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Matthew Robinson

Address:

4800 Oak Grove Drive
M/S 82-105

Pasadena, CA 91109

Member of:

347B - Applied Robotic Systems

Matthew Robinson, PhD

Group Supervisor

Biography

Matthew L. Robinson is currently the Deputy Product Delivery Manager of the Sampling and Caching Subsystem for the Mars 2020 Rover. In addition he is the lead robotic arm systems engineer and robotic arm surface operations lead for the 2011 Mars Science Laboratory rover Curiosity. Previously he contributed to the 2007 Mars Phoenix Lander mission as the lead robotic arm flight software engineer, robotic arm engineer and surface operator. His research efforts have included the development of calibration-free, stereo-based manipulation techniques (HIPS) and general control systems for holonomic and hybrid nonholonomic/holonomic systems. Other research interests include machine vision, manipulation, mechatronic systems and controls. He is a senior member of the engineering staff in the Robotic Manipulation and Sampling Group at the Jet Propulsion Laboratory, where he has been since 2001.

Education

Ph.D. in Mechanical Engineering, University of Notre Dame, 2001
B.S in Mechanical Engineering, University of Notre Dame, 1996

Professional Experience

Senior Member of Engineering Staff, Jet Propulsion Laboratory, 2001-present:

Flight Experience:

Mars 2020

  • 2014-Present: Deputy Product Delivery Manager of the Sampling and Caching Subsystem

2011 Mars Science Laboratory rover

  • 2009-Present: Lead Robotic Arm Systems Engineer
  • 2011-Present: Robotic Arm Surface Operations Lead
  • 2009: Integrated Motion Control System Engineer
  • 2008-2009: Robotic Arm FSW Engineer

2007 Mars Phoenix Lander

  • 2004-2008: Software Cognizant Engineer for the Robotic Arm
  • 2003-2008: Robotic Arm Engineer, Analyst, and V&V Engineer
  • 2008 Robotic Arm Surface Operator

Research Experience:

  • Development of calibration-free, stereo-based manipulation techniques (HIPS) and general control systems for holonomic and hybrid nonholonomic systems
  • 2003-2004 MTP/IS Manipulation Task - developed algorithms to reduce the number of command cycles for instrument placement and sample acquisition for in-situ exploration
  • 2003 Team In-situ - participated in design study and trade analysis of the Sample Acquisition System (SAS) options for Mars Science Laboratory as part of the Tiger Team
  • 2003 Robot Work Crew (RWC) - developed algorithms for the autonomous, co-operative and coordinated deployment of a photovoltaic (PV) tent by a team of scout robots
  • 2001-2003 LEMUR (Limbed Excursion Mechanical Utility Robot) - software developer

Consultant, Smurfit Stone Corporation, 1999-2001:

  • Developed Robotic Vision System for palletizing & de-palletizing of empty and full bags
  • Conducted demonstrations for Corporation

Graduate Research Assistant, University of Notre Dame, 1996-2001:

  • Dissertation: A Structured Lighting Approach to Image Analysis for Robotic Applications Using Camera-Space Manipulation

Course Instructor, University of Notre Dame, 1999-2001:

  • Courses Taught: Dynamics, Statics

Research Interests

  • Machine Vision
  • Manipulation
  • Sample Acquisition and Handling
  • Mechatronic systems and controls

Flight Project and Research Task Involvement

Flight Projects
Sampling and Caching Subsystem (SCS)
Phoenix Robotic Arm (RA)

