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2017
Abraham, I., G. De La Torre, and T. D. Murphey, "Model-Based Control Using Koopman Operators", Robotics: Science and Systems, 2017.  (2.38 MB) (8.34 MB)
MacIver, M. A., L. Schmitz, U. Mugan, T. D. Murphey, and C. Mobley, "Massive increase in visual range preceded the origin of terrestrial vertebrates", Proceeding of the National Academy of Sciences, vol. 114, pp. E2375-E2384, 03/2017.  (368 bytes)
2016
Tzorakoleftherakis, E., A. Ansari, A. D. Wilson, J. A. Schultz, and T. D. Murphey, "Model-Based Reactive Control for Hybrid and High-Dimensional Robotic Systems", IEEE Robotics and Automation Letters, vol. 1, issue 1, pp. 431-438, 2016.  (689 KB) (9.04 MB)
Yu, Y. S. W., M. M. Graff, and M. J. Z. Hartmann, "Mechanical responses of rat vibrissae to airflow", Journal of Experimental Biology, vol. 219, issue 7, pp. 937 - 948, Jan-04-2016.  (1.19 MB)
2015
Ansari, A., and T. D. Murphey, "Minimum Sensitivity Control for Planning with Parametric and Hybrid Uncertainty", The International Journal of Robotics Research, 2015.  (755.17 KB) (4.97 MB)
Wilson, A. D., and T. D. Murphey, "Maximizing Fisher Information Using Discrete Mechanics and Projection-Based Trajectory Optimization", IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 2403-2409, 2015.  (290.26 KB)
2012
Baker, E., T. Reissman, F. Zhou, C. Wang, K. M. Lynch, and C. Sun, "Microstereolithography of Three-Dimensional Polymeric Springs for Vibration Energy Harvesting", Smart Materials Research: Hindawi Publishing Corporation, 2012.
Gregg, R. D., Y. Dhaher, A. Degani, and K. M. Lynch, "On the Mechanics of Functional Asymmetry in Bipedal Walking", IEEE Transactions on Biomedical Engineering, vol. 59, no. 5, pp. 1310–1318, 2012.
Murphey, T. D., and B. Argall, "Making Robotic Marionettes Perform", ICRA Workshop on Robotics and Performance Arts: Reciprocal Influences, 2012.  (1.46 MB)
Quist, B. W., and M. J. Z. Hartmann, "Mechanical signals at the base of a rat vibrissa: the effect of intrinsic vibrissa curvature and implications for tactile exploration", Journal of Neurophysiology, vol. 107, no. 9: Am Physiological Soc, pp. 2298–2312, 2012.  (2.84 MB)
Schultz, J. A., and M. Garnich, "Meso-scale and multicontinuum modeling of a triaxial braided textile composite", Journal of Composite Materials, vol. 47, issue 3, pp. 303-314, 03/2012.
Vose, T. T. H., P. Umbanhowar, and K. M. Lynch, "Manipulation with Vibratory Velocity Fields on a Tilted Plate", IEEE Conference on Automation Science and Engineering, 2012.
Wiertlewski, M., and V. Hayward, "Mechanical behavior of the fingertip in the range of frequencies and displacements relevant to touch", Journal of biomechanics, vol. 45, no. 11: Elsevier, pp. 1869–1874, 2012.  (1.36 MB)
2009
Curet, O. M., M. A. MacIver, and N. A. Patankar, "Multi-directional thrusting using oppositely traveling waves in knifefish swimming", Bulletin of the American Physical Society, vol. 54: APS, 2009.
Seghete, V., and T. D. Murphey, "Multiple Instantaneous Collisions in a Variational Framework", Proceedings of the 48th IEEE Conference on Decision and Control (CDC), pp. 5015 -5020, dec., 2009.  (261.08 KB)
2008
Colgate, J. E., P. F. Decker, S. H. Klostermeyer, A. Makhlin, D. Meer, M. A. Peshkin, M. Robie, and J. J. Santos-Munné, Methods and Apparatus for Manipulation of Heavy Payloads with Intelligent Assist devices, , 2008.
