/2011.
    http://asmedl.org/vsearch/servlet/VerityServlet?KE...
  • Xin, M. and Minor, M.A., "A Multi-Tiered Robust Steering Controller Based on Yaw Rate and Side Slip Estimation," 2011 IEEE Conference on Intelligent Robots and Systems, p292-7. Published, 09/25/2011.
    http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arn...
  • Doyle, C., Bird, J., Isom, T. Johnson, C., Kallman, J., Simpson, J., King, R., Abbott, J., Minor, M."Avian-Inspired Passive Perching Mechanism for Robotic Rotorcraft," 2011 IEEE Conference on Intelligent Robots and Systems, p4975-80. Published, 09/25/2011.
    http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arn...
  • Leng, Z., Minor, M.A., "A Simple Tractor-Trailer Backing Control Law for Path Following with Side Slope Compensation," 2011 IEEE International Conference on Robotics and Automation, p2386-91. Published, 05/09/2011.
    http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arn...
  • Vogt, A.P, Lincoln, L., Bamberg, S.J., Minor, M.A., “Traction Force Characterization of Human Locomotion,” IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010), p 5511-5516, 2010. Published, 10/2010.
  • Leng, Z., Minor, M.A., “A Simple Trailer Backing Control Law for Path Following,” IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010), p5538-5542, 2010. Published, 10/2010.
  • Kim, Y., Minor, M.A., “Coordinated kinematic control of compliantly coupled multirobot systems in an array format,” IEEE Trans. Robotics, Vol. 26, No. 1, pp173-180, Feb. 2010. Published, 02/2010.
  • Kim, Y., Minor, M.A., “Distributed kinematic motion control of multi-robot coordination subject to physical constraints,” International Journal of Robotics Research, Vol. 29, No. 1, pp92-109, Jan. 2010. Published, 01/2010.
  • Vogt, A.; Minor, M. "Localization for multi-axle train configured CFMMRs," 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), p 5567-72, 2009. Published, 2009.
  • Kulkarni, S.;Fisher, C.; Pardyjak, E.; Minor, M.; Hollerbach, J. Wind display device for locomotion interface in a virtual environment," 2009 World Haptics Conference (WHC 2009), p 184-9, 2009. Published, 2009.
  • Phipps, C., Shores, B., Minor, M.A., “Design, Control, and Characterization of Quasi Steady Hybrid Locomotion in a Rolling Disk Biped,” IEEE Trans. Robotics, Vol. 24, No. 6, p1302-1314, Dec. 2008. Published, 12/01/2008.

Research Keywords

  • Virtual Reality
  • Robotics, Control, Mechatronic
  • Physical Therapy
  • Engineering Design
  • Autonomous Systems

Presentations

  • Extended Reality and its Applications in the Multi-Sensory TreadPort Active Wind-Tunnel Virtual Reality Locomotion Interface,” Workshop on Extended Reality and Robotics, IEEE/RSJ Int’l Conf on Intelligent Robot and Systems (IROS) 2022, Kyoto, Japan. Invited Talk/Keynote, Accepted, 10/2022.
  • Wang, Y., Minor, M.A., "Improving Mechanical Properties of Molded Silicone Rubber for Soft Robotics Through Fabric Compositing" SATEC 2018 . Other, Presented, 05/2018.
  • "Bioinspired Design, Sensing, and Control: Inherently Smart Robotic Systems", 2016 Northeastern University Artificial Intelligence & Robotics International Graduate Summer School, Shenyang, China. Invited Talk/Keynote, Accepted, 07/25/2016.
  • Keynote speaker, 2016 Northeastern University Artificial Intelligence & Robotics International Graduate Summer School, Shenyang, China. Invited Talk/Keynote, Presented, 07/24/2016.
  • “Graceful and Robust Steering of Automated Ground Vehicles (AGV) through Bioinspired Sensing and Control,” Sino-American-Technology-Engineering-Conference (SATEC), Shenyang, China. May 18, 2016. Invited Talk/Keynote, Presented, 05/18/2016.
  • Xiaorui Zhu; Minor, M.A. "Terrain feature localization for mobile robots in outdoor environments," 2009 International Conference on Information and Automation (ICIA), p 1074-80, 2009. Conference Paper, Refereed, Other, 2009.
  • Phipps, C., Johnson, D., Minor, M.A., “Graph Search Joint Path Planning for Robot Center of Gravity Positioning,” 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, Sept 22-26, 6 pages, 2008. Conference Paper, Other, 09/22/2008.
  • Terry, J.D., Minor, M.A., “Traction Estimation and Control Mobile of Robots Using Wheel Slip Velocity,” 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, Sept 22-26, 7 pages, 2008. Conference Paper, Other, 09/22/2008.
  • Kim, Y., Minor, M.A., “Coordinated Kinematic Motion Control of Compliant Framed Wheeled Modular Mobile Robots,” 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, Sept 22-26, 6 pages, 2008. Conference Paper, Other, 09/22/2008.
  • Kulkarni, S.D., Minor, M.A., Pardyjak, E., Hollerbach, J.M, “Combined Wind Speed and Angle Control in a Virtual Environment Using a Static Observer,” 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, Sept 22-26, 7 pages, 2008. Conference Paper, Other, 09/22/2008.
  • Kulkarni, S., Minor, M., Deaver, M., Pardyjak , E., Hollerbach, J. “Steady Headwind Display with Conditional Angular Rate-Switching Control,” 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, May 19-23, pp 1118-24, 2008. Conference Paper, Other, 05/19/2008.
  • Phipps, C, and Minor, M., “Quasi-Static Rolling Control of the Rolling Disk Biped Robot,“ 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, May 19-23, pp 1239-45, 2008. Conference Paper, Other, 05/19/2008.
  • Kim, Y., Minor, M..A.,”Kinematic Motion Control of Wheeled Mobile Robots Considering Curvature Constraints,” 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, May 19-23, pp 2527-32, 2008. Conference Paper, Other, 05/19/2008.
  • "2007 DARPA Urban Challenge," Aerospace Control and Guidance Systems Committee Meeting, Salt Lake City, UT. Invited Talk/Keynote, Presented, 03/05/2008.

Geographical Regions of Interest

  • Australia
  • Eastern Asia
  • Western Europe