Publications

2024
  1. T. S. Vaquero, G. Daddi, R. Thakker, M. Paton, A. Jasour, M. Strub, R. M. Swan, R. Royce, M. Gildner, P. Tosi, M. Veismann, P. Gavrilov, E. Marteau, J. Bowkett, D. Loret de Mola Lemus, Y. Kumar Nakka, B. Hockman, A. Orekhov, T. Hasseler, C. Leake, B. Nuernberger, P. Proenca, W. Reid, W. Talbot, N. Georgiev, T. Pailevanian, A. Archanian, E. Ambrose, J. Jasper, R. Etheredge, C. Roman, D. Levine, K. Otsu, S. Yearicks, H. Melikyan, R. Rieber, K. Carpenter, J. Nash, A. Jain, L. Shiraishi, M. Robinson, M. Travers, H. Choset, J. Burdick, A. Gardner, M. Cable, M. Ingham, and M. Ono, "EELS: Autonomous Snake-like Robot with Task and Motion Planning Capabilities for Ice World Exploration," Science Robotics, vol. 9, no. 88, 13 March 2024.
  2. M. Paton, R. Rieber, S. Cruz, M. Gildner, C. Abma, K. Abma, S. Aghli, E. Ambrose, A. Archanian, E. Bagshaw, C. Baroco, A. Blackstock, J. Bowkett, M. Cable, E. Cartaya, G. Daddi, T. Drevinskas, R. Etheredge, T. Gall, A. Gardner, P. Gavrilov, N. Georgiev, K. Graham, B. Hockman, B. Jones, S. Linn, M. Malaska, E. Marteau, N. Maslen, H. Melikyan, Y. Kumar Nakka, J. Nelson, M. Pazzini, M. Peticco, M. Prior-Jones, M. Robinson, C. Roman, R. Royce, M. Ryan, L. Shiraishi, C. Stenner, M. Strub, R. M. Swan, B. Swerdlow, R. Thakker, L. P. Tosi, T. Tran, T. Stegun Vaquero, M. Veismann, T. Wood, H. Zade, M. Ono, "2023 EELS Field Tests at Athabasca Glacier as an Icy Moon Analogue Environment," 2024 IEEE Aerospace Conference, Big Sky, MT, USA, 05 March 2024.
  3. R. Thakker, M. Paton, M. Strub, M. Swan, T. Vaquero, B. Jones, G. Daddi, R. Royce, J. Bowkett, D. Loret de Mola Lemus, D. Pastor Moreno, Y. Kumar Nakka, K. Otsu, T. Hasseler, C. Leake, B. Nuernberger, P. Proenca, W. Talbot, A. Orekhov, A. Jain, M. Robinson, R. Etheredge, M. Travers, H. Choset, M. Ingham, J. Burdick and M. Ono, "To Boldly Go Where No Robots Have Gone Before – Part 4: NEO Autonomy for Robustly Exploring Unknown, Extreme Environments with Versatile Robots," AIAA Scitech 2024 Forum, Orlando, Florida, USA, pp. 1-14, 08 January 2024.
2022
  1. S. Brooks, J. Townsend, C. Collins, J. Carsten, M. Frost, J. Reid, M. Robinson, and A. Warner, "Docking the Mars 2020 Perseverance Robotic Arm," 2022 IEEE Aerospace Conference (AERO), Big Sky, MT, USA, 05 March 2022.
2020
  1. W. Abbey, R. Anderson, L. Beegle, G. Peters, J. M. Morookian, F. Biesiadecki, J. Carsten, C. Collins, K. Davis, R. Kinnett, D. Klein, S. Kuhn, C. Logan, M. Maimone, J. Mellko, A. Okon, J. Reid, M. Robinson, J. Singer, V. Verma, and A. Vasavada, "A Look Back, Part II: The Drilling Campaign of the Curiosity Rover During the Mars Science Laboratory's Second and Third Martian Years," Icarus 350, 01 November 2020.
2010
  1. A.W. Stroupe, T. Huntsberger, B. Kennedy, H. Aghazarian, E.T Baumgartner, A. Ganino, M. Garrett, A. Okon, M. Robinson, J.A. Townsend, "Heterogeneous Robotic Systems for Assembly and Servicing," ISAIRAS (ESA SP-603), September 2005, 06 October 2010.
2009
