Theses
Learning to Exploit Dynamics for Robot Motor Coordination
	Ph.D. thesis, University of Massachusetts Amherst, 2003. Committee: Andrew G. Barto (chair), Neil E. Berthier, Andrew H. Fagg, Roderic A. Grupen and Richard E. A. Van Emmerik.
Practical Algorithms for a Chaos Analysis of Physiological Systems
	M.S. thesis, Boston University, 1992. Committee: James J. Collins (chair), Carlo J. De Luca and Guido v.H. Sandri.

Journal Publications
Approximate optimal control as a model for motor development
	N.E. Berthier, M.T. Rosenstein, and A.G. Barto. Psychological Review, accepted, 2004. (Manuscript available upon request.)
A nonlinear dynamics approach to human movement
	R.E.A. Van Emmerik, M.T. Rosenstein, W.J. McDermott, and J. Hamill. Journal of Applied Biomechanics, 20(4):396-420, 2004.
Cross-validation of three jump power equations
	S.P. Sayers, D.V. Harackiewicz, E.A. Harman, P.N. Frykman, and M.T. Rosenstein. Medicine and Science in Sports and Exercise 31(4):572-577, 1999.
Lower limb morphology and risk of overuse injury among male infantry trainees
	D.N. Cowan, B.H. Jones, P.N. Frykman, D.W. Polly, E.A. Harman, R.M. Rosenstein, and M.T. Rosenstein. Medicine and Science in Sports and Exercise 28(8):945-952, 1996.
Visualizing the effects of filtering chaotic signals
	M.T. Rosenstein and J.J. Collins. Computers and Graphics 18(4):587-592, 1994. [pdf] [ps.gz]
Reconstruction expansion as a geometry-based framework for choosing proper delay times
	M.T. Rosenstein, J.J. Collins, and C.J. De Luca. Physica D 73:82-98, 1994. [pdf] [ps.gz]
A practical method for calculating largest Lyapunov exponents from small data sets
	M.T. Rosenstein, J.J. Collins, and C.J. De Luca. Physica D 65:117-134, 1993. [pdf] [ps.gz]
Transforming research into practice: The effects of arms and countermovement on vertical jumping
	E. Harman, M. Rosenstein, P. Frykman, and R. Rosenstein. National Strength and Conditioning Association Journal 13(3):38-39, 1991.
Estimation of human power output from vertical jump
	E. Harman, M. Rosenstein, P. Frykman, R. Rosenstein, and W. Kraemer. Journal of Applied Sport Science Research 5(3):116-120, 1991.
The effects of arms and countermovement on vertical jumping
	E. Harman, M. Rosenstein, P. Frykman, and R. Rosenstein. Medicine and Science in Sports and Exercise 22(6):825-833, 1990.

Full Papers at Conferences
Building an autonomous humanoid tool user
	W. Bluethmann, R. Ambrose, M. Diftler, E. Huber, A. Fagg, M. Rosenstein, R. Platt, R. Grupen, C. Breazeal, A. Brooks, A. Lockerd, R. A. Peters, O. C. Jenkins, M. Mataric, and M. Bugajska. In Proceedings of the IEEE International Conference on Humanoid Robots, 2003.
Reinforcement learning with supervision by a stable controller
	M.T. Rosenstein and A.G. Barto. In Proceedings of the 2004 American Control Conference, 4517-4522, 2004. [expanded version]
A framework for humanoid control and intelligence
	R. Platt, O. Brock, A.H. Fagg, D. Karupiah, M.T. Rosenstein, J. Coelho, M. Huber, J. Piater, D. Wheeler, and R.A. Grupen. In Proceedings of the IEEE International Conference on Humanoid Robots, 2003.
