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Conference Paper
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.
Stanley, M. C., and J. E. Colgate, "Real time simulation of stiff dynamic systems via distributed memory parallel processors", Virtual Reality Annual International Symposium, 1993., 1993 IEEE: IEEE, pp. 456–462, 1993.
Goswami, A., A. Quaid, and M. A. Peshkin, "Calibration and parameter identification of a 6-DOF robot using a single radial-distance transducer", Systems, Man and Cybernetics, 1992., IEEE International Conference on: IEEE, pp. 177–182, 1992.
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.
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)
Colgate, J. E., "Power and impedance scaling in bilateral manipulation", Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on: IEEE, pp. 2292–2297, 1991.
Colgate, J. E., "Robust Impedance Shaping via Bilateral Manipulation", American Control Conference, 1991: IEEE, pp. 3070–3071, 1991.
Goswami, A., and M. A. Peshkin, "Implementation of passive force control with redundant manipulators", Systems, Man, and Cybernetics, 1991.'Decision Aiding for Complex Systems, Conference Proceedings., 1991 IEEE International Conference on: IEEE, pp. 949–954, 1991.
Goswami, A., and M. A. Peshkin, "A task-space formulation of passive force control", Intelligent Control, 1991., Proceedings of the 1991 IEEE International Symposium on: IEEE, pp. 95–100, 1991.
Laurin-Kovitz, K. F., J. E. Colgate, and S. D. R. Carnes, "Design of components for programmable passive impedance", Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on: IEEE, pp. 1476–1481, 1991.
Millman, P. A., and J. E. Colgate, "Design of a four degree-of-freedom force-reflecting manipulandum with a specified force/torque workspace", Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on: IEEE, pp. 1488–1493, 1991.
Schimmels, J. M., and M. A. Peshkin, "Force-assemblability: Insertion of a workpiece into a fixture guided by contact forces alone", Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on: IEEE, pp. 1296–1301, 1991.
Goswami, A., M. A. Peshkin, and J. E. Colgate, "Passive robotics: an exploration of mechanical computation", American Control Conference, 1990: IEEE, pp. 2791–2796, 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.
Peshkin, M. A., "Programming a damping matrix for error-corrective assembly", Intelligent Control, 1989. Proceedings., IEEE International Symposium on: IEEE, pp. 334–339, 1989.
Peshkin, M. A., "Programmed compliance for error-correction in robotic assembly", Intelligent Control, 1988. Proceedings., IEEE International Symposium on: IEEE, pp. 332–337, 1988.
Peshkin, M. A., and A. C. Sanderson, "Planning robotic manipulation strategies for sliding objects", Robotics and Automation. Proceedings. 1987 IEEE International Conference on, vol. 4: IEEE, pp. 696–701, 1987.
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.
Journal Article
Berrueta, T., A. Pervan, K. Fitzsimons, and T. D. Murphey, "Dynamical System Segmentation for Information Measures in Motion", IEEE Robotics and Automation Letters, vol. 4, issue 1, pp. 169 - 176, 01/2019.  (1.76 MB)
Elwin, M. L., R. A. Freeman, and K. M. Lynch, "Distributed Environmental Monitoring With Finite Element Robots", IEEE Transactions on Robotics, pp. 1 - 19, Jan-01-2019.
Fitzsimons, K., A. Maria Acosta, J. Dewald, and T. D. Murphey, "Ergodicity reveals assistance and learning from physical human-robot interaction", Science: Robotics, vol. 4, issue 29, 04/2019.
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)
Yang, A. E. T., H. Belli, and M. J. Z. Hartmann, "Quantification of vibrissal mechanical properties across the rat mystacial pad", Journal of Neurophysiology, Mar-02-2021, 2019.
