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Travers, M., T. D. Murphey, and L. Pao, "Impulse optimization for data association", Decision and Control (CDC), 2010 49th IEEE Conference on: IEEE, pp. 2204–2209, 2010.  (284.48 KB)
Travers, M., T. D. Murphey, and L. Pao, "Impulsive data association with an unknown number of targets", Proceedings of the 14th international conference on Hybrid systems: computation and control: ACM, pp. 261–270, 2011.  (506.86 KB)
Lewis, M. A., R. Etienne-Cummings, M. J. Z. Hartmann, Z. R. Xu, and A. H. Cohen, "An in silico central pattern generator: silicon oscillator, coupling, entrainment, and physical computation", Biological Cybernetics, vol. 88, no. 2: Springer, pp. 137–151, 2003.
Mehling, J. S., J. E. Colgate, and M. A. Peshkin, "Increasing the impedance range of a haptic display by adding electrical damping", Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. World Haptics 2005. First Joint: IEEE, pp. 257–262, 2005.
Aguirre-Ollinger, G., J. E. Colgate, M. A. Peshkin, and A. Goswami, "Inertia Compensation Control of a One-Degree-of-Freedom Exoskeleton for Lower-Limb Assistance: Initial Experiments", Neural Systems and Rehabilitation Engineering, IEEE Transactions on, vol. 20, no. 1: IEEE, pp. 68–77, 2012.
Lynch, K. M., "Inexpensive conveyor-based parts feeding", Assembly Automation, vol. 19, no. 3, pp. 209–15, 1999.
MacIver, M. A., N. A. Patankar, O. M. Curet, and A. A. Shirgaonkar, "Infomechanical specializations for prey capture in knifefish", Bulletin of the American Physical Society, vol. 52: APS, 2007.
Reed, K. B., M. A. Peshkin, J. E. Colgate, and J. L. Patton, "Initial studies in human-robot-human interaction: Fitts' law for two people", Robotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International Conference on, vol. 3: IEEE, pp. 2333–2338, 2004.
Kienzle, T. C., S. D. Stulberg, M. A. Peshkin, A. Quaid, and C. H. Wu, "An integrated CAD-robotics system for total knee replacement surgery", Systems, Man and Cybernetics, 1992., IEEE International Conference on: IEEE, pp. 1609–1614, 1992.
Peshkin, M. A., "Integrator for measuring magnetic fields", Review of Scientific Instruments, vol. 52, no. 7, pp. 1108–1109, 1981.
Colgate, J. E., M. A. Peshkin, and S. H. Klostermeyer, "Intelligent assist devices in industrial applications: a review", Intelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on, vol. 3: IEEE, pp. 2516–2521, 2003.
Assad, C., M. J. Z. Hartmann, and M. A. Lewis, "Introduction to the special issue on biomorphic robotics", Autonomous Robots, vol. 11, no. 3: Springer, pp. 195–200, 2001.
Choudhury, P., B. Stephens, and K. M. Lynch, "Inverse kinematics-based motion planning for underactuated systems", Robotics and Automation, 2004 IEEE International Conference on, vol. 3: IEEE, pp. 2242–2248, 2004.
Boy, ES., E. Burdet, CL. Teo, and J. E. Colgate, "Investigation of motion guidance with scooter cobot and collaborative learning", Robotics, IEEE Transactions on, vol. 23, no. 2: IEEE, pp. 245–255, 2007.
Murphey, T. D., and J. W. Burdick, "Issues in controllability and motion planning for overconstrained wheeled vehicles", Proc. Int. Conf. Math. Theory of Networks and Systems (MTNS): Citeseer, 2000.  (1.78 MB)
Lynch, K. M., "Issues in nonprehensile manipulation", Robotics the Algorithmic perspective: The Third Workshop on the Algorithmic Foundations of Robotics, pp. 237–250, 1998.
Colgate, J. E., M. C. Stanley, and J. M. Brown, "Issues in the haptic display of tool use", Intelligent Robots and Systems 95.'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on, vol. 3: IEEE, pp. 140–145, 1995.