  1. R. Bonitz, L. Shiraishi, M. Robinson, J. Carsten, R. Volpe, A. Trebi-Ollennu, R. Arvidson, P. Chu, J. Wilson, K. Davis, "The Phoenix Mars Lander Robotic Arm," Proceedings of the IEEE Aerospace Conference (CDROM), 2.0104, 07 March 2009.
2006
  1. A. Stroupe, A. Okon, M. Robinson, T. Huntsberger, H. Aghazarian, and E. Baumgartner, "Sustainable Cooperative Robotic Technologies for Human and Robotic Outpost Infrastructure Construction and Maintenance," Autonomous Robots, Vol. 20, 01 March 2006.
2005
  1. M. Bajracharya, A. Diaz-Calderon, M. Robinson and M. Powell, "Target tracking, approach and camera handoff for automated instrument placement," Proceedings of the 2005 IEEE Aerospace Conference. Big Sky Montana, 05 March 2005.
  2. P. Backes, A. Diaz-Calderon, M. Robinson, M. Bajracharya, D. Helmick, "Automated Rover Positioning and Instrument Placement," IEEE Aerospace Conference, 01 March 2005.
  3. M. Bajracharya, A. Diaz-Calderon, M. Robinson, M. Powell, "Target Tracking, Approach, and Camera Handoff for Automated Instrument Placement," IEEE Aerospace Conference, 01 March 2005.
  4. A. Stroupe, T. Huntsberger, A. Okon, H. Aghazarian, and M. Robinson, "Behavior-Based Multi-Robot Collaboration for Autonomous Construction Tasks," Proceedings of IROS 2005, 01 January 2005.
2003
  1. M. Robinson and E. T. Baumgartner, "Hybrid Image Plane/Stereo (HIPS) Manipulation for Robotic Space Applications," submitted to IEEE Trans. on Robotics and Automation, 01 January 2003.
  2. T. Huntsberger, Y. Cheng, E.T. Baumgartner, M. Robinson, and P.S. Schenker, "Sensory Fusion for Planetary Surface Robotic Navigation, Rendezvous, and Manipulation Operations (best paper award)," Proc. International Conference on Advanced Robotics (ICAR'03), 01 January 2003.
2002
  1. Kennedy, et. al., "Limbed Excursion Mechanical Utility Rover: LEMUR II," World Space Congress, Houston, Tx, 01 October 2002.
2001
  1. M. Robinson, "A Structured Lighting Approach to Image Analysis for Robotic Applications Using Camera-Space Manipulation," 01 January 2001.
1998
  1. M. Seelinger, M. Robinson and S.B. Skaar, "Towards A Robotic Plasma Spraying Operation Using Vision," IEEE Robotics and Automation Magazine, 33-49, 01 December 1998.
  2. M. Robinson, M. Seelinger and S. B. Skaar, "Multiple Laser Spots for Camera-Space Objectives," Sensor Fusion and Decentralized Control in Robotic Systems. Proc. SPIE 3523, Boston, MA, 268-279, 01 November 1998.
  3. M. Seelinger, S.B. Skaar, and M. Robinson, "An Alternative Approach for Image Plane Control of Robots," Lecture Notes in Control and Information Sciences. Eds. D. Kriegman, G. Hager, and S. Morse. Springer-Verlag, 01 January 1998.
1997
  1. M. Seelinger, M. Robinson and S.B. Skaar, "A Vision-Guided, Semi-Autonomous System Applied to a Robotic Coating Application," Sensor Fusion and Decentralized Control in Robotic Systems. Proc. SPIE 3209, Pittsburgh, PA, 133-144, 01 October 1997.
1996
  1. M. Seelinger, M. Robinson, and S.B. Skaar, "Point-and-Click Objective Specification for a Remote Semi-Autonomous Robot System," ." Sensor Fusion and Decentralized Control in Robotic Systems, 206-217, 01 January 1996.