Abraham, I., and T. D. Murphey, "Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multiagent Systems", IEEE Robotics and Automation Letters, vol. 3, pp. 2987-2994, Oct, 2018.  (1.6 MB) (4.54 MB)
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, "Feedback Synthesis For Underactuated Systems Using Sequential Second-Order Needle Variations", The International Journal of Robotics Research, 2018.  (2.78 MB)
Mavrommati, A., E. Tzorakoleftherakis, I. Abraham, and T. D. Murphey, "Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration", IEEE Transactions on Robotics, issue 34, pp. 62-80, Jan-01-2017, 2018.  (5.62 MB) (6.23 MB) (10.28 MB)
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)
Abraham, I., A. Prabhakar, M. J. Z. Hartmann, and T. D. Murphey, "Ergodic Exploration using Binary Sensing for Non-Parametric Shape Estimation", IEEE Robotics and Automation Letters, vol. 2, issue 2, pp. 827-834, 2017.  (2.25 MB) (10.19 MB)
Bhattacharyya, K. D., D. L. McLean, and M. A. MacIver, "Visual threat assessment and reticulospinal encoding of calibrated responses in larval zebrafish", Current Biology, 09/2017.  (4.07 MB)
Elwin, M. L., R. A. Freeman, and K. M. Lynch, "Distributed Voronoi Neighbor Identification From Inter-Robot Distances", IEEE Robotics and Automation Letters, vol. 2, pp. 1320-1327, July, 2017.  (503.31 KB)
Flaßkamp, K., A. Ansari, and T. D. Murphey, "Hybrid Control for Tracking of Invariant Manifolds", Nonlinear Analysis: Hybrid Systems, 2017.  (2.21 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)
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)
Shi, J., J. Z. Woodruff, P. Umbanhowar, and K. M. Lynch, "Dynamic In-hand Sliding Manipulation", IEEE Transactions on Robotics, vol. 33, issue 4, pp. 778-795, 08/2017.  (4.08 MB) (37.57 MB)
Sprinkle, B., R. Bale, A. Pal Singh Bhalla, M. A. MacIver, and N. A. Patankar, "Hydrodynamic optimality of balistiform and gymnotiform locomotion", European Journal of Computational Mechanics, vol. 2642, issue 1-2, pp. 31 - 43, Apr-03-2017.  (536.39 KB)
Wilson, A. D., J. A. Schultz, A. Ansari, and T. D. Murphey, "Dynamic Task Execution Using Active Parameter Identification With the Baxter Research Robot", IEEE Transactions on Automation Science and Engineering, vol. 14, issue 1, pp. 391-397, 2017.  (1.15 MB) (3.44 MB)
Ansari, A., and T. D. Murphey, "Sequential Action Control: Closed-Form Optimal Control for Nonlinear Systems", IEEE Transactions on Robotics, vol. 32, issue 5, pp. 1196 - 1214, Oct. 2016.  (1.12 MB)
Bai, Y., I. D. Neveln, M. Peshkin, and M. A. MacIver, "Enhanced detection performance in electrosense through capacitive sensing", Bioinspiration & Biomimetics, vol. 11, pp. 055001, 2016.  (1.96 MB)
Belli, H., A. E. T. Yang, C. S. Bresee, and M. J. Z. Hartmann, "Variations in vibrissal geometry across the rat mystacial pad: base diameter, medulla, and taper", Journal of Neurophysiology, pp. jn.00054.2016, Nov-11-2016.
Bush, N. E., C. L. Schroeder, J. A. Hobbs, A. E. T. Yang, L. A. Huet, S. A. Solla, and M. J. Z. Hartmann, "Decoupling kinematics and mechanics reveals coding properties of trigeminal ganglion neurons in the rat vibrissal system", eLife, vol. 5, pp. e13969, Jun-27-2016.
Fang, S., M. A. Peshkin, and M. A. MacIver, "Human-in-the-loop active electrosense", Bioinspiration & Biomimetics, vol. 12, issue 1, pp. 014001, 12/2016.  (1.28 MB)
Hobbs, J. A., R. B. Towal, and M. J. Z. Hartmann, "Evidence for Functional Groupings of Vibrissae across the Rodent Mystacial Pad", PLOS Computational Biology, vol. 12, issue 1, pp. e1004109, Aug-01-2016.
Hobbs, J. A., R. B. Towal, and M. J. Z. Hartmann, "Spatiotemporal Patterns of Contact Across the Rat Vibrissal Array During Exploratory Behavior", Frontiers in Behavioral Neuroscience, vol. 9, May-01-2016.
Huet, L. A., and M. J. Z. Hartmann, "Simulations of a Vibrissa Slipping along a Straight Edge and an Analysis of Frictional Effects during Whisking", IEEE Transactions on Haptics, pp. 158-169, Jan-01-2016.  (234.85 KB) (590.91 KB) (224.61 KB)
Kaloti, A. S., E. C. Johnson, C. S. Bresee, S. N. Naufel, M. G. Perich, D. L. Jones, and M. J. Z. Hartmann, "Representation of Stimulus Speed and Direction in Vibrissal-Sensitive Regions of the Trigeminal Nuclei: A Comparison of Single Unit and Population Responses", PLOS ONE, vol. 11, issue 7, pp. e0158399, Jul-27-2016.
