Christopher M. Dellin
Carnegie Mellon University, Carnegie Robotics (United States)
Papers
10
Total Citations
1,056
H-Index
9
About
Christopher M. Dellin is a leading researcher in robot motion planning and manipulation, whose work bridges the gap between theoretical optimization and real-world robotic autonomy. His most influential contribution is CHOMP (Covariant Hamiltonian Optimization for Motion Planning), a seminal 2013 paper with over 738 citations that introduced a functional gradient approach to trajectory optimization, invariant to reparametrization—a method now foundational in robotics. Dellin also spearheaded the development of the CHIMP robot (CMU Highly Intelligent Mobile Platform), a humanoid platform designed for dangerous, human-engineered environments, which demonstrated robust dexterity and strength during the DARPA Robotics Challenge Trials. His research extends to efficient shortest-path algorithms for expensive edge evaluations, formalized through lazy best-first search with edge selectors, and to real-time markerless arm tracking for closed-loop servoing. With over 1,000 total citations, Dellin’s work has profoundly impacted both theoretical planning frameworks and practical robotic systems, making him a key figure in advancing autonomous manipulation and locomotion in complex, unstructured environments.
Research Focus
Key Achievements
Top Papers
- 1CHOMP: Covariant Hamiltonian optimization for motion planning738 citations · 2013
- 2CHIMP, the CMU Highly Intelligent Mobile Platform123 citations · 2015
- 3
- 4
- 5Closed-loop Servoing using Real-time Markerless Arm Tracking27 citations · 2018
- 6
- 7Guided Manipulation Planning at the DARPA Robotics Challenge Trials20 citations · 2015
- 8A framework for extreme locomotion planning15 citations · 2012
- 9
- 10Completing Manipulation Tasks Efficiently in Complex Environments2 citations · 2016