Velocity-dependent dynamic manipulability
	M.T. Rosenstein and R.A. Grupen. In Proceedings of the IEEE International Conference on Robotics and Automation, vol. 3, 2424-2429, 2002. [pdf] [ps.gz]
Robot weightlifting by direct policy search
	M.T. Rosenstein and A.G. Barto. In Proceedings of the Seventeenth International Joint Conference on Artificial Intelligence, vol. 2, 839-844, 2001. [pdf] [ps.gz]
Combining reinforcement learning with a local control algorithm
	J. Randlov, A.G. Barto and M.T. Rosenstein. In Proceedings of the Seventeenth International Conference on Machine Learning, 775-782, 2000. [pdf] [ps.gz]
Continuous categories for a mobile robot
	M.T. Rosenstein and P.R. Cohen. In Proceedings of the Sixteenth National Conference on Artificial Intelligence, 634-640, 1999. [pdf] [ps.gz]
Concepts from time series
	M.T. Rosenstein and P.R. Cohen. In Proceedings of the Fifteenth National Conference on Artificial Intelligence, 739-745, 1998. [pdf] [ps.gz]
Learning what is relevant to the effects of actions for a mobile robot
	M.D. Schmill, M.T. Rosenstein, P.R. Cohen, and P.E. Utgoff. In Proceedings of the Second International Conference on Autonomous Agents, 247-253, 1998. [pdf] [ps.gz]

Papers Submitted or In Preparation
A framework for learning and control in intelligent humanoid robots
	O. Brock, A. Fagg, R. Grupen, D. Karuppiah, R. Platt, and M.T. Rosenstein. International Journal of Humanoid Robotics, in review. (Manuscript available upon request.)
Learning at the level of synergies for a robot weightlifter
	M.T. Rosenstein, A.G. Barto, and R.E.A. Van Emmerik. In preparation. (Manuscript available upon request.)

Invited Papers and Technical Reports
Supervised actor-critic reinforcement learning
	M.T. Rosenstein and A.G. Barto. In J. Si, A. Barto, W. Powell, and D. Wunsch, eds., Learning and Approximate Dynamic Programming: Scaling Up to the Real World. John Wiley & Sons, Inc., New York, 359-380, 2004. [pdf] [ps.gz]
Supervised learning combined with an actor-critic architecture
	M.T. Rosenstein and A.G. Barto. Technical Report 02-41, Department of Computer Science, University of Massachusetts, Amherst, 2002.

Additional Peer-Reviewed Publications
User intentions funneled through a human-robot interface
	M.T. Rosenstein, A.H. Fagg, S. Ou, and R.A. Grupen. In Proceedings of the 10th International Conference on Intelligent User Interfaces, accepted, 2005.
Haptic coupling of dexterous manipulation and dynamic mobility
	M.T. Rosenstein, R. Platt, P. Deegan, J. Sweeney, O. Brock, A. Fagg, and R. Grupen. In Proceedings of the 2004 IEEE/RSJ International Conference on Humanoid Robots, video submission, 2004.
Extracting user intent in mixed initiative teleoperator control
	A.H. Fagg, M.T. Rosenstein, R. Platt and R.A. Grupen. In Proceedings of the American Institute of Aeronautics and Astronautics Intelligent Systems Technical Conference, 2004.
A robotic weightlifter that learns to exploit dynamics
	M.T. Rosenstein and A.G. Barto. In Studies in Perception and Action VI: Eleventh International Conference on Perception and Action, 25-28, 2001.
From elementary movements to coordination for a robotic weightlifter
	M.T. Rosenstein and A.G. Barto. In Abstracts of the Third International Symposium on Progress in Motor Control: From Basic Science to Applications, p. 40, 2001.
Symbol grounding with delay coordinates
	M.T. Rosenstein and P.R. Cohen. In AAAI Technical Report WS-98-06, The Grounding of Word Meaning: Data and Models, 20-21, 1998. [pdf] [ps.gz]
Action representation, prediction and concepts
	M.T. Rosenstein, P.R. Cohen, M.D. Schmill, and M.S. Atkin. In Working Notes of the AAAI Workshop on Robots, Softbots, Immobots: Theories of Action, Planning and Control, 1997. [pdf] [ps.gz]
The effects of walking speed on the kinematics of backpack load carriage
	E. Harman, K. Han, P. Frykman, M. Johnson, and M. Rosenstein. American College of Sports Medicine Annual Meeting, Seattle, WA, 1993. In Medicine and Science in Sports and Exercise 25(5):S116, 1993.