Mavrommati, A., J. A. Schultz, and T. D. Murphey, "Real-Time Dynamic-Mode Scheduling Using Single-Integration Hybrid Optimization", IEEE Transactions on Automation Science and Engineering, vol. 13, issue 3, pp. 1385 - 1398, Jan-07-2016.  (2.97 MB) (12.89 MB)
Miller, L. M., Y. Silverman, M. A. MacIver, and T. D. Murphey, "Ergodic Exploration of Distributed Information", Transactions on Robotics, vol. 32, issue 1, pp. 36-52, 2016.  (1.01 MB) (25.09 MB)
Tzorakoleftherakis, E., T. D. Murphey, and R. A. Scheidt, "Augmenting sensorimotor control using “goal‑aware” vibrotactile stimulation during reaching and manipulation behaviors", Experimental Brain Research, 04/2016.  (1.27 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)
Wiertlewski, M., R. Fenton Friesen, and J. E. Colgate, "Partial squeeze film levitation modulates fingertip friction", Proceedings of the National Academy of Sciences, vol. 113, pp. 9210–9215, 2016.
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)
Yu, Y. S. W., M. M. Graff, C. S. Bresee, Y. B. Man, and M. J. Z. Hartmann, "Whiskers aid anemotaxis in rats", Science Advances, vol. 2, issue 8, pp. e1600716, Aug-24-2016.  (4.14 MB) (29.4 MB) (1.85 MB)
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)
Bai, Y., J. B. Snyder, M. A. Peshkin, and M. A. MacIver, "Finding and identifying simple objects underwater with active electrosense", The International Journal of Robotics Research, 2015.  (3.68 MB)
Bale, R., I. D. Neveln, A. Pal Singh Bhalla, M. A. MacIver, and N. A. Patankar, "Convergent evolution of mechanically optimal locomotion in aquatic invertebrates and vertebrates", PLOS Biology, vol. 13, issue 4, 04/2015.  (4.35 MB)
Hobbs, J. A., R. B. Towal, and M. J. Z. Hartmann, "Probability distributions of whisker-surface contact: quantifying elements of the rat vibrissotactile natural scene", Journal of Experimental Biology, vol. 218, issue 16, pp. 2551 - 2562, Jan-08-2015.  (370.8 KB) (3.63 MB) (1.1 MB) (274.89 KB)
Huet, L. A., C. L. Schroeder, and M. J. Z. Hartmann, "Tactile signals transmitted by the vibrissa during active whisking behavior", Journal of Neurophysiology, vol. 113, issue 10, pp. 3511 - 3518, Jan-06-2015.  (660.46 KB)
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)
Wilson, A. D., J. A. Schultz, and T. D. Murphey, "Trajectory Optimization for Well-Conditioned Parameter Estimation", IEEE Transactions on Automation Science and Engineering, vol. 12, issue 1, pp. 28-36, 2015.  (720.18 KB)
Bale, R., A. A. Shirgaonkar, I. D. Neveln, A. Pal Singh Bhalla, M. A. MacIver, and N. A. Patankar, "Separability of drag and thrust in undulatory animals and machines", Sci. Rep., vol. 4, 12, 2014.  (1.65 MB) (307.23 KB)
Huet, L. A., and M. J. Z. Hartmann, "The search space of the rat during whisking behavior", Journal of Experimental Biology, vol. 217, issue 18, pp. 3365 - 3376, 09/2014.
Neveln, I. D., R. Bale, A. Pal Singh Bhalla, O. M. Curet, N. A. Patankar, and M. A. MacIver, "Undulating fins produce off-axis thrust and flow structures", Journal of Experimental Biology, vol. 217, pp. 201–213, 2014.  (3.85 MB)
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.
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)
Wilson, A. D., J. A. Schultz, and T. D. Murphey, "Trajectory Synthesis for Fisher Information Maximization", IEEE Transactions on Robotics, vol. 30, issue 6, pp. 1358-1370, 2014.  (1.53 MB)
Klöcker, A., M. Wiertlewski, V. Théate, V. Hayward, and J-L. Thonnard, "Physical Factors Influencing Pleasant Touch during Tactile Exploration", PLoS ONE, vol. 8, issue 11, Feb-11-2014, 2013.