Tzorakoleftherakis, E., and T. D. Murphey, "Iterative Sequential Action Control for Stable, Model-Based Control of Nonlinear Systems", IEEE Transactions on Automatic Control, 2018.  (1.25 MB)
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Peshkin, M. A., D. A. Brown, J. J. Santos-Munné, A. Makhlin, E. Lewis, J. E. Colgate, J. L. Patton, and D. Schwandt, "KineAssist: A robotic overground gait and balance training device", Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on: IEEE, pp. 241–246, 2005.
Patton, J. L., D. A. Brown, M. A. Peshkin, J. J. Santos-Munné, A. Makhlin, E. Lewis, J. E. Colgate, and D. Schwandt, "KineAssist: design and development of a robotic overground gait and balance therapy device", Topics in stroke rehabilitation, vol. 15, no. 2: Thomas Land, pp. 131–139, 2008.
Tickel, T., D. Hannon, K. M. Lynch, M. A. Peshkin, and J. E. Colgate, "Kinematic constraints for assisted single-arm manipulation", Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on, vol. 2: IEEE, pp. 2034–2041, 2002.
Bullo, F., and K. M. Lynch, "Kinematic controllability for decoupled trajectory planning in underactuated mechanical systems", Robotics and Automation, IEEE Transactions on, vol. 17, no. 4, pp. 402 -412, aug, 2001.  (234.22 KB)
Gillespie, R. B., C. A. Moore, M. A. Peshkin, and J. E. Colgate, "Kinematic creep in a continuously variable transmission: Traction drive mechanics for cobots", TRANSACTIONS-AMERICAN SOCIETY OF MECHANICAL ENGINEERS JOURNAL OF MECHANICAL DESIGN, vol. 124, no. 4: AMERICAN SOCIETY MECHANICAL ENGINEERS, pp. 713–722, 2002.
Murphey, T. D., and J. W. Burdick, "Kinematic reducibility of multiple model systems", Decision and Control, 2003. Proceedings. 42nd IEEE Conference on, vol. 5: IEEE, pp. 5307–5313, 2003.  (249.15 KB)
Murphey, T. D., "Kinematic reductions for uncertain mechanical contact", Robotica, vol. 25, no. 6: Cambridge Univ Press, pp. 751–764, 2007.  (540.6 KB)
Ruiz-Torres, R., O. M. Curet, G. V. Lauder, and M. A. MacIver, "Kinematics of the ribbon fin in hovering and swimming of the electric ghost knifefish", The Journal of Experimental Biology, vol. 216, pp. 823-834, 2013.  (2.64 MB) (933.18 KB)
Reed, K. B., M. A. Peshkin, M. J. Z. Hartmann, J. E. Colgate, and J. L. Patton, "Kinesthetic interaction", Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on: IEEE, pp. 569–574, 2005.
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Dai, X., J. E. Colgate, and M. A. Peshkin, "LateralPaD: A surface-haptic device that produces lateral forces on a bare finger", Haptics Symposium (HAPTICS), 2012 IEEE: IEEE, pp. 7–14, 2012.
Wiertlewski, M., and V. Hayward, "Les Interfaces Tactiles", Biofutur, vol. 294, pp. 3506, 2011.
DeJong, B. P., E. L. Faulring, J. E. Colgate, M. A. Peshkin, H. Kang, Y. S. Park, and T. F. Ewing, "Lessons learned from a novel teleoperation testbed", Industrial Robot: An International Journal, vol. 33, no. 3: Emerald Group Publishing Limited, pp. 187–193, 2006.
Lynch, K. M., and M. A. Peshkin, "Linear and rotational sensors", The Mechatronics Handbook: CRC Press, Boca Raton, FL, 2002.
Colgate, J. E., and M. E. Axland, Linear electrostatic actuator with means for concatenation, : Google Patents, 1993.
