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2019
Mugan, U., and M. A. MacIver, "The shift from life in water to life on land advantaged planning in visually-guided behavior", bioRxiv, pp. 585760, 03/2019.  (4.59 MB)
Woodruff, J. Z., and K. M. Lynch, "Second-Order Contact Kinematics Between Three-Dimensional Rigid Bodies", Journal of Applied Mechanics, vol. 866371316, issue 84333, pp. 085501, 05-17-2019.  (241.7 KB) (1008.74 KB)
2018
Broad, A., I. Abraham, T. D. Murphey, and B. Argall, "Structured Neural Network Dynamics for Model-based Control", Learning and Inference in Robotics (LAIR) Workshop, 2018.  (344.59 KB)
Mamakoukas, G., M. A. MacIver, and T. D. Murphey, "Superlinear Convergence Using Controls Based on Second-Order Needle Variations", Conference on Decision and Control, 2018.  (2.52 MB)
SaLoutus, A., and M. Rubenstein, "SpinBot: An Autonomous, Externally Actuated Robot for Swarm Applications. ", Int. Symp. on Distributed Autonomus Robotic Systems (DARS 18)., 2018.  (1.45 MB)
2015
Ansari, A., K. Flaßkamp, and T. D. Murphey, "Sequential Action Control for Tracking of Free Invariant Manifolds", Conference on Analysis and Design of Hybrid Systems, pp. 335-342, 2015.  (1.9 MB)
Johnson, E., J. A. Schultz, and T. D. Murphey, "Structured Linearization of Discrete Mechanical Systems for Analysis and Optimal Control", IEEE Transactions on Automation Science and Engineering, vol. 12, issue 1, pp. 140-152, 2015.  (340.62 KB)
Prabhakar, A., K. Flaßkamp, and T. D. Murphey, "Symplectic Integration for Optimal Ergodic Control", IEEE Int. Conf. on Decision and Control (CDC) 2015, 2015.  (1.14 MB)
Shultz, C., M. A. Peshkin, and E. J. Colgate, "Surface haptics via electroadhesion: Expanding electrovibration with Johnsen and Rahbek", 2015 IEEE World Haptics Conference (WHC)2015 IEEE World Haptics Conference (WHC), Evanston, IL, IEEE, pp. 57 - 62, 2015.
2013
Elwin, M. L., R. A. Freeman, and K. M. Lynch, "A Systematic Design Process for Internal Model Average Consensus Estimators", Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on, Dec, 2013.  (295.76 KB)
Hartmann, M. J. Z., and J. H. Solomon, Systems, methods, and apparatus for reconstruction of 3-D object morphology, position, orientation and texture using an array of tactile sensors, , vol. US8504500 B2, no. US 12/847,822, 08/2013.
Leong, Y. P., and T. D. Murphey, "Second-order switching time and magnitude optimization for impulsive hybrid systems", American Control Conference (ACC), pp. 6213-6218, 2013.
Miller, L. M., and T. D. Murphey, "Simultaneous Optimal Estimation of Mode Transition Times and Parameters Applied to Simple Traction Models", IEEE Transactions on Robotics, vol. 29, issue 6, pp. 1503, Dec. 2013.  (731.8 KB)
Mullenbach, J., C. Shultz, A. Marie Piper, M. A. Peshkin, and J. E. Colgate, "Surface haptic interactions with a TPad tablet", Proceedings of the adjunct publication of the 26th annual ACM symposium on User interface software and technology - UIST '13 Adjunct, St. Andrews, Scotland, United Kingdom, ACM Press, 2013.  (657.11 KB)
Wiertlewski, M., S. Endo, A. Wing, and V. Hayward, "Slip-induced vibration influences the grip reflex: A pilot study", Proceedings of the 2013 IEEE World Haptics Conference, 2013.  (715.99 KB)
2012
Bai, Y., J. B. Snyder, Y. Silverman, M. A. Peshkin, and M. A. MacIver, "Sensing Capacitance of Underwater Objects in Bio-inspired Electrosense", IROS 2012, 10/2012.  (2.41 MB)
Dai, X., J. Gu, X. Cao, J. E. Colgate, and HZ. Tan, "SlickFeel: sliding and clicking haptic feedback on a touchscreen", Adjunct proceedings of the 25th annual ACM symposium on User interface software and technology: ACM, pp. 21–22, 2012.