Leong, Y. P., and T. D. Murphey, "Feature Localization Using Kinematics and Impulsive Hybrid Optimization", IEEE Transactions on Automation Science and Engineering, vol. 10, pp. 957-968, 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)
Neveln, I. D., Y. Bai, J. B. Snyder, J. R. Solberg, O. M. Curet, K. M. Lynch, and M. A. MacIver, "Biomimetic and bio-inspired robotics in electric fish research", Journal of Experimental Biology, issue 216, pp. 2501-2514, 06/2013.  (3.5 MB)
Patterson, B.W., A. O. Abraham, M. A. MacIver, and D. L. McLean, "Visually guided gradation of prey capture movements in larval zebrafish", The Journal of Experimental Biology, vol. 16, issue 216, pp. 3071-3083, 04/2013.  (1.66 MB)
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)
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)
Seghete, V., and T. D. Murphey, "A propagative model of simultaneous impact: existence, uniqueness, and design consequences", IEEE Transactions on Automation Engineering, 2013.  (1.62 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, 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)
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)
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.
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.
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.
Caldwell, T. M., and T. D. Murphey, "Projection-Based Switched System Optimization", American Control Conference, 2012.  (166.88 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.
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.
Pekarek, D., and T. D. Murphey, "Variational Nonsmooth Mechanics via a Projected Hamilton’s Principle", Proceedings of the American Control Conference, 2012.  (1.17 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)
Salvetti, D. J., C. J. Pino, S. Manuel, I. Dallmeyer, S. V. Rangarajan, T. Meyer, M. Kotov, and P. V. Shastri, "Design and Validation of a Compressive Tissue Stimulator with High-Throughput Capacity and Real-Time Modulus Measurement Capability", Tissue Engineering Part C: Methods, vol. 18, issue 3, pp. 205 - 214, 03/2012.
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.
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.
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.
Towal, R. B., B. W. Quist, J. H. Solomon, and M. J. Z. Hartmann, "Active sensing: Head and vibrissal velocity during exploratory behaviors of the rat", Frontiers in Sensing: Springer, pp. 209–224, 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)
Wiertlewski, M., and V. Hayward, "Transducer for mechanical impedance testing over a wide frequency range through active feedback", Review of Scientific Instruments, vol. 83, no. 2: AIP, pp. 025001–025001, 2012.  (449.77 KB)
Aguirre-Ollinger, G., J. E. Colgate, M. A. Peshkin, and A. Goswami, "Design of an active one-degree-of-freedom lower-limb exoskeleton with inertia compensation", The International Journal of Robotics Research, vol. 30, no. 4: SAGE Publications, pp. 486–499, 2011.
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.
Bale, R., M. A. MacIver, and N. A. Patankar, "Hydrodynamic optimality of ribbon fin shapes", Bulletin of the American Physical Society, vol. 56: APS, 2011.
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)
Curet, O. M., N. A. Patankar, G. V. Lauder, and M. A. MacIver, "Aquatic manoeuvering with counter-propagating waves: a novel locomotive strategy", Journal of The Royal Society Interface, vol. 8, no. 60: The Royal Society, pp. 1041–1050, 2011.  (2.36 MB)
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)
DeJong, B. P., J. E. Colgate, and M. A. Peshkin, "A Cyclic Robot for Lower Limb Exercise", Journal of Medical Devices, vol. 5, pp. 031006, 2011.
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.
Gregg, R. D., A. Degani, K. M. Lynch, and Y. Dhaher, "The basic mechanics of bipedal walking lead to asymmetric behavior", IEEE Int. Conf. on Rehab. Robotics, Zurich, Switzerland, 2011.
Gregg, R. D., Y. Dhaher, and K. M. Lynch, "Functional Asymmetry in a Five-Link 3D Bipedal Walker", IEEE Int. Conf. Engineering in Medicine and Biology Society, Boston, MA, 2011.
Hartmann, M. J. Z., "A night in the life of a rat: vibrissal mechanics and tactile exploration", Annals of the New York Academy of Sciences, vol. 1225, no. 1: Wiley Online Library, pp. 110–118, 2011.
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)
MacIver, M. A., "Fitting Science and Screen [Book Review]", Science, vol. 332, no. 6030: American Association for the Advancement of Science, pp. 665–665, 2011.  (166.19 KB)
Marasco, P. D., K. Kim, J. E. Colgate, M. A. Peshkin, and T. A. Kuiken, "Robotic touch shifts perception of embodiment to a prosthesis in targeted reinnervation amputees", Brain, vol. 134, no. 3: Oxford Univ Press, pp. 747–758, 2011.
Martin, P., E. Johnson, T. D. Murphey, and M. B. Egerstedt, "Constructing and implementing motion programs for robotic marionettes", IEEE Transactions on Automatic Control, no. 99: IEEE, pp. 1–1, 2011.  (530.78 KB)
Quist, B. W., R. A. Faruqi, and M. J. Z. Hartmann, "Variation in Young's modulus along the length of a rat vibrissa", Journal of biomechanics: Elsevier, 2011.  (955.78 KB) (308.36 KB)
Rouse, E. J., D. C. Nahlik, M. A. Peshkin, and T. A. Kuiken, "Development of a Model Osseo-Magnetic Link for Intuitive Rotational Control of Upper-Limb Prostheses", Neural Systems and Rehabilitation Engineering, IEEE Transactions on, vol. 19, no. 2: IEEE, pp. 213–220, 2011.
Solomon, J. H., and M. J. Z. Hartmann, "Radial distance determination in the rat vibrissal system and the effects of Weber's law", Philosophical Transactions of the Royal Society B: Biological Sciences, vol. 366, no. 1581: The Royal Society, pp. 3049–3057, 2011.  (501.05 KB)
Towal, R. B., B. W. Quist, J. H. Solomon, and M. J. Z. Hartmann, "B. Touch Active sensing: head and vibrissa I velocity during exploratory behaviors of the rat", Frontiers in Sensing: From Biology to Engineering: Springer, pp. 209, 2011.
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.
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., and V. Hayward, "Les Interfaces Tactiles", Biofutur, vol. 294, pp. 3506, 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)
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.
Curet, O. M., I. K. AlAli, M. A. MacIver, and N. A. Patankar, "A versatile implicit iterative approach for fully resolved simulation of self-propulsion", Computer Methods in Applied Mechanics and Engineering, vol. 199, no. 37: Elsevier, pp. 2417–2424, 2010.  (1.1 MB)
Hartmann, M. J. Z., "Tactile sensing: artificial whiskers and behaving rats", Neuroscience Research, vol. 68: Elsevier, pp. e31, 2010.
Kim, K., J. E. Colgate, J. J. Santos-Munné, A. Makhlin, and M. A. Peshkin, "On the design of miniature haptic devices for upper extremity prosthetics", Mechatronics, IEEE/ASME Transactions on, vol. 15, no. 1: IEEE, pp. 27–39, 2010.
MacIver, M. A., N. A. Patankar, and A. A. Shirgaonkar, "Energy-Information Trade-Offs between Movement and Sensing", PLoS Computational Biology, vol. 6, issue 5, pp. e1000769, 5/2010.  (1.12 MB)
Markov, D., S. Manuel, L. Shor, S. Opalenik, J. Wikswo, and P. Samson, "Tape underlayment rotary-node (TURN) valves for simple on-chip microfluidic flow control", Biomedical Microdevices, vol. 12: Springer Netherlands, pp. 135-144, 2010.
Murphey, T. D., and J. S. Falcon, "Programming from the Ground Up in Control Laboratories", International Journal of Engineering Education, vol. 26, no. 5, pp. 1241, 2010.  (365.45 KB)
Rodríguez, A., L. Basañez, J. E. Colgate, and E. L. Faulring, "A Framework for the Simulation and Haptic Display of Dynamic Systems Subject to Holonomic Constraints", The International Journal of Robotics Research, vol. 29, no. 4: SAGE Publications, pp. 336–352, 2010.
Solomon, J. H., and M. J. Z. Hartmann, "Extracting object contours with the sweep of a robotic whisker using torque information", The International Journal of Robotics Research, vol. 29, no. 9: SAGE Publications, pp. 1233–1245, 2010.
Solomon, J. H., and M. J. Z. Hartmann, "Extracting object contours with the sweep of a robotic whisker using only torque information", International Journal of Robotics Research, pp. 1233-1245, 2010.