Murphey, T. D., "Mechanical Manipulation Using Reduced Models of Uncertainty", Algorithmic Foundation of Robotics VII: Springer, pp. 359–374, 2008.  (462.39 KB)
Murphey, T. D., "On multiple model control for multiple contact systems", Automatica, vol. 44, no. 2: Elsevier, pp. 451–458, 2008.  (313.75 KB)
Weir, D. W., J. E. Colgate, and M. A. Peshkin, "Measuring and increasing Z-width with active electrical damping", Haptic interfaces for virtual environment and teleoperator systems, 2008. haptics 2008. symposium on: IEEE, pp. 169–175, 2008.
Yang, P., R. A. Freeman, and K. M. Lynch, "Multi-agent coordination by decentralized estimation and control", Automatic Control, IEEE Transactions on, vol. 53, no. 11: IEEE, pp. 2480–2496, 2008.
2007
Egerstedt, M. B., T. D. Murphey, and J. Ludwig, "Motion programs for puppet choreography and control", Hybrid Systems: Computation and Control: Springer, pp. 190–202, 2007.  (498.57 KB)
Kim, K., J. E. Colgate, M. A. Peshkin, J. J. Santos-Munné, and A. Makhlin, "A miniature tactor design for upper extremity prosthesis", Frontiers in the Convergence of Bioscience and Information Technologies, 2007. FBIT 2007: IEEE, pp. 537–542, 2007.
Patton, J. L., D. A. Brown, E. Lewis, G. Crombie, J. J. Santos-Munné, A. Makhlin, J. E. Colgate, and M. A. Peshkin, "Motility Evaluation of a Novel Overground Functional Mobility Tool for Post Stroke Rehabilitation", Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on: IEEE, pp. 1049–1054, 2007.
2006
Colgate, J. E., and A. Makhlin, Methods and apparatus for eliminating instability in intelligent assist devices, : Google Patents, 2006.
Murphey, T. D., "Modeling and control of multiple-contact manipulation without modeling friction", American Control Conference, 2006: IEEE, pp. 8–pp, 2006.  (380.39 KB)
Murphey, T. D., "Motion planning for kinematically overconstrained vehicles using feedback primitives", Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on: IEEE, pp. 1643–1648, 2006.  (121.95 KB)
Schearer, E. M., "Modeling Dynamics and Exploring Control of a Single-Wheeled Dynamically Stable Mobile Robot with Arms", Robotics Institute, Pittsburgh, Carnegie Mellon University, 08/2006.  (1.67 MB)
Shucker, B., T. D. Murphey, and J. K. Bennett, "A method of cooperative control using occasional non-local interactions", Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on: IEEE, pp. 1324–1329, 2006.  (512 KB)
2005
Peshkin, M. A., and W. A. Lorenz, Method and apparatus for force sensors, : Google Patents, 2005.
Schultz, A. E., J. H. Solomon, M. A. Peshkin, and M. J. Z. Hartmann, "Multifunctional whisker arrays for distance detection, terrain mapping, and object feature extraction", Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on: IEEE, pp. 2588–2593, 2005.
Sulzer, J. S., M. A. Peshkin, and J. L. Patton, "MARIONET: An exotendon-driven rotary series elastic actuator for exerting joint torque", Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on: IEEE, pp. 103–108, 2005.
2003
Boy, ES., E. Burdet, CL. Teo, and J. E. Colgate, "Motion guidance experiments with scooter cobot", Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings. 11th Symposium on: IEEE, pp. 63–69, 2003.
