Publications and more

  1. A. Baskar, M. Plecnik, and Jonathan Hauenstein, 2022. “Computing Saddle Graphs via Homotopy Continuation for the Approximate Synthesis of Mechanisms,” Accepted to Mechanism and Machine Theory.
  2. A. Baskar, M. Plecnik, C. Hills, and J. Hauenstein, 2022. “Estimating the Complete Solution Set of the Approximate Path Synthesis Problem for Four-bar Linkages using Random Monodromy Loops,”  Accepted to the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering.
  3. M. Plecnik, 2022. “Ellipse Synthesis of a Five-bar Linkage,”  Accepted to the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering.
  4. A. Baskar, M. Plecnik, and J. Hauenstein, 2022.  “Finding Straight Line Generators through the Approximate Synthesis of Symmetric Four-bar Coupler Curves,”  Accepted to Advances in Robot Kinematics.
  5. C. Liu and M. Plecnik, 2022. “Experimental Validation of the Usage of Kinematic Singularities to Produce Periodic High-Powered Motion,” Accepted to the IEEE 2022 International Conference on Robotics and Automation (ICRA). (link) (video)
  6. P. Sainaghi and M. Plecnik, 2022. “Methods for Folding Linkages Out of Carbon Fiber,” Accepted to the 2nd Symposium on Mechanical Systems & Robotics.
  7. A. Baskar, Chang Liu, M. Plecnik, and J. Hauenstein, 2021. “Designing Rotary Linkages for Polar Motions,” IEEE/RSJ 2021 International Conference on Intelligent Robots and Systems (IROS), September 27-October 1, 2021, Prague, Czech Republic. (link) (video)
  8. C. Liu and M. Plecnik, 2021. “The Usage of Kinematic Singularities to Produce Periodic High-Powered Locomotion,” IEEE/RSJ 2021 International Conference on Intelligent Robots and Systems (IROS), September 27-October 1, 2021, Prague, Czech. (link) (video)
  9. A. Baskar and M. Plecnik, 2021. “Computing All Solutions to a Discretization-Invariant Formulation for Optimal Mechanism Design,” IEEE 2021 International Conference on Robotics and Automation (ICRA), May 30 – June 5, 2021, Xi’an, China. (link) (video)
  10. A. Baskar and M. Plecnik, 2021. “Synthesis of Watt-type Timed Curve Generators and Selection from Continuous Cognate Spaces,” Journal of Mechanisms and Robotics, 13(5): 051003. (link)
  11. I. Talken, Z. Liang, and M. Plecnik, 2021. “Approximating Hinges with Multimaterial Compliant Joints,” Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Paper No. DETC2021-67865, August 17-20, 2021, Online, Virtual. (link) (video)
  12. M. Plecnik, 2021. “Mechanical Advantage,” Encyclopedia of Robotics. Editors: M. H. Ang, O. Khatib, and B. Siciliano. Springer, Berlin, Heidelberg. (link)
  13. C. Liu and M. Plecnik, 2021. “Series Elastic Gearing and Stiffness for an Airborne Energization Leg,” Dynamic Walking 2021, May 20, June 11, July 15, 2021, Virtual. (abstract) (poster)
  14. A. Baskar, M. Plecnik, and J. Hauenstein, 2021. “Optimization-Based Kinematic Synthesis Using Homotopy Continuation,” The 2nd Institute of Mathematics & its Applications Conference on Mathematics of Robotics, Sept 8–10, 2021, Virtual. (abstract)
  15. A. Baskar and M. Plecnik, 2021. “Synthesis of Six-bar Timed Curve Generators of Stephenson-type Using Random Monodromy Loops,” Journal of Mechanisms and Robotics, 13(1): 011005. (link)
  16. M. Plecnik and R. S. Fearing, 2020. “Designing Dynamic Machines With Large Scale Root Finding,” IEEE Transactions on Robotics, 36(4): 1135-1152. (link)
  17. C. Liu and M. Plecnik, 2020. “Evaluating Plane Curves as Constraints for Locomotion on Uneven Terrain,” Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Paper No. DETC2020-22666, August 16-19, 2020, St. Louis, Missouri, USA. (Best Paper Award) (link) (video)
  18. A. Baskar and M. Plecnik, 2020. “Higher Order Path Synthesis of Four-bar Mechanisms Using Polynomial Continuation,” Advances in Robot Kinematics. Springer Proceedings in Advanced Robotics, vol 15. (link)
  19. M. Plecnik, D. Bissell, D. J. Reinkensmeyer, and J. M. McCarthy. Torque-Compensating Assistive Wrist Braces. U.S. Patent US20200046537A1. Priority 2015. Published 2020. (link) (video1) (video2)
  20. M. Plecnik, D. W. Haldane, J. K. Yim, and R. S. Fearing. Series-Elastic Power Modulation for Robotic Locomotion. U.S. Patent US20200046522A1. Priority 2016. Published 2020. (link)
  21. A. Baskar and M. Plecnik, 2019. “Synthesis of Stephenson III Timed Curve Generators Using a Probabilistic Continuation Method,” Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Paper No. DETC2019-98136, August 18-21, 2019, Anaheim, California, USA. (link)
  22. M. Plecnik, K. Fearing, and R. Fearing, 2019. “Adjustable Power Modulation for a Leg Mechanism Suitable for Running,” IEEE 2019 International Conference on Robotics and Automation (ICRA), May 20-24, 2019, Montreal, Canada. (Finalist for Best Paper on Robot Mechanisms and Design) (link) (video)
  23. J. Lee, M. Plecnik, J. Yang, and R. S. Fearing, 2018. “Self-Engaging Spined Gripper with Dynamic Penetration and Release for Steep Jumps,” IEEE 2018 International Conference on Robotics and Automation (ICRA), May 21-25, 2018, Brisbane, Australia. (link) (video)
  24. M. Plecnik, S. Naik, R. Van Domelen, R. Ruopp, and R. J. Full, 2018. “Role of Geometric Constraints on Reachable Workspace of Insect Limbs,” Society for Integrative & Comparative Biology Annual Meeting 2018, No. 246-414868, January 3-7, 2018, San Francisco, California, USA. (video1) (video2)
  25. M. Plecnik and R. S. Fearing, 2018. “Modulating Power in a Cyclic Running Gait,” Robotics: Science and Systems 2018, June 26-30, 2018, Pittsburgh, Pennsylvania, USA. (video)
  26. M. Plecnik and R. S. Fearing, 2017. “A Study on Finding Finite Roots for Kinematic Synthesis,” Proceedings of the ASME 2017 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Paper No. IDETC2017-68341, August 6-9, 2017, Cleveland, Ohio, USA. (link)
  27. M. Plecnik and R. S. Fearing, 2017. “Finding Only Finite Roots to Large Kinematic Synthesis Systems,” Journal of Mechanisms and Robotics, 9(2): 021005. (link)
  28. M. Plecnik, D. W. Haldane, J. K. Yim, and R. S. Fearing, 2017. “Design Exploration and Kinematic Tuning of a Power Modulating Jumping Monopod,” Journal of Mechanisms and Robotics, 9(1): 011009. (link) (video)
  29. D. W. Haldane, M. Plecnik, J. K. Yim, and R. S. Fearing, 2016. “Robotic Vertical Jumping Agility via Series-Elastic Power Modulation,” Science Robotics, 1(1): eaag2048. (link)
  30. M. Plecnik and R. S. Fearing, 2016. “Finding Only Finite Roots to Large Kinematic Synthesis Systems,” Proceedings of the ASME 2016 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Paper No. IDETC2016-60428, August 21-24, 2016, Charlotte, North Carolina, USA. (link)
  31. D. W. Haldane, M. Plecnik, J. K. Yim, and R. S. Fearing, 2016. “A Power Modulating Leg Mechanism for Monopedal Hopping,” Proceedings of the IEEE/RSJ 2016 International Conference on Intelligent Robots and Systems, October 9-14, 2016, Daejeon, South Korea. (link)
  32. L. Wang, M. Plecnik, and R. S. Fearing, 2016. “Robotic Folding of 2D and 3D Structures from a Ribbon,” Proceedings of the IEEE 2016 International Conference on Robotics and Automation, May 16-21, 2016, Stockholm, Sweden. (link)
  33. B. Tsuge, M. Plecnik, and J. M. McCarthy, 2016. “Homotopy Directed Optimization to Design a Six-Bar Linkage for a Lower Limb With a Natural Ankle Trajectory,” Journal of Mechanisms and Robotics, 8(6): 061009. (link)
  34. M. Plecnik and J. M. McCarthy, 2016. “Design of Stephenson Linkages that Guide a Point Along a Specified Trajectory,” Mechanism and Machine Theory, 96(1): 38-51. (link) (video1) (video2)
  35. M. Plecnik and J. M. McCarthy, 2016. “Kinematic Synthesis of Stephenson III Six-bar Function Generators,” Mechanism and Machine Theory, 97:112-126. (link) (video)
  36. M. Plecnik and J. M. McCarthy, 2016. “Controlling the Movement of a TRR Spatial Chain with Coupled Six-bar Function Generators for Biomimetic Motion,” Journal of Mechanisms and Robotics, 8(5): 051005. (link) (video)
  37. M. Plecnik and J. M. McCarthy, 2016. “Computational Design of Stephenson II Six-bar Function Generators for 11 Accuracy Points,” Journal of Mechanisms and Robotics, JMR-15-1055, 8(1): 011017. (link) (video)
  38. M. Plecnik and J. Michael McCarthy, 2015. “Synthesis of an Inverted Stephenson Linkage to Guide a Point Path,” 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, October 25-30, 2015. (link) (video1) (video2) (video3)
  39. M. Plecnik and J. M. McCarthy, 2015. “Controlling the Movement of a TRR Spatial Chain with Coupled Six-bar Function Generators for Biomimetic Motion,” Proceedings of the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Paper No. DETC2014-47876, August 2-5, 2015, Boston, Massachusetts, USA. (Recipient of Best Paper in Theoretical Kinematics) (link)
  40. M. Plecnik and J. M. McCarthy, 2014. “Numerical Synthesis of Six-bar Linkages for Mechanical Computation,” Journal of Mechanisms and Robotics, JMR-13-1145, 6(3): 031012. (link) (video)
  41. M. Plecnik and J. M. McCarthy, 2014. “Vehicle Suspension Design Based on a Six-bar Linkage,” Proceedings of the ASME 2014 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Paper No. DETC2014-35374, August 17-20, 2014, Buffalo, New York, USA. (link) (video)
  42. M. Plecnik, J. M. McCarthy, and C. W. Wampler, 2014. “Kinematic Synthesis of a Watt I Six-bar Linkage for Body Guidance,” Advances in Robot Kinematics, Springer International Publishing, pp. 317-325. (link)
  43. M. Plecnik and J. M. McCarthy, 2013. “Synthesis of a Stephenson II Function Generator for Eight Precision Positions,” Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Paper No. DETC2013-12763, August 4-7, 2013, Portland, Oregon, USA. (link)
  44. M. Plecnik and J. M. McCarthy, 2013. “Dimensional Synthesis of Six-bar Linkage as a Constrained RPR Chain,” New Trends in Mechanism and Machine Science, Springer Netherlands, pp. 273-280. (link)
  45. M. Plecnik and J. M. McCarthy, 2012. “Design of a 5-SS Spatial Steering Linkage,” Proceedings of the ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Paper No. DETC2012-71405, August 12-15, 2012, Chicago, Illinois, USA. (link) (video)
  46. M. Plecnik and J. M. McCarthy, 2011. “Five Position Synthesis of a Slider-crank Function Generator,” Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Paper No. DETC2011-47581, August 28-31, 2011, Washington, D.C., USA. (link)