Solomon, J. H., M. Wisse, and M. J. Z. Hartmann, "Fully interconnected, linear control for limit cycle walking", Adaptive Behavior, vol. 18, no. 6: SAGE Publications, pp. 492–506, 2010.
Sulzer, J. S., K. E. Gordon, Y. Dhaher, M. A. Peshkin, and J. L. Patton, "Preswing knee flexion assistance is coupled with hip abduction in people with stiff-knee gait after stroke", Stroke, vol. 41, no. 8: Am Heart Assoc, pp. 1709–1714, 2010.
Wiertlewski, M., J. Lozada, E. E. Pissaloux, and V. Hayward, "Causality inversion in the reproduction of roughness", Haptics: Generating and Perceiving Tangible Sensations: Springer, pp. 17–24, 2010.  (2.1 MB)
Wiertlewski, M., J. Lozada, E. E. Pissaloux, and V. Hayward, "Tactile interface for stimulation of fingertip via lateral traction.", Actuators 2010 12th International Conference on new actuators bremen, Germany, 2010.  (1.08 MB)
Yang, P., R. A. Freeman, G. J. Gordon, K. M. Lynch, S. S. Srinivasa, and R. Sukthankar, "Decentralized estimation and control of graph connectivity for mobile sensor networks", Automatica, vol. 46, no. 2: Elsevier, pp. 390–396, 2010.
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.
Chiel, H. J., L. H. Ting, Ö. Ekeberg, and M. J. Z. Hartmann, "The brain in its body: motor control and sensing in a biomechanical context", The Journal of Neuroscience, vol. 29, no. 41: Soc Neuroscience, pp. 12807–12814, 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.
DeJong, B. P., J. E. Colgate, and M. A. Peshkin, Design of a Cyclic Robot for the Lower Limb, : ASME, 2009.
Ferber, A. R., M. A. Peshkin, and J. E. Colgate, "Using kinesthetic and tactile cues to maintain exercise intensity", Haptics, IEEE Transactions on, vol. 2, no. 4: IEEE, pp. 224–235, 2009.
Hartmann, M. J. Z., "Active touch, exploratory movements, and sensory prediction", Integrative and comparative biology, vol. 49, no. 6: Soc Integ Comp Biol, pp. 681–690, 2009.
Johnson, E., and T. D. Murphey, "Automated trajectory morphing for marionettes using trajectory optimization", IEEE Conf. on Aut. Science and Eng., 2009.  (93.3 KB)
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., K. Morris, and T. D. Murphey, "A variational approach to strand-based modeling of the human hand", Algorithmic Foundation of Robotics VIII: Springer, pp. 151–166, 2009.  (1.46 MB)
Patankar, N. A., A. A. Shirgaonkar, and M. A. MacIver, "Can drag and thrust be separated in undulatory swimming?", Bulletin of the American Physical Society, vol. 54: APS, 2009.
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)
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)
Shirgaonkar, A. A., N. A. Patankar, and M. A. MacIver, "On the``momentum enhancement''and hydrodynamic efficiency of gymnotiform and balistiform swimmers", Bulletin of the American Physical Society, vol. 54: APS, 2009.
Vose, T. T. H., P. Umbanhowar, and K. M. Lynch, "Friction-Induced Lines of Attraction and Repulsion for Parts Sliding on an Oscillated Plate", Automation Science and Engineering, IEEE Transactions on, vol. 6, no. 4, pp. 685 -699, oct., 2009.
Vose, T. T. H., P. Umbanhowar, and K. M. Lynch, "Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate", The International Journal of Robotics Research, vol. 28, no. 8, pp. 1020-1039, 2009.
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.
Curet, O. M., I. K. AlAli, N. A. Patankar, and M. A. MacIver, "Fully resolved simulation of self-propulsion of aquatic organisms", Bulletin of the American Physical Society, vol. 53: APS, 2008.
Epstein, M., K. M. Lynch, K. H. Johansson, and R. M. Murray, "Using hierarchical decomposition to speed up average consensus", IFAC World Congress, 2008.
Filippini, R., S. Sen, A. Bicchi, J. W. Hurst, A. A. Rizzi, S. K. Au, H. M. Herr, H. Vallery, J. Veneman, E. van Asseldonk, et al., "Toward Soft Robots You Can Depend On", IEEE Robotics & Automation Magazine, 2008.

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