The effects of four different backpack loads on the kinematics of gait
	K. Han, E. Harman, P. Frykman, M. Johnson, and M. Rosenstein. American College of Sports Medicine Annual Meeting, Seattle, WA, 1993. In Medicine and Science in Sports and Exercise 25(5):S116, 1993.
Effects of load carriage speed on muscle torques about the ankle, knee, and hip
	E. Harman, K. Han, P. Frykman, M. Johnson, F. Russell, and M. Rosenstein. Second North American Congress on Biomechanics, Chicago, IL, 1992. Abstract in Journal of Biomechanics 26(3):336, 1992. Proceedings paper in Proceedings of the Second NACOB, pp. 391-392, 1992.
The effects of various backpack loads on lower body joint torques
	K. Han, E. Harman, P. Frykman, M. Johnson, F. Russell, and M. Rosenstein. Second North American Congress on Biomechanics, Chicago, IL, 1992. Abstract in Journal of Biomechanics 26(3):354, 1992. Proceedings paper in Proceedings of the Second NACOB, pp. 507-508, 1992.
The effects on gait timing, kinetics, and muscle activity of various loads carried on the back
	E. Harman, K. Han, P. Frykman, M. Johnson, F. Russell, and M. Rosenstein. American College of Sports Medicine Annual Meeting, Dallas, TX, 1992. In Medicine and Science in Sports and Exercise 24(5):S129, 1992.
Load carriage: the effects of walking speed on gait timing, kinetics, and muscle activity
	K. Han, E. Harman, P. Frykman, M. Johnson, F. Russell, and M. Rosenstein. American College of Sports Medicine Annual Meeting, Dallas, TX, 1992. In Medicine and Science in Sports and Exercise 24(5):S129, 1992.
A statistical mechanical analysis of postural control
	J.J. Collins, M.T. Rosenstein, and C.J. De Luca. XIth International Symposium of the Society for Postural and Gait Research, Portland, OR, 1992. In Posture and Gait: Control Mechanisms, 1992, M. Woolacott and F. Horak, eds., 1:368-371, 1992.
Does the human postural control system utilize deterministic chaos?
	J.J. Collins, M.T. Rosenstein, and C.J. De Luca. First Experimental Chaos Conference, Arlington, VA, 1991.
A nonlinear analysis of the human postural control system
	J.J. Collins, M.T. Rosenstein, and C.J. De Luca. Proceedings of the 13th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Orlando, FL, 1991 13:2214-2215, 1991.
Coincidence-anticipation timing: modification by movement distance and stimulus characteristics
	S. Sison, M. Rosenstein, and G. Kamen. American College of Sports Medicine Annual Meeting, Orlando, FL, 1991. In Medicine and Science in Sports and Exercise 23(4):S38, 1991.
Relationship of anthropometric and strength measures to middle-distance running ability
	E. Harman, P. Frykman, M. Rosenstein, M. Johnson, and R. Rosenstein. National Strength and Conditioning Association Annual Meeting, San Diego, CA, 1990. In Journal of Applied Sports Science Research 4(3):112, 1990.
The relationship of individual torque-velocity curve shapes to sprint running performance
	E. Harman, P. Frykman, M. Rosenstein, M. Johnson, and R. Rosenstein. American College of Sports Medicine Annual Meeting, Salt Lake City, UT, 1990. In Medicine and Science in Sports and Exercise 22(2):S8, 1990.
Torque and power during accelerative movements about the knee and elbow joints
	E. Harman, M. Rosenstein, P. Frykman, and M. Johnson. New England American College of Sports Medicine Annual Meeting, Worcester, MA, 1989. In ACSM News, Autumn, p.8, 1989.