Hartmann, M. J. Z., N. J. Johnson, R. B. Towal, and C. Assad, "Mechanical characteristics of rat vibrissae: resonant frequencies and damping in isolated whiskers and in the awake behaving animal", The Journal of neuroscience, vol. 23, no. 16: Soc Neuroscience, pp. 6510–6519, 2003.  (494.96 KB)
2002
Lynch, K. M., C. Liu, A. Sørensen, S. M. Kim, M. A. Peshkin, J. E. Colgate, T. Tickel, D. Hannon, and K. Shiels, "Motion guides for assisted manipulation", The International Journal of Robotics Research, vol. 21, no. 1: SAGE Publications, pp. 27–43, 2002.
Nelson, M. E., M. A. MacIver, and S. Coombs, "Modeling electrosensory and mechanosensory images during the predatory behavior of weakly electric fish", Brain, behavior and evolution, vol. 59, no. 4: Karger Publishers, pp. 199–210, 2002.  (214.36 KB)
2000
Shiroma, N., K. M. Lynch, H. Arai, and K. Tanie, "Motion planning for a three-axis planar manipulator with a passive revolute joint", Trans. of Japan Society of Mechanical Engineers, vol. 66, no. 642, pp. 545–552, 2000.
1999
Goswami, A., and M. A. Peshkin, "Mechanically implementable accommodation matrices for passive force control", The International Journal of Robotics Research, vol. 18, no. 8: SAGE Publications, pp. 830–844, 1999.
1998
Brown, J. M., and J. E. Colgate, "Minimum mass for haptic display simulations", ASME IMECE DSC, pp. 249–256, 1998.
Lynch, K. M., N. Shiroma, H. Arai, and K. Tanie, "Motion planning for a 3-DOF robot with a passive joint", Robotics and Automation, 1998 IEEE International Conference on, vol. 2: IEEE, pp. 927–932, 1998.
1993
Goswami, A., and M. A. Peshkin, "Mechanical computation for passive force control", Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on: IEEE, pp. 476–483, 1993.
1992
Lynch, K. M., H. Maekawa, and K. Tanie, "Manipulation and active sensing by pushing using tactile feedback", Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 416–421, 1992.
Lynch, K. M., "The mechanics of fine manipulation by pushing", Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on, pp. 2269 -2276 vol.3, may, 1992.  (98.14 KB)
1991
Anderson, K. M., and J. E. Colgate, "A model of the attachment/detachment cycle of electrostatic micro actuators", Proc. ASME Micromechanical Sensors, Actuators, and Systems, volume DSC, vol. 32, pp. 255, 1991.
1989
Peshkin, M. A., and A. C. Sanderson, "Minimization of energy in quasi-static manipulation", Robotics and Automation, IEEE Transactions on, vol. 5, no. 1: IEEE, pp. 53–60, 1989.
1988
Peshkin, M. A., and A. C. Sanderson, "The motion of a pushed, sliding workpiece", Robotics and Automation, IEEE Journal of, vol. 4, no. 6: IEEE, pp. 569–598, 1988.
1986
Peshkin, M. A., and A. C. Sanderson, "Manipulation of a sliding object", Robotics and Automation. Proceedings. 1986 IEEE International Conference on, vol. 3: IEEE, pp. 233–239, 1986.
Peshkin, M. A., and A. C. Sanderson, The Motion of a Pushed, Sliding Object: Contact Friction, : Department of Computer Science, Carnegie-Mellon University, 1986.
Peshkin, M. A., and A. C. Sanderson, The Motion of a Pushed, Sliding Object: Part 2: Contact Friction, : Carnegie-Mellon University, the Robotics Institute, 1986.
1985
Peshkin, M. A., and A. C. Sanderson, A Modeless Convex Hull Algorithm for Simple Polygons, : Carnegie-Mellon University, The Robotics Institute, 1985.
Peshkin, M. A., and A. C. Sanderson, The Motion of a Pushed, Sliding Object, : Carnegie-Mellon University, The Robotics Institute, 1985.
Sanderson, A. C., and M. A. Peshkin, The Motion of a Pushed, Sliding Object. Part 1. Sliding Friction, , no. CMU-RI-TR-85-18, Pittsburgh, PA, Carnegie Mellon University, 1985.