Colgate, J. E., H. Matsumoto, and W. Wannasuphoprasit, "Linear electrostatic actuators: gap maintenance via fluid bearings", Robotics and computer-integrated manufacturing, vol. 10, no. 5: Elsevier, pp. 365–376, 1993.
Solomon, J. H., M. A. Locascio, and M. J. Z. Hartmann, "Linear reactive control for efficient 2D and 3D bipedal walking over rough terrain", Adaptive Behavior, vol. 21, issue 1, pp. 29 - 46, 02/2013.  (1.18 MB) (8.97 MB) (4.03 MB) (8.42 MB) (7.17 MB) (14.72 MB)
Solomon, J. H., M. A. Locascio, and M. J. Z. Hartmann, "Linear reactive control for efficient 2D and 3D bipedal walking over rough terrain", Adaptive Behavior: SAGE Publications, 2012.
Locascio, M. A., J. H. Solomon, and M. J. Z. Hartmann, "Linear reactive control of three-dimensional bipedal walking in the presence of noise and uncertainty", Adaptive Behavior, issue 20: SAGE Publications, 2012.
Travers, M., T. D. Murphey, and L. Pao, "Linear Time-Varying Impulse Optimization for Data Association", American Control Conference (ACC), 2012.  (463.03 KB)
Johnson, E., and T. D. Murphey, "Linearizations for mechanical systems in generalized coordinates", American Control Conference (ACC), 2010: IEEE, pp. 629–633, 2010.  (205.97 KB)
Murphey, T. D., and J. W. Burdick, "A local controllability test for nonlinear multiple model systems", American Control Conference, 2002. Proceedings of the 2002, vol. 6: IEEE, pp. 4657–4661, 2002.  (955.88 KB)
Wilson, A. D., and T. D. Murphey, "Local E-optimality Conditions for Trajectory Design to Estimate Parameters in Nonlinear Systems", American Control Conference (ACC), pp. 443-450, 2014.  (1.01 MB)
Mamakoukas, G., M. Castano, X. Tan, and T. Murphey, "Local Koopman Operators for Data-Driven Control of Robotic Systems", Robotics: Science and Systems, 2019.  (2.35 MB) (2.24 MB)
Johnson, E., and T. D. Murphey, "Local planning using switching time optimization", Automation Science and Engineering (CASE), 2010 IEEE Conference on: IEEE, pp. 828–834, 2010.  (259.73 KB)
Lynch, K. M., "Locally controllable manipulation by stable pushing", Robotics and Automation, IEEE Transactions on, vol. 15, no. 2: IEEE, pp. 318–327, 1999.
Lynch, K. M., "Locally controllable polygons by stable pushing", Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on, vol. 2: IEEE, pp. 1442–1447, 1997.
Silverman, Y., Y. Bai, J. B. Snyder, and M. A. MacIver, "Location and Orientation Estimation with an Electrosensing Robot", IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2012, 10/2012.  (1.11 MB)
Hwang, H., K. M. Lynch, and Y. Youm, "Locomotion via Impact Switching between Decoupling Vector Fields", Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on: IEEE, pp. 5243–5248, 2006.
Dubertret, B., N. Rivier, and M. A. Peshkin, "Long-range geometrical correlations in two-dimensional foams", Journal of Physics A: Mathematical and General, vol. 31, no. 3: IOP Publishing, pp. 879, 1999.
Pervan, A., and T. D. Murphey, "Low Complexity Control Policy Synthesis for Embodied Computation in Synthetic Cells", Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018.  (1.42 MB)
Gyongyosi, M., A. Daley, B. Resnick, and M. Rubenstein, "Low cost sensing and communication system for rotor-craft.", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 17), 2017.  (465.85 KB)
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Murphey, T. D., and B. Argall, "Making Robotic Marionettes Perform", ICRA Workshop on Robotics and Performance Arts: Reciprocal Influences, 2012.  (1.46 MB)
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.
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.
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.
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.
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)
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)
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.
