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Conference Paper
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.
Iannitti, S., and K. M. Lynch, "Exact minimum control switch motion planning for the snakeboard", Intelligent Robots and Systems, 2003 IEEE/RSJ International Conference on, vol. 2: IEEE, pp. 1437–1443, 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)
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., J. W. Burdick, J. Burgess, and A. Homyk, "Experiments in nonsmooth control of distributed manipulation", Robotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on, vol. 3: IEEE, pp. 3600–3606, 2003.  (1.37 MB)
Moore, C. A., M. A. Peshkin, and J. E. Colgate, "Cobot implementation of 3D virtual surfaces", Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on, vol. 3: IEEE, pp. 3242–3247, 2002.
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)
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)
Murphey, T. D., and J. W. Burdick, "Global exponential stabilizability for distributed manipulation systems", Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on, vol. 2: IEEE, pp. 1210–1216, 2002.  (250.99 KB)
Salada, M. A., J. E. Colgate, M. V. Lee, and P. M. Vishton, "Validating a novel approach to rendering fingertip contact sensations", Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002. HAPTICS 2002. Proceedings. 10th Symposium on: IEEE, pp. 217–224, 2002.
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., A. D. Lewis, and K. M. Lynch, "Controllable kinematic reductions for mechanical systems: concepts, computational tools, and examples", Mathematical Theory of Networks and Systems, 2001.
Choudhury, P., and K. M. Lynch, "Rolling manipulation with a single control", Control Applications, 2001.(CCA'01). Proceedings of the 2001 IEEE International Conference on: IEEE, pp. 1089–1094, 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.
Murphey, T. D., and J. W. Burdick, "Global stability for distributed systems with changing contact states", IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1: IEEE, pp. 214–219, 2001.
Murphey, T. D., and J. W. Burdick, "A controllability test and motion planning primitives for overconstrained vehicles", IEEE International Conference on Robotics and Automation (ICRA), vol. 3: IEEE, pp. 2716–2722, 2001.
Choudhury, P., and K. M. Lynch, "Controllability of single input rolling manipulation", Robotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on, vol. 1: IEEE, pp. 354–360, 2000.
Etienne-Cummings, R., M. A. Lewis, M. J. Z. Hartmann, and A. H. Cohen, "CPU-less robotics: distributed control of biomorphs", International Symposium on Optical Science and Technology: International Society for Optics and Photonics, pp. 83–91, 2000.
Lewis, M. A., R. Etienne-Cummings, A. H. Cohen, and M. J. Z. Hartmann, "Toward biomorphic control using custom aVLSI CPG chips", Robotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on, vol. 1: IEEE, pp. 494–500, 2000.
Lynch, K. M., and C. Liu, "Designing motion guides for ergonomic collaborative manipulation", Robotics and Automation, 2000 IEEE International Conference on, vol. 3: IEEE, pp. 2709–2715, 2000.
Miller, B. E., J. E. Colgate, and R. A. Freeman, "Environment delay in haptic systems", Robotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on, vol. 3: IEEE, pp. 2434–2439, 2000.
Moore, C. A., M. A. Peshkin, and J. E. Colgate, "A Controller for Simulating Freedom of Motion for a Cobot", Mechatronics Forum International Conference, Atlanta, GA, 09/2000.
Sorensen, A., C. Liu, S. M. Kim, K. M. Lynch, and M. A. Peshkin, "Experiments in ergonomic robot-guided manipulation", Intelligent Robots and Systems, 2000.(IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on, vol. 1: IEEE, pp. 306–311, 2000.
Akella, P., M. A. Peshkin, J. E. Colgate, W. Wannasuphoprasit, N. Nagesh, J. Wells, S. Holland, T. Pearson, and B. Peacock, "Cobots for the automobile assembly line", Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, vol. 1: IEEE, pp. 728–733, 1999.
Lorenz, W. A., M. A. Peshkin, and J. E. Colgate, "New sensors for new applications: force sensors for human/robot interaction", Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, vol. 4: IEEE, pp. 2855–2860, 1999.
Lynch, K. M., "Toppling manipulation", Robotics and Automation, 1999 IEEE International Conference on, vol. 4: IEEE, pp. 2551–2557, 1999.
Miller, B. E., J. E. Colgate, and R. A. Freeman, "Passive implementation for a class of static nonlinear environments in haptic display", Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, vol. 4: IEEE, pp. 2937–2942, 1999.
Moore, C. A., M. A. Peshkin, and J. E. Colgate, "Design of a 3R cobot using continuous variable transmissions", Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, vol. 4: IEEE, pp. 3249–3254, 1999.
Lynch, K. M., N. Shiroma, H. Arai, and K. Tanie, "The roles of shape and motion in dynamic manipulation: The butterfly example", Robotics and Automation, 1998 IEEE International Conference on, vol. 3: IEEE, pp. 1958–1963, 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.
Lynch, K. M., "Issues in nonprehensile manipulation", Robotics the Algorithmic perspective: The Third Workshop on the Algorithmic Foundations of Robotics, pp. 237–250, 1998.
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.
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.
Lynch, K. M., and M. T. Mason, "Dynamic manipulation with a one joint robot", Robotics and Automation, 1997 IEEE International Conference on, vol. 1: IEEE, pp. 359–366, 1997.
MacIver, M. A., J. L. Lin, and M. E. Nelson, "Estimation of signal characteristics during electrolocation from video analysis of prey capture behavior in weakly electric fish", Proceedings of the annual conference on Computational neuroscience: trends in research, 1997: trends in research, 1997: Plenum Press, pp. 729–734, 1997.  (1.59 MB)
Wannasuphoprasit, W., R. B. Gillespie, J. E. Colgate, and M. A. Peshkin, "Cobot control", Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on, vol. 4: IEEE, pp. 3571–3576, 1997.
Colgate, J. E., M. A. Peshkin, and W. Wannasuphoprasit, "Nonholonomic haptic display", Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on, vol. 1: IEEE, pp. 539–544, 1996.
Lynch, K. M., and M. T. Mason, "Dynamic underactuated nonprehensile manipulation", Intelligