Timothy Wolfe Bretl

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Research Output

2014

Quasi-static manipulation of a planar elastic rod using multiple robotic grippers

Mukadam, M., Borum, A. & Bretl, T., Oct 31 2014, IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., p. 55-60 6 p. 6942540. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

State estimation and tracking of deforming planar elastic rods

Borum, A., Matthews, D. & Bretl, T., Sep 22 2014, In : Proceedings - IEEE International Conference on Robotics and Automation. p. 4127-4132 6 p., 6907459.

Research output: Contribution to journalConference article

The relationship between energy, phase charge, impedance, and perceived sensation in electrotactile stimulation

Akhtar, A., Boyce, B. & Bretl, T., Jan 1 2014, IEEE Haptics Symposium 2014, HAPTICS 2014 - Proceedings. IEEE Computer Society, p. 69-74 6 p. 6775435. (IEEE Haptics Symposium, HAPTICS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2013

A brain-machine interface to navigate a mobile robot in a planar workspace: Enabling humans to fly simulated aircraft with EEG

Akce, A., Johnson, M., Dantsker, O. & Bretl, T. W., Mar 19 2013, In : IEEE Transactions on Neural Systems and Rehabilitation Engineering. 21, 2, p. 306-318 13 p., 6381524.

Research output: Contribution to journalArticle

Development of the UIUC aero testbed: A large-scale unmanned electric aerobatic aircraft for aerodynamics research

Dantsker, O. D., Johnson, M. J., Selig, M. S. & Bretl, T. W., Sep 16 2013.

Research output: Contribution to conferencePaper

Equilibrium configurations of a kirchhoff elastic rod under quasi-static manipulation

Bretl, T. & McCarthy, Z., Jan 1 2013, Springer Tracts in Advanced Robotics. Frazzoli, E., Roy, N., Lozano-Perez, T. & Rus, D. (eds.). Springer-Verlag Berlin Heidelberg, p. 71-87 17 p. (Springer Tracts in Advanced Robotics; vol. 86).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Inverse optimal control for deterministic continuous-time nonlinear systems

Johnson, M., Aghasadeghi, N. & Bretl, T. W., Jan 1 2013, 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. Institute of Electrical and Electronics Engineers Inc., p. 2906-2913 8 p. 6760325. (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Learning impedance controller parameters for lower-limb prostheses

Aghasadeghi, N., Zhao, H., Hargrove, L. J., Ames, A. D., Perreault, E. J. & Bretl, T., 2013, IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. p. 4268-4274 7 p. 6696968. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Materials and optimized designs for human-machine interfaces via epidermal electronics

Jeong, J. W., Yeo, W. H., Akhtar, A., Norton, J. J. S., Kwack, Y. J., Li, S., Jung, S. Y., Su, Y., Lee, W., Xia, J., Cheng, H., Huang, Y., Choi, W. S., Bretl, T. & Rogers, J. A., Dec 17 2013, In : Advanced Materials. 25, 47, p. 6839-6846 8 p.

Research output: Contribution to journalArticle

Mechanics and quasi-static manipulation of planar elastic kinematic chains

Bretl, T. & McCarthy, Z., Jan 1 2013, In : IEEE Transactions on Robotics. 29, 1, p. 1-14 14 p., 6327684.

Research output: Contribution to journalArticle

Robust coverage by a mobile robot of a planar workspace

Bretl, T. & Hutchinson, S., Nov 14 2013, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. p. 4582-4587 6 p. 6631228. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sequential selection of window length for improved SSVEP-based BCI classification

Johnson, E. C., Norton, J. J. S., Jun, D., Bretl, T. & Jones, D. L., Oct 31 2013, 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013. p. 7060-7063 4 p. 6611184. (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Towards a brain computer interface based on the N2pc event-related potential

Awni, H., Norton, J. J. S., Umunna, S., Federmeier, K. D. & Bretl, T. W., Dec 1 2013, 2013 6th International IEEE EMBS Conference on Neural Engineering, NER 2013. p. 1021-1024 4 p. 6696110. (International IEEE/EMBS Conference on Neural Engineering, NER).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2012

A brain-machine interface to navigate mobile robots along human-like paths amidst obstacles

Akce, A., Norton, J. & Bretl, T., Dec 1 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. p. 4084-4089 6 p. 6386024. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

A convex approach to inverse optimal control and its application to modeling human locomotion

Puydupin-Jamin, A. S., Johnson, M. & Bretl, T. W., Jan 1 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 531-536 6 p. 6225317. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Approximate steering of a plate-ball system under bounded model perturbation using ensemble control

Becker, A. & Bretl, T., Dec 1 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. p. 5353-5359 7 p. 6385722. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Approximate steering of a unicycle under bounded model perturbation using ensemble control

Becker, A. & Bretl, T., 2012, In : IEEE Transactions on Robotics. 28, 3, p. 580-591 12 p., 6157635.

Research output: Contribution to journalArticle

A stochastic control approach to optimally designing hierarchical flash sets in P300 communication prostheses

Ma, R., Aghasadeghi, N., Jarzebowski, J., Bretl, T. & Coleman, T. P., Jan 1 2012, In : IEEE Transactions on Neural Systems and Rehabilitation Engineering. 20, 1, p. 102-112 11 p., 6112238.

Research output: Contribution to journalArticle

Control and planning of 3-D dynamic walking with asymptotically stable gait primitives

Gregg, R. D., Tilton, A. K., Candido, S., Bretl, T. & Spong, M. W., Jan 1 2012, In : IEEE Transactions on Robotics. 28, 6, p. 1415-1423 9 p., 6266755.

Research output: Contribution to journalArticle

Development of a fixed wing multi-role unmanned aircraft vehicle research testbed

Dantsker, O. D., Johnson, M. J., Akce, A. & Bretl, T. W., Dec 1 2012.

Research output: Contribution to conferencePaper

Experiments in quasi-static manipulation of a planar elastic rod

Matthews, D. & Bretl, T. W., Dec 1 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. p. 5420-5427 8 p. 6385876. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Feedback control of many differential-drive robots with uniform control inputs

Becker, A., Onyuksel, C. & Bretl, T. W., 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. p. 2256-2262 7 p. 6385723

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Inverse optimal control for a hybrid dynamical system with impacts

Aghasadeghi, N., Long, A. & Bretl, T., Jan 1 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 4962-4967 6 p. 6225259. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mechanics and manipulation of planar elastic kinematic chains

McCarthy, Z. & Bretl, T. W., Jan 1 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 2798-2805 8 p. 6224693. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Minimum-time optimal control of many robots that move in the same direction at different speeds

Bretl, T., Apr 1 2012, In : IEEE Transactions on Robotics. 28, 2, p. 351-363 13 p., 6087289.

Research output: Contribution to journalArticle

Modeling, control, and analysis of a robotic assist device

Shorter, K. A., Li, Y., Bretl, T. & Hsiao-Wecksler, E. T., Dec 2012, In : Mechatronics. 22, 8, p. 1067-1077 11 p.

Research output: Contribution to journalArticle

Modelling search with a binary sensor utilizing self-conjugacy of the exponential family

Bonnie, D., Candido, S., Bretl, T. & Hutchinson, S., Jan 1 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 3975-3982 8 p. 6224652. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Motion primitives for path following with a self-assembled robotic swimmer

Orduno, C., Becker, A. & Bretl, T., Dec 1 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. p. 1440-1446 7 p. 6385734. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Prediction of distal arm joint angles from EMG and shoulder orientation for prosthesis control

Akhtar, A., Hargrove, L. J. & Bretl, T. W., Dec 14 2012, 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2012. p. 4160-4163 4 p. 6346883. (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Proving path non-existence using sampling and alpha shapes

McCarthy, Z., Bretl, T. W. & Hutchinson, S. A., Jan 1 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 2563-2569 7 p. 6225300. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Robust optimal deployment of mobile sensor networks

Hutchinson, S. & Bretl, T., Jan 1 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 671-676 6 p. 6225200. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2011

A compact representation of locally-shortest paths and its application to a human-robot interface

Akce, A. & Bretl, T., Dec 1 2011, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011. p. 2713-2718 6 p. 5980418. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Actuation timing strategies for a portable powered ankle foot orthosis

Morris, E. A., Shorter, K. A., Li, Y., Hsiao-Wecksler, E. T., Kogler, G. F., Bretl, T. & Durfee, W. K., Dec 1 2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011. p. 807-814 8 p. (ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011; vol. 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

A feedback information-theoretic approach to the design of brain-computer interfaces

Omar, C., Akce, A., Johnson, M., Bretl, T., Ma, R., Maclin, E., Mccormick, M. & Coleman, T. P., Jan 1 2011, In : International Journal of Human-Computer Interaction. 27, 1, p. 5-23 19 p.

