CURRICULUM VITAE. Evan Drumwright EDUCATION PROFESSIONAL PUBLICATIONS

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1 CURRICULUM VITAE Evan Drumwright 209 Dunn Hall The University of Memphis Memphis, TN Phone: edrmwrgh EDUCATION Ph.D., Computer Science, May 2007 Advisor: Prof. Maja Matarić University of Southern California, Los Angeles, CA The Task Matrix: A Robot-Independent Framework for Programming Humanoids B.S. cum laude, Computer Science, Fall 1999 B.S. cum laude, Applied Mathematics, Fall 1999 University of Memphis, Memphis, TN PROFESSIONAL Visiting Assistant Professor, University of Memphis, Aug 2007 present Postdoctoral Researcher, Honda Research USA, Inc., May 2007 Aug 2007 Consultant, Honda Research USA, Inc., December 2005 March 2006 Intern, Honda Research USA, Inc., June 2005 October 2005 Research Assistant, University of Southern California, Aug Research Assistant, University of Memphis, Jan 1999 Dec 2000 PUBLICATIONS Refereed journal publications [1] E. Drumwright, A Fast and Stable Penalty Method for Rigid Body Simulation. IEEE Trans. on Visualization and Computer Graphics, 14(1): , January/February Refereed conference publications [2] E. Drumwright. Avoiding Zeno s Paradox in Impulse-based Rigid Body Simulation. IEEE Intl. Conf. on Robotics and Automation (ICRA), (to appear) 1

2 [3] E. Drumwright and D. Shell. A Robust and Tractable Contact Model for Dynamic Robotic Simulation. Proc. of 24 th ACM Symp. on Applied Computing (ACM SAC). March, (Winner: Best Paper Award, Artificial Intelligence and Agents). [4] D. Shell and E. Drumwright. Precise Contact Point and Normal Determination for Rigid Body Simulation. Proc. of 24 th ACM Symp. on Applied Computing (ACM SAC). March, [5] V. Ng-Thow-Hing, E. Drumwright, K. Hauser, Q. Wu, and J. Wormer. Expanding Task Functionality in Established Humanoid Robots. Proc. of the IEEE-RAS Intl. Conf. on Humanoid Robotics. Nov., [6] E. Drumwright, V. Ng-Thow-Hing and M. Matarić. The Task Matrix Framework for Platform-Independent Humanoid Programming. Proc. of the IEEE- RAS Intl. Conf. on Humanoid Robotics. Dec., [7] E. Drumwright and V. Ng-Thow-Hing. Toward Interactive Reaching for Humanoid Robots in Interactive Environments. Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS). Oct., [8] E. Drumwright, V. Ng-Thow-Hing, and M. Matarić. Toward a Vocabulary of Primitive Task Programs for Humanoid Robots. Proc. of the IEEE Intl. Conf. on Development and Learning (ICDL). May, [9] E. Drumwright and V. Ng-Thow-Hing. The Task Matrix: An Extensible Framework for Creating Versatile Humanoid Robots. Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA). April, [10] E. Drumwright, M. Kallmann, and M. Matarić. Towards Single-Arm Reaching for Humanoid Robots in Dynamic Environments. Proc. of the IEEE-RAS Intl. Conf. on Humanoid Robotics. Nov., [11] E. Drumwright, O. Jenkins, and M. Matarić. Exemplar-Based Primitives for Humanoid Movement Classification and Control. Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA). April, [12] E. Drumwright and M. Matarić. Generating and Recognizing Free-Space Movement in Humanoid Robotics. Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS). Oct., [13] M. Garzon, P. Ankaraju, E. Drumwright, and R. Kozma. Neurofuzzy Recognition and Generation of Facial Features in Talking Heads. Proc. of the IEEE Intl. Conf. on Fuzzy Systems (FUZZ-IEEE). May, [14] M. Garzon, E. Drumwright, and K. Rajaya. Training a Neurocontrol for Talking Heads. Proc. of the IEEE Intl. Joint Conf. on Neural Networks (IJCNN). May, [15] M. Garzon, E. Drumwright, R. Deaton, and D. Renault. Virtual Test Tubes: A New Methodology for Computing. Proc. of the 7th Intl. Symp. on String Processing and Information Retrieval. Sept., Journal articles currently under review [16] E. Drumwright and D. Shell. A Polynomial Time Multibody Dynamics Model for Simultaneous Contacts without Complementarity Constraints. Submitted to Intl. J. of Robotics Research. 2

