Michael Mistry is a Postdoctoral Associate at Disney Research Pittsburgh in conjunction with Carnegie Mellon University. He completed his Phd in Computer Science at USC in May 2009.

Before joining the CLMC lab in 2003, Michael received a BSE degree from the University of Pennsylvania (Mechanical and Electrical Engineering, 1998) and an MA from Boston University (Cognitive and Neural Systems, 2002). He has also earned MS degrees in Aerospace and Mechanical Engineering (2005) and Computer Science (2007) from USC.

His research focuses on the representation, learning, and control of dexterous motor skills in humans and humanoid robots.

Mailing Address:

Michael Mistry
Disney Research Pittsburgh
4615 Forbes Ave, Suite 420
Pittsburgh, PA 15213, USA

Email:

Publications:

Buchli, J.; Kalakrishnan, M.; Mistry, M.; Pastor, P.; Schaal, S. (2009). Compliant Quadruped Locomotion Over Rough Terrain, IEEE/RSJ International Conference on Intelligent RObots and Systems.
[Keywords: quadruped locomotion, inverse dynamics, force control]
[Detail] [BibTeX] [PDF]

Theodorou, E.;Hoffmann, H.;Mistry, M.;Schaal, S. (2008). Computational model for movement learning under uncertain cost, Abstracts of the Society of Neuroscience Meeting (SFN 2008).
[Keywords: computational motor control, motor planning, optimization, reinforcement learning]
[Detail] [BibTeX]

Nakanishi, J.;Cory, R.;Mistry, M.;Peters, J.;Schaal, S. (2008). Operational space control: A theoretical and emprical comparison, International Journal of Robotics Research, 27, 6, pp.737-757.
[Keywords: task space control, operational space control, redundancy resolution, humanoid robotics]
[Detail] [BibTeX] [PDF]

Mistry, M.;Theodorou, E.;Hoffmann, H.;Schaal, S. (2008). The dual role of uncertainty in force field learning, Abstracts of the Eighteenth Annual Meeting of Neural Control of Movement (NCM).
[Keywords: computational motor control, optimal control, redundancy resolution, internal model]
[Detail] [BibTeX]

M. Mistry, E. A.Theodorou, G. Liaw, T. Yoshioka, S. Schaal, M. Kawato (2008). Adaptation to a sub-optimal desired trajectory, Advances in Computational Motor Control VII, Symposium at the Society for Neuroscience Meeting, Washington DC, 2008.
[Detail] [BibTeX] [PDF]

Mistry, M.;Theodorou, E.;Liaw, G.;Yoshioka, T.;Schaal, S.;Kawato, M. (2008). An investigation of optimality in reaching movements with an acceleration based force field, Abstracts of the Society of Neuroscience Meeting (SFN 2008).
[Keywords: computational motor control, motor planning, optimization, force fields]
[Detail] [BibTeX]

Mistry, M.;Nakanishi, J.;Cheng, G.;Schaal, S. (2008). Inverse kinematics with floating base and constraints for full body humanoid robot control, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2008).
[Detail] [BibTeX]

Peters, J.;Mistry, M.;Udwadia, F. E.;Nakanishi, J.;Schaal, S. (2008). A unifying methodology for robot control with redundant DOFs, Autonomous Robots, 24, 1, pp.1-12.
[Keywords: operational space control, inverse control, dexterous manipulation, optimal control]
[Detail] [BibTeX] [PDF]

Mistry, M., Theodorou, E., Hoffmann, H., Schaal, S. (2007). Uncertain 3D Force Fields in Reaching Movements: Do Humans Favor Robust or Average Performance?, Abstracts of the 37th Meeting of the Society of Neuroscience.
[Detail] [BibTeX] [PDF]

Mohajerian, P; Hoffmann, H.; Mistry, M.; Schaal, S. (2007). A Computational Model of Arm Trajectory Modification Using Dynamic Movement Primitives, Abstracts of the 37st Meeting of the Society of Neuroscience.
[Keywords: online movement correction, target switching, movement primitives, computational model, motor control]
[Detail] [BibTeX] [PDF]