Flaßkamp, K., T. D. Murphey, and S. Ober-Blöbaum, "Switching Time Optimization in Discretized Hybrid Dynamical Systems", IEEE Int. Conf. on Decision and Control (CDC), Submitted, 2012.  (496.06 KB)
Manuel, S., R. L. Klatzky, M. A. Peshkin, and J. E. Colgate, "Surface haptic feature attenuation due to contact on opposing surface", Haptics Symposium (HAPTICS), 2012 IEEE: IEEE, pp. 31–35, 2012.
Miller, L. M., and T. D. Murphey, "Simultaneous Optimal Parameter and Mode Transition Time Estimation", IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2012.  (416.96 KB)
Rosa, N., A. Barber, R. D. Gregg, and K. M. Lynch, "Stable open-loop brachiation on a vertical wall", Robotics and Automation (ICRA), 2012 IEEE International Conference on: IEEE, pp. 1193–1199, 2012.  (921.24 KB)
Schearer, E. M., Y. W. Liao, E. Perreault, M. Tresch, W. Memberg, R. Kirsch, and K. M. Lynch, "System identification for 3D force control of a human arm neuroprosthesis using functional electrical stimulation", Robotics and Automation (ICRA), 2012 IEEE International Conference on: IEEE, pp. 3698–3705, 2012.  (343.17 KB)
Schroeder, C. L., and M. J. Z. Hartmann, "Sensory prediction on a whiskered robot: A tactile analogy to" optic flow"", Frontiers in Neurorobotics, vol. 6: Frontiers, pp. 9, 10/2012.
Wiertlewski, M., V. Hayward, and J. Lozada, System For Simulating A Contact With A Surface By Tactile Stimulation, , 2012.
2011
Caldwell, T. M., and T. D. Murphey, "Single integration optimization of linear time-varying switched systems", American Control Conference (ACC), 2011: IEEE, pp. 2024–2030, 2011.  (258.46 KB)
Caldwell, T. M., and T. D. Murphey, "Switching mode generation and optimal estimation with application to skid-steering", Automatica, vol. 47, no. 1, pp. 50 - 64, 2011.  (645.73 KB)
Johnson, E., and T. D. Murphey, "Second-order switching time optimization for non-linear time-varying dynamic systems", Automatic Control, IEEE Transactions on, vol. 25, issue 6, no. 99: IEEE, pp. 1–1, 2011.  (318.51 KB)
Long, A. W., R. D. Gregg, and K. M. Lynch, "The Simplest Parkour Model: Modeling, Experimental Validation and Stability Analysis", International Conference on Climbing and Walking Robots (CLAWAR), Paris, France, 2011.  (1.29 MB)
Vose, T. T. H., P. Umbanhowar, and K. M. Lynch, "Sliding manipulation of rigid bodies on a controlled 6-DoF plate", Proceedings of Robotics: Science and Systems, 2011.
Wiertlewski, M., J. Lozada, and V. Hayward, "The spatial spectrum of tangential skin displacement can encode tactual texture", Robotics, IEEE Transactions on, vol. 27, no. 3: IEEE, pp. 461–472, 2011.  (1.15 MB)
2010
Chubb, E. C., J. E. Colgate, and M. A. Peshkin, "Shiverpad: A glass haptic surface that produces shear force on a bare finger", Haptics, IEEE Transactions on, vol. 3, no. 3: IEEE, pp. 189–198, 2010.
Hartmann, M. J. Z., and J. H. Solomon, Sensing device with whisker elements, : Google Patents, 2010.
Snyder, K. L., and T. D. Murphey, "Second-order DMOC using projection", Decision and Control (CDC), 2010 49th IEEE Conference on: IEEE, pp. 1872–1878, 2010.  (399 KB)
Travers, M., T. D. Murphey, and L. Pao, "Stochastic sampling based data association", American Control Conference (ACC), 2010: IEEE, pp. 1386–1391, 2010.  (331.87 KB)
2009
Caldwell, T. M., and T. D. Murphey, "Second-order optimal estimation of slip state for a simple slip-steered vehicle", Automation Science and Engineering, 2009. CASE 2009. IEEE International Conference on: IEEE, pp. 133–139, 2009.  (510.44 KB)
Chib, V. S., M. A. Krutky, K. M. Lynch, and F. A. Mussa-Ivaldi, "The separate neural control of hand movements and contact forces", The Journal of Neuroscience, vol. 29, no. 12: Society for Neuroscience, pp. 3939–3947, 2009.
