Bio:

Michael Mistry received a B.S.E. degree in Electrical Engineering and Mechanical Engineering and Applied Mechanics from the University of Pennsylvania in 1998, and an M.A in Cognitive and Neural Systems from Boston University in 2002. In 2003 he began Phd studies in Computer Science at the University of Southern California under guidance of Stefan Schaal and has since received an M.S. in Aerospace and Mechanical Engineering (2005) and an M.S. in Computer Science (2007). He spent the summer of 2007 with the Humanoid Robotics and Computational Neuroscience group at ATR. His research currently focus on the representation, learning, and control of dexterous motor skills in humans and humanoid robots.

Research Interests:

Motor Control, Robotics, Machine learning

Address:

Ronald Tutor Hall, RTH-417
3710 S. McClintock Ave
Los Angeles, CA 90089-2900

Mailing Address:

Michael Mistry
c/o Laura Lopez, Rm. 05
University of Southern California
Hedco Neurosciences Building, HNB-05
3641 Watt Way
Los Angeles, CA 90089-2520, USA

Email:

Phone:

(213) 740 6717

Fax:

(213) 740 1510

Publications:

Mohajerian, P.;Mistry, M.;Schaal, S. (submitted). Cerebral or spinal level interaction of rhythmic and discrete movements during two-joint arm task, Journal of Neurophysiology.
[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.
[Detail] [BibTeX] [PDF]

Mistry, M.,Theodorou, E., & Schaal, S (2008). Resolving redundancy in joint space vs. end-effector space force fields, 8th Annual Meeting of the Society for the Neural Control of Movement.
[Keywords: redundancy resolution, motor control, motor learning, psychophysics]
[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]

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

Mohajerian, P; Hoffmann, H.; Mistry, M.; Schaal, S. (2007). A Computation Model of Arm Trajectory Modification Using Dynamic Movement Primitives, 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]

Mohajerian, P.;Hoffman, 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: motor control, computational neuroscience, behavior, movement primitives, trajectory formation]
[Detail] [BibTeX]

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]