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)
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)
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.
Murphey, T. D., "Mechanical Manipulation Using Reduced Models of Uncertainty", Algorithmic Foundation of Robotics VII: Springer, pp. 359–374, 2008.  (462.39 KB)
Curet, O. M., N. A. Patankar, G. V. Lauder, and M. A. MacIver, "Mechanical properties of a bio-inspired robotic knifefish with an undulatory propulsor", Bioinspiration & Biomimetics, vol. 6, no. 2: IOP Publishing, pp. 026004, 2011.  (584.62 KB)
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)
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)
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.
Colgate, J. E., and K. M. Lynch, "Mechanics and control of swimming: a review", Oceanic Engineering, IEEE Journal of, vol. 29, no. 3, pp. 660 - 673, july, 2004.  (433.52 KB)
Belytschko, T., A. Bayliss, C. Brinson, S. H. Carr, W. Kath, S. Krishnaswamy, B. Moran, J. Nocedal, and M. A. Peshkin, "Mechanics in the engineering first curriculum at Northwestern University", International Journal of Engineering Education, vol. 13, no. 6, 1997.
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)
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.
DeJong, B. P., J. E. Colgate, and M. A. Peshkin, "Mental Transformations in Human-Robot Interaction", Mixed Reality and Human-Robot Interaction: Springer, pp. 35–51, 2011.
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.
Wannasuphoprasit, W., J. E. Colgate, D. Meer, and M. A. Peshkin, Method and apparatus for a high-performance hoist, : Collaborative Motion Control, Inc., 2001.
Peshkin, M. A., and W. A. Lorenz, Method and apparatus for force sensors, : Google Patents, 2005.
Colgate, J. E., M. A. Peshkin, and E. C. Chubb, Method and apparatus for increasing magnitude and frequency of forces applied to a bare finger on a haptic surface, , 2011.
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)
Colgate, J. E., and A. Makhlin, Methods and apparatus for eliminating instability in intelligent assist devices, : Google Patents, 2006.
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.
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.
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.
Ansari, A., and T. D. Murphey, "Minimal parametric sensitivity trajectories for nonlinear systems", American Control Conference (ACC), 2013.  (512.49 KB)
Ansari, A., and T. D. Murphey, "Minimal Sensitivity Control for Hybrid Environments", IROS, 2013.  (469.82 KB)
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.
Iannitti, S., and K. M. Lynch, "Minimum control-switch motions for the snakeboard: A case study in kinematically controllable underactuated systems", Robotics, IEEE Transactions on, vol. 20, no. 6: IEEE, pp. 994–1006, 2004.
Brown, J. M., and J. E. Colgate, "Minimum mass for haptic display simulations", ASME IMECE DSC, pp. 249–256, 1998.
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)
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.
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)
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)
Peshkin, M. A., and A. C. Sanderson, A Modeless Convex Hull Algorithm for Simple Polygons, : Carnegie-Mellon University, The Robotics Institute, 1985.
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)
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)
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)
Quist, B. W., V. Seghete, L. A. Huet, T. D. Murphey, and M. J. Z. Hartmann, "Modeling Forces and Moments at the Base of a Rat Vibrissa during Noncontact Whisking and Whisking against an Object", Journal of Neuroscience, vol. 34, issue 30, pp. 9828 - 9844, 07/2014.
Liao, Y. W., E. M. Schearer, X. Hu, E. Perreault, M. Tresch, and K. M. Lynch, "Modeling Open-Loop Stability of a Human Arm Driven by a Functional Electrical Stimulation Neuroprosthesis", 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2013.  (1.01 MB)
Peshkin, M. A., J. E. Colgate, J. J. Santos-Munné, D. Meer, J. Lipsey, W. Wannasuphoprasit, S. H. Klostermeyer, and others, Modules for use in an integrated intelligent assist system, : Google Patents, 2004.