Chubb, E. C., J. E. Colgate, and M. A. Peshkin, "ShiverPad: A device capable of controlling shear force on a bare finger", EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint: IEEE, pp. 18–23, 2009.
Johnson, E., and T. D. Murphey, "Scalable variational integrators for constrained mechanical systems in generalized coordinates", Robotics, IEEE Transactions on, vol. 25, no. 6: IEEE, pp. 1249–1261, 2009.  (380.4 KB) (503.64 KB)
Johnson, E., and T. D. Murphey, "Second order switching time optimization for time-varying nonlinear systems", Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on: IEEE, pp. 5281–5286, 2009.  (261.85 KB)
2008
Bicchi, A., M. A. Peshkin, and J. E. Colgate, "Safety for physical humanrobot interaction", Springer handbook of robotics: New York: Springer-Verlag, pp. 1335–1348, 2008.
2007
Curet, O. M., A. A. Shirgaonkar, N. A. Patankar, and M. A. MacIver, "Simulation of bio-locomotion by a momentum redistribution technique for self-propulsion", Bulletin of the American Physical Society, vol. 52: APS, 2007.
Seghete, V., C. R. Menyuk, and B. S. Marks, "Solitons in the midst of chaos", Phys. Rev. A, vol. 76: American Physical Society, pp. 043803, Oct, 2007.
Shucker, B., T. D. Murphey, and J. K. Bennett, "Switching rules for decentralized control with simple control laws", American Control Conference, 2007. ACC'07: IEEE, pp. 1485–1492, 2007.  (465.06 KB)
2006
Bernheisel, J. D., and K. M. Lynch, "Stable transport of assemblies by pushing", Robotics, IEEE Transactions on, vol. 22, no. 4: IEEE, pp. 740–750, 2006.
Freeman, R. A., P. Yang, and K. M. Lynch, "Stability and convergence properties of dynamic average consensus estimators", Decision and Control, 2006 45th IEEE Conference on: IEEE, pp. 338–343, 2006.
Nelson, M. E., and M. A. MacIver, "Sensory acquisition in active sensing systems", Journal of Comparative Physiology A: Neuroethology, Sensory, Neural, and Behavioral Physiology, vol. 192, no. 6: Springer, pp. 573–586, 2006.  (431.48 KB)
Peshkin, M. A., J. E. Colgate, J. J. Santos-Munné, D. Meer, J. Lipsey, W. Wannasuphoprasit, and S. H. Klostermeyer, System and architecture for providing a modular intelligent assist system, : Google Patents, 2006.
Solomon, J. H., and M. J. Z. Hartmann, "Sensing features with robotic whiskers", Nature, vol. 443, pp. 525, 2006.
2005
Bernheisel, J. D., and K. M. Lynch, "Stable pushing of assemblies", Robotics and Automation, 2005 IEEE International Conference on: IEEE, pp. 3280–3287, 2005.
Pan, P., M. A. Peshkin, J. E. Colgate, and K. M. Lynch, "Static single-arm force generation with kinematic constraints", Journal of neurophysiology, vol. 93, no. 5: Am Physiological Soc, pp. 2752–2765, 2005.
Park, Y. S., H. Kang, T. F. Ewing, E. L. Faulring, B. P. DeJong, M. A. Peshkin, and J. E. Colgate, "Semi-autonomous Telerobotic Manipulation: A Viable Approach for Space Structure Deployment and Maintenance", AIP Conference Proceedings, vol. 746, pp. 1129, 2005.
2004
Bernheisel, J. D., and K. M. Lynch, "Stable transport of assemblies: Pushing stacked parts", Automation Science and Engineering, IEEE Transactions on, vol. 1, no. 2: IEEE, pp. 163–168, 2004.
Pan, P., K. M. Lynch, M. A. Peshkin, and J. E. Colgate, "Static single-arm force generation with kinematic constraints", Robotics and Automation, 2004 IEEE International Conference on, vol. 3: IEEE, pp. 2794–2800, 2004.
Park, Y. S., H. Kang, T. F. Ewing, E. L. Faulring, J. E. Colgate, and M. A. Peshkin, "Semi-automatic teleoperation for D&D", accepted American Nuclear Society 10th International Conference on Robotics and Remote Systems for Hazardous Environments, Gainesville, 2004.