Mistry, M.;Nakanishi, J.;Schaal, S. (2007). Task space control with prioritization for balance and locomotion, IEEE International Conference on Intelligent Robotics Systems (IROS 2007).
[Keywords: operational space control, locomotion, balance, hierarchical]
[Detail] [BibTeX] [PDF]

Nakanishi, J.;Mistry, M.;Peters, J.;Schaal, S. (2007). Experimental evaluation of task space position/orientation control towards compliant control for humanoid robots, IEEE International Conference on Intelligent Robotics Systems (IROS 2007).
[Keywords: operational space control, quaternion, task space control, resolved motion rate control, resolved acceleration, force control]
[Detail] [BibTeX] [PDF]

Nakanishi, J.;Mistry, M.;Schaal, S. (2007). Inverse dynamics control with floating base and constraints, International Conference on Robotics and Automation (ICRA2007), pp.1942-1947.
[Detail] [BibTeX] [PDF]

Pongas, D.;Mistry, M.;Schaal, S. (2007). A robust quadruped walking gait for traversing rough terrain, International Conference on Robotics and Automation (ICRA2007), pp.1474-1479.
[Keywords: quadruped locomotion, static walk, crawl gait, cog trajectory, rough terrain, internal-model control]
[Detail] [BibTeX] [PDF]

Ting, J.;Mistry, M.;Nakanishi, J.;Peters, J.;Schaal, S. (2006). A Bayesian approach to nonlinear parameter identification for rigid body dynamics, in: Burgard, W.;Sukhatme, G. S.;Schaal, S. (eds.), Robotics: Science and Systems (RSS 2006), Cambridge, MA: MIT Press.
[Keywords: bayesian regression linear models dimensionality reduction input noise rigid body dynamics parameter identification]
[Detail] [BibTeX] [PDF]

Nakanishi, J.;Cory, R.;Mistry, M.;Peters, J.;Schaal, S. (2005). Comparative experiments on task space control with redundancy resolution, IEEE International Conference on Intelligent Robots and Systems (IROS 2005), pp.3901-3908.
[Keywords: manipulator dynamics redundant manipulators space optimization dynamical decoupling humanoid robots inverse kinematics motor coordination redundancy resolution robot dynamics seven-degree-of-freedom anthropomorphic robot arm task space control dynamical d]
[Detail] [BibTeX] [PDF]

Mistry, M.;Mohajerian, P.;Schaal, S. (2005). Arm movement experiments with joint space force fields using an exoskeleton robot, IEEE Ninth International Conference on Rehabilitation Robotics, pp.408-413.
[Keywords: computational motor control trajectory planning inverse kinematics force control human motor control torque perturbations]
[Detail] [BibTeX] [PDF]

Peters, J.;Mistry, M.;Udwadia, F. E.;Schaal, S. (2005). A new methodology for robot control design, The 5th ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC 2005).
[Keywords: robot control, nonlinear control, gauss principle]
[Detail] [BibTeX] [PDF]

Peters, J.;Mistry, M.;Udwadia, F. E.;Cory, R.;Nakanishi, J.;Schaal, S. (2005). A unifying framework for the control of robotics systems, IEEE International Conference on Intelligent Robots and Systems (IROS 2005), pp.1824-1831.
[Detail] [BibTeX] [PDF]

Mistry, M.;Mohajerian, P.;Schaal, S. (2005). Force field learning in joint space with a 7-DOF exoskeleton, 12th Joint Symposium of Neural Computation.
[Keywords: force fields, motor primitives, computational motor control. inverse kinematics]
[Detail] [BibTeX]

Mistry, M.;Mohajerian, P.;Schaal, S. (2004). Force Field Learning in Joint Space with a 7-DOF Exoskeleton, Abstracts of the 34st Meeting of the Society of Neuroscience.
[Keywords: computational motor control trajectory planning inverse kinematics]
[Detail] [BibTeX]

Mohajerian, P.;Mistry, M.;Schaal, S. (2004). Neuronal or spinal level interaction between rhythmic and discrete motion during multi-joint arm movement, Abstracts of the 34st Meeting of the Society of Neuroscience.
[Keywords: movement primitives behaviors dynamic systems computational motor control discrete rhythmic trajectory planning]
[Detail] [BibTeX]