Research output: Contribution to journalArticle

Estimating system state during human walking with a powered ankle-foot orthosis

Li, D. Y., Becker, A., Shorter, K. A., Bretl, T. & Hsiao-Wecksler, E. T., Oct 1 2011, In : IEEE/ASME Transactions on Mechatronics. 16, 5, p. 835-844 10 p., 5985534.

Research output: Contribution to journalArticle

Maximum entropy inverse reinforcement learning in continuous state spaces with path integrals

Aghasadeghi, N. & Bretl, T. W., Dec 29 2011, IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. p. 1561-1566 6 p. 6048804. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Motion planning under bounded uncertainty using ensemble control

Becker, A. & Bretl, T. W., Jan 1 2011, Robotics: Science and Systems VI. Matsuoka, Y., Durrant-Whyte, H. & Neira, J. (eds.). MIT Press Journals, p. 299-306 8 p. (Robotics: Science and Systems; vol. 6).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Probably approximately correct coverage for robots with uncertainty

Das, C., Becker, A. & Bretl, T., Dec 29 2011, IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. p. 1160-1166 7 p. 6048323. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Simulation and experimental analysis of a portable powered ankle-foot orthosis control

Li, Y., Shorter, K. A., Hsiao-Wecksler, E. T. & Bretl, T., Dec 1 2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011. p. 77-84 8 p. (ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011; vol. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2010

An optimal solution to the linear search problem for a robot with dynamics

De Pablo, I. R., Becker, A. & Bretl, T., Dec 1 2010, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. p. 652-657 6 p. 5653185. (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

A probabilistic language model for hand drawings

Akce, A. & Bretl, T., Nov 18 2010, Proceedings - 2010 20th International Conference on Pattern Recognition, ICPR 2010. p. 109-112 4 p. 5597640. (Proceedings - International Conference on Pattern Recognition).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Asymptotically stable gait primitives for planning dynamic bipedal locomotion in three dimensions

Gregg, R. D., Bretl, T. & Spong, M. W., Aug 26 2010, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. p. 1695-1702 8 p. 5509585. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Comments on "an optimality principle governing human walking"

Bretl, T., Arechavaleta, G., Akce, A. & Laumond, J. P., Dec 1 2010, In : IEEE Transactions on Robotics. 26, 6, p. 1105-1106 2 p., 5624646.

Research output: Contribution to journalArticle

Remote teleoperation of an unmanned aircraft with a brain-machine interface: Theory and preliminary results

Akce, A., Johnson, M. & Bretl, T. W., Aug 26 2010, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. p. 5322-5327 6 p. 5509671. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2009

Automated manipulation of spherical objects in three dimensions using a gimbaled air jet

Becker, A., Sandheinrich, R. & Bretl, T. W., Dec 11 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. p. 781-786 6 p. 5354427. (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Control of many robots moving in the same direction with different speeds: a decoupling approach

Von, D. D. & Bretl, T., Nov 23 2009, 2009 American Control Conference, ACC 2009. p. 1794-1799 6 p. 5160686. (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2008

Control of many agents by moving their targets: Maintaining separation

Bretl, T., Jan 1 2008, Recent Progress in Robotics: Viable Robotic Service to Human. Lee, S., Suh, I. H. & Mun Sang, K. (eds.). p. 145-156 12 p. (Lecture Notes in Control and Information Sciences; vol. 370).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Control of many agents using few instructions

Bretl, T. W., Jan 1 2008, Robotics: Science and Systems III. Burgard, W., Brock, O. & Stachniss, C. (eds.). MIT Press Journals, p. 209-216 8 p. (Robotics: Science and Systems; vol. 3).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Motion planning for a six-legged lunar robot

Hauser, K., Bretl, T., Latombe, J. C. & Wilcox, B., Oct 20 2008, Algorithmic Foundation of Robotics VII - Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics. p. 301-316 16 p. (Springer Tracts in Advanced Robotics; vol. 47).

Research output: Chapter in Book/Report/Conference proceedingConference contribution