2003
Murphey, T. D., and J. W. Burdick, "Smooth feedback control algorithms for distributed manipulators", Robotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on, vol. 3: IEEE, pp. 3619–3623, 2003.  (477.1 KB)
Weir, D. W., M. A. Peshkin, J. E. Colgate, P. Buttolo, J. Rankin, and M. Johnston, Switch characterization and the haptic profile, : Masters Thesis, Northwestern University, Evanston, IL, 2003.
2002
Lynch, K. M., M. Northrop, and P. Pan, "Stable limit sets in a dynamic parts feeder", Robotics and Automation, IEEE Transactions on, vol. 18, no. 4: IEEE, pp. 608–615, 2002.
2001
Hartmann, M. J. Z., A study to determine why some projects are finished late and overspent with-in Kumba Resources, not withstanding that advanced time planning techniques are freely available and are generally applied, : Stellenbosch: Stellenbosch University, 2001.
Lynch, K. M., M. Northrop, and P. Pan, "Stable limit set behavior in a dynamic parts feeder", Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on, vol. 2: IEEE, pp. 1129–1134, 2001.
Murphey, T. D., and J. W. Burdick, "On the stability and design of distributed manipulation control systems", IEEE International Conference on Robotics and Automation (ICRA), vol. 3: IEEE, pp. 2686–2691, 2001.
1998
Troccaz, J., M. A. Peshkin, and B. Davies, "Synergistic mechanical devices: a new generation of medical robots", ROBOTICS RESEARCH-INTERNATIONAL SYMPOSIUM-, vol. 8: MIT PRESS, pp. 317–324, 1998.
1997
Akella, S., W. H. Huang, K. M. Lynch, and M. T. Mason, "Sensorless parts orienting with a one-joint manipulator", Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on, vol. 3: IEEE, pp. 2383–2390, 1997.
Gillespie, R. B., and J. E. Colgate, "A survey of multibody dynamics for virtual environments", Proc. Int. Mechanical Engineering Conf. Exhibition, 1997.
1996
Akella, S., W. H. Huang, K. M. Lynch, and M. T. Mason, "Sensorless parts feeding with a one joint robot", Algorithms for Robotic Motion and Manipulation: AK Peters, Boston, MA, pp. 229–237, 1996.
Lynch, K. M., and M. T. Mason, "Stable Pushing: Mechanics, Controllability, and Planning", The International Journal of Robotics Research, vol. 15, no. 6, pp. 533-556, 1996.  (3.08 MB)
1995
Munne, J., M. A. Peshkin, S. Mirkovic, S. D. Stulberg, T. C. Kienzle, K. Morgan, R. Satava, H. Sieburg, R. Matthew, and J. Christensen, "A stereotactic and robotic system for pedicle screw placement", Medicine Meets Virtual Reality III, Interactive Technology and the New Paradigm for Healthcare, pp. 326–333, 1995.
Tsai, JC., and J. E. Colgate, "Stability of discrete time systems with unilateral nonlinearities", Proceedings of the International Mechanical Engineering Congress and Exposition, pp. 57–2, 1995.
1993
Grace, K. W., J. E. Colgate, M. R. Glucksberg, and J. H. Chun, "A six degree of freedom micromanipulator for ophthalmic surgery", Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on: IEEE, pp. 630–635, 1993.
Millman, P. A., M. C. Stanley, P. E. Grafing, and J. E. Colgate, "System for the implementation and kinesthetic display of virtual environments", Applications in Optical Science and Engineering: International Society for Optics and Photonics, pp. 49–56, 1993.
Schimmels, J. M., and M. A. Peshkin, "The space of admittance control laws that guarantees force-assembly with friction", Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on: IEEE, pp. 443–448, 1993.
1992
Colgate, J. E., "Stability of manipulators interacting with unstructured and structured dynamic environments", Proceedings of the IMACS/SICE International Symposium on Robotics, Mechatronics, and Manufacturing Systems. Kobe, Japan, pp. 1025–1030, 1992.
Millman, P. A., M. C. Stanley, P. E. Grafing, and J. E. Colgate, "System for the implementation and kinesthetic display of virtual environments [1833-09]", PROCEEDINGS-SPIE THE INTERNATIONAL SOCIETY FOR OPTICAL ENGINEERING: SPIE INTERNATIONAL SOCIETY FOR OPTICAL, pp. 49–49, 1992.
1990
Schimmels, J. M., and M. A. Peshkin, "Synthesis and validation of nondiagonal accommodation matrices for error-corrective assembly", Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on: IEEE, pp. 714–719, 1990.