Towal, R. B., B. W. Quist, V. Gopal, J. H. Solomon, and M. J. Z. Hartmann, "The morphology of the rat vibrissal array: a model for quantifying spatiotemporal patterns of whisker-object contact", PLoS computational biology, vol. 7, no. 4: Public Library of Science, pp. e1001120, 2011.
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.
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.
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.
Peshkin, M. A., and A. C. Sanderson, The Motion of a Pushed, Sliding Object, : Carnegie-Mellon University, The Robotics Institute, 1985.
Peshkin, M. A., and A. C. Sanderson, The Motion of a Pushed, Sliding Object: Contact Friction, : Department of Computer Science, Carnegie-Mellon University, 1986.
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.
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.
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.
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.
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.
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)
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)
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.
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.
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.
Liao, Y. W., E. M. Schearer, E. Perreault, M. Tresch, and K. M. Lynch, "Multi-Muscle FES Control of the Human Arm for Interaction Tasks—Stabilizing with Muscle Co-Contraction and Postural Adjustment: A Simulation Study", 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014.  (2.3 MB)
Schearer, E. M., Y. W. Liao, E. Perreault, M. Tresch, W. Memberg, R. Kirsch, and K. M. Lynch, "Multi-Muscle FES Force Control of the Human Arm for Arbitrary Goals", IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 22, issue 3, pp. 1-10, 05/2014.  (5.03 MB)
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)
Murphey, T. D., "On multiple model control for multiple contact systems", Automatica, vol. 44, no. 2: Elsevier, pp. 451–458, 2008.  (313.75 KB)
Sefati, S., I. D. Neveln, E. Roth, T. Mitchell, J. B. Snyder, M. A. MacIver, E. S. Fortune, and N. J. Cowan, "Mutually opposing forces during locomotion can eliminate the tradeoff between maneuverability and stability", Proceedings of the National Academy of Sciences, 2013.  (1.24 MB)
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Chib, V. S., M. A. Krutky, K. M. Lynch, and F. A. M. Ivaldi, "The nervous system independently controls motion and force", Proc. 17th Ann. Neural Control of Movement Meeting, 2007.
MacIver, M. A., "Neuroethology: from morphological computation to planning", The Cambridge handbook of situated cognition, New York, NY, Cambridge University Press, pp. 480–504, 2009.  (8.41 MB)
Krakauer, J. W., A. A. Ghazanfar, A. Gomez-Marin, M. A. MacIver, and D. Poeppel, "Neuroscience needs behavior: correcting a reductionist bias", Neuron, vol. 93, pp. 480--490, 02/2017.  (897.57 KB)
Shirgaonkar, A. A., M. A. MacIver, and N. A. Patankar, "A new mathematical formulation and fast algorithm for fully resolved simulation of self-propulsion", Journal of Computational Physics, vol. 228, no. 7: Elsevier, pp. 2366–2390, 2009.  (1.26 MB)
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Murphey, T. D., and J. W. Burdick, "Nonsmooth controllability theory and an example", Decision and Control, 2002, Proceedings of the 41st IEEE Conference on, vol. 1: IEEE, pp. 370–376, 2002.  (330.2 KB)
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Murphey, T. D., "On Observing Contact States in Overconstrained Manipulation", Multi-point Interaction with Real and Virtual Objects: Springer-Verlag, pp. 151–163, 2005.  (400.51 KB)
Snyder, J. B., M. E. Nelson, J. W. Burdick, and M. A. MacIver, "Omnidirectional sensory and motor volumes in electric fish", PLoS biology, vol. 5, no. 11: Public Library of Science, pp. e301, 2007.  (4.03 MB)
Aguirre-Ollinger, G., J. E. Colgate, M. A. Peshkin, and A. Goswami, "A one-degree-of-freedom assistive exoskeleton with inertia compensation: the effects on the agility of leg swing motion", Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, vol. 225, no. 3: Sage Publications, pp. 228–245, 2011.