3 [17] E. Drumwright. Analysis of the failure of a class of LCP-based contact methods on a simple example in dynamic robotic simulation. Submitted to Robotics and Autonomous Systems. [18] E. Drumwright and D. Shell. Continuous Collision Detection for Rigid Bodies with Various Geometries. Submitted to ACM Trans. on Graphics. Book chapters [19] E. Drumwright and M. Matarić. Collision-free Humanoid Reaching: Past, Present, and Future. In Humanoid Robotics. Armando Carlos de Pina Filho, ed. Advanced Robotic Systems. Vienna, Invited workshop papers [20] E. Drumwright. A Robust Algorithm for Modeling Contact in Dynamic Robotic Simulation. Robotics: Science and Systems 2008, Workshop on Advances in Simulation of Robot and Task Dynamics. June, Technical Reports [21] E. Drumwright. The Task Matrix: A Robot-Independent Framework for Programming Humanoids. University of Southern California CRES Technical Report CRES , INVITED TALKS (EXCLUDING CONFERENCE PAPER TALKS) The Task Matrix Framework for Robot Independent Humanoid Programming, Machines and Organisms: Locomotion and Manipulation (seminar), Cornell University, December The Task Matrix Framework for Robot-Independent Humanoid Programming, Computer Science Seminar, The University of Mississippi, November Quaternions, function minimization, and collision detection, The Cantor Sect (undergraduate Mathematics society), The University of Memphis, April A Consistent, Computationally Tractable Contact Model for Dynamic Robotic Simulation, CSCE Department, University of Arkansas, April Methods for Effective Contact Modeling in Dynamic Robotic Simulation, Center for Robotics and Intelligent Machines, Georgia Tech, March Accuracy vs. Robustness in Robotic Simulation, Robotics Institute, Carnegie Mellon University, December Continuous Collision Detection for Rigid Bodies, University of Memphis Computer Science Colloquium, September Advanced Rigid Body Dynamics for Improved Robotic Simulation, University of Memphis Computer Science Colloquium, October

4 OPEN-SOURCE SOFTWARE CONTRIBUTIONS TEACHING Designer and lead developer of Moby, a GNU General Public License rigid body simulation library developed for dynamic robot simulation. Moby is available from University of Memphis, COMP 4242, Introduction to Computer Graphics, University of Memphis, COMP 4997, Introduction to 3D Computer Game Programming, University of Memphis, COMP 4601, Models of Computation, University of Memphis, COMP 3601, Advanced Data Structures, 2007 University of Memphis, COMP 1900, Introduction to Computer Programming, 2000 ADVISED STUDENTS Serge Salan, Ph. D. student (Computer Science), University of Memphis, 2008 present MENTORED STUDENTS SERVICE Alex Galvis, B.S. student (Computer Engineering), University of Memphis, 2008 Craig Miller, M.S. student (Computer Science), University of Memphis, 2008 Brad Montgomery, Ph. D. student (Computer Science), University of Memphis, 2008 Jose Rodriguez, M.S. student (Computer Science), University of Memphis, 2007 Viren Rajan, M.S. student (Electrical Engineering), University of Southern California, 2006 Nathan Miller, M.S. student (Aerospace Engineering), University of Southern California, 2004 Paraskevas Orfanides, B.S. student (Physics, Computer Science, and Mathematics), University of Memphis, Professional service Conference committees ACM SAC 2010 program committee Workshop committees Principal organizer of Workshop on Advances in Robotic Simulation at Robotics: Science and Systems

5 PATENTS PERSONAL Reviewing Journals IEEE Transactions on Systems, Man, and Cybernetics IEEE Transactions on Robotics International Journal of Humanoid Robotics International Journal of Robotics Research Autonomous Robots Robotica IEEE Robotics and Automation Conferences IEEE International Conference on Robotics and Autonomous Systems (IROS) IEEE International Conference on Robotics and Automation (ICRA) International Conference on Computer Graphics Theory and Applications (GRAPP) Departmental service Member, Undergraduate Curriculum Committee, University of Memphis, Member, ACM Committe, University of Memphis, Co-Developed Computer Science Honors Program, University of Memphis, 2008 Lead organizer, University of Memphis 2008 Programming Challenge Lead organizer, University of Memphis 2009 Programming Challenge V. Ng-Thow-Hing and E. Drumwright. Extensible Task Matrix Framework for Humanoid Robots. U.S. Patent Citizenship: USA 5

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