An inexpensive method for measurement of torque and power output during accelerative movement
	M. Rosenstein, E. Harman, P. Frykman, M. Johnson. National Strength and Conditioning Association Annual Meeting, Denver, CO, 1989. In Journal of Applied Sports Science Research 3(3):77, 1989.
Torque-velocity relationships for flexion and extension about the knee and elbow joints
	E. Harman, M. Rosenstein, P. Frykman, R. Rosenstein, and M. Johnson. National Strength and Conditioning Association Annual Meeting, Denver, CO, 1989. In Journal of Applied Sports Science Research 3(3):73, 1989.
A computerized instrumentation and data acquisition system for weight machines
	P. Frykman, E. Harman, M. Rosenstein, and R. Rosenstein. National Strength and Conditioning Association Annual Meeting, Denver, CO, 1989. In Journal of Applied Sports Science Research 3(3):77, 1989.
Validation of the Lewis power output test
	E. Harman, M. Rosenstein, P. Frykman, R. Rosenstein, and W. Kraemer. American College of Sports Medicine Annual Meeting, Baltimore, MD, 1989. In Medicine and Science in Sports and Exercise 21(2):S51, 1989.
Prediction of power output during vertical jumps using body mass and flight time
	P. Frykman, M. Rosenstein, E. Harman, and M. Sharp. American College of Sports Medicine Annual Meeting, Baltimore, MD, 1989. In Medicine and Science in Sports and Exercise 21(2):S51, 1989.
Cardiovascular responses during resistance training
	S. Fleck, J. Falkel, E. Harman, W. Kraemer, P. Frykman, C. Maresh, K. Goetz, D. Campbell, M. Rosenstein, and R. Rosenstein. American College of Sports Medicine Annual Meeting, Baltimore, MD, 1989. In Medicine and Science in Sports and Exercise 21(2):S114, 1989.
Vertical jumping with and without a step prior to countermovement
	M. Rosenstein, E. Harman, P. Frykman, R. Rosenstein. American Alliance of Health, Physical Education, Recreation and Dance Annual Meeting, Boston, MA, 1989. In Abstracts of Research Papers --- 1989 AAHPERD Convention, p. 165, 1989.
Differences between segmental limb masses derived by four methods
	P. Frykman, M. Rosenstein, E. Harman, and R. Rosenstein. American Alliance of Health, Physical Education, Recreation and Dance Annual Meeting, Boston, MA, 1989. In Abstracts of Research Papers 1989 AAHPERD Convention, p. 162, 1989.
Effects of arms and countermovement on vertical jumping technique and performance
	E. Harman, M. Rosenstein, P. Frykman, and R. Rosenstein. New England American College of Sports Medicine Annual Meeting, Worcester, MA, 1988. In ACSM News, Autumn, p.8, 1988.
The eccentric phase of weightlifting exercise
	R. Rosenstein, E. Harman, P. Frykman, M. Rosenstein, S. Fleck, W. Kraemer, J. Falkel, and C. Maresh. National Strength and Conditioning Association Annual Meeting, Orlando, FL, 1988. In Journal of Applied Sports Science Research 2(3):58, 1988.
Effects of fatigue during weightlifting exercise
	P. Frykman, R. Rosenstein, E. Harman, M. Rosenstein, S. Fleck, W. Kraemer, J. Falkel, and C. Maresh. National Strength and Conditioning Association Annual Meeting, Orlando, FL, 1988. In Journal of Applied Sports Science Research 2(3):57-58, 1988.
A biomechanical analysis of leg extension exercise
	E. Harman, R. Rosenstein, P. Frykman, M. Rosenstein, S. Fleck, W. Kraemer, J. Falkel, and C. Maresh. American College of Sports Medicine Annual Meeting, Dallas, TX, 1988. In Medicine and Science in Sports and Exercise 20(2):S34, 1988.

updated 23-Nov-2004 mtr@cs.umass.edu