Kalinowska, A., K. Fitzsimons, J. Dewald, and T. D. Murphey, "Online User Assessment for Minimal Intervention During Task-Based Robotic Assistance", Robotics: Science & Systems, 06/2018.  (1.37 MB)
Rosa, N., and K. M. Lynch, "Open-loop Stability of Time-based vs. Event-based Switching in Locomotion", Dynamic Walking Conference, 2013.  (182.62 KB)
Broad, A., T. D. Murphey, and B. Argall, "Operation and Imitation under Safety-Aware Shared Control", Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018.  (746.95 KB)
Miller, L. M., and T. D. Murphey, "Optimal contact decisions for ergodic exploration", IEEE Int. Conf. on Decision and Control (CDC), 2012.  (984.48 KB)
Lynch, K. M., "Optimal control of the thrusted skate", Automatica, vol. 39, no. 1: Elsevier, pp. 173–176, 2003.
Mavrommati, A., A. Ansari, and T. D. Murphey, "Optimal Control-On-Request: An Application in Real-Time Assistive Balance Control", IEEE International Conference on Robotics and Automation (ICRA), pp. 5928-5934, 2015.  (1.6 MB)
Fitzsimons, K., E. Tzorakoleftherakis, and T. D. Murphey, "Optimal Human-In-The-Loop Interfaces Based on Maxwell's Demon", American Control Conference (ACC), Boston, MA, pp. 4397-4402, 07/2016.  (465.51 KB)
Yang, P., R. A. Freeman, and K. M. Lynch, "Optimal information propagation in sensor networks", Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on: IEEE, pp. 3122–3127, 2006.
Long, A. W., T. D. Murphey, and K. M. Lynch, "Optimal motion planning for a class of hybrid dynamical systems with impacts", Robotics and Automation (ICRA), 2011 IEEE International Conference on: IEEE, pp. 4220–4226, 2011.  (482.55 KB)
Postlethwaite, C. M., T. M. Psemeneki, J. Selimkhanov, M. Silber, and M. A. MacIver, "Optimal movement in the prey strikes of weakly electric fish: a case study of the interplay of body plan and movement capability", Journal of The Royal Society Interface, vol. 6, no. 34: The Royal Society, pp. 417–433, 2009.  (2.24 MB)
Bale, R., A. Pal Singh Bhalla, M. A. MacIver, and N. A. Patankar, "Optimal number of waves for ribbon fin propulsion", Bulletin of the American Physical Society, vol. 57: APS, 2012.
Silverman, Y., L. M. Miller, M. A. MacIver, and T. D. Murphey, "Optimal Planning for Information Acquisition", IROS 2013, 2013.  (1.77 MB)
Miller, L. M., and T. D. Murphey, "Optimal Planning for Target Localization and Coverage Using Range Sensing", IEEE Int. Conf. on Automation Science and Engineering (CASE): 2015, pp. 501-508, 2015.  (2.93 MB)
Schearer, E. M., Y. W. Liao, E. Perreault, M. Tresch, and K. M. Lynch, "Optimal Sampling for Identifying Models for FES Control of Neuroprostheses", International Functional Electrical Stimulation Conference, 2012.  (1.14 MB)
Schearer, E. M., Y. W. Liao, E. Perreault, M. Tresch, and K. M. Lynch, "Optimal Sampling of Recruitment Curves for Functional Electrical Stimulation Control", 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012.  (111.13 KB)
Wilson, A. D., and T. D. Murphey, "Optimal Trajectory Design for Well-Conditioned Parameter Estimation", IEEE Conference on Automation Science and Engineering (CASE), pp. 13-19, 2013.  (320.51 KB)
Umbanhowar, P., and K. M. Lynch, "Optimal vibratory stick-slip transport", Automation Science and Engineering, IEEE Transactions on, vol. 5, no. 3: IEEE, pp. 537–544, 2008.
Flaßkamp, K., T. D. Murphey, and S. Ober-Blöbaum, "Optimization for Discretized Switched Systems", Annual Meeting of the International Association of Applied Mathematics and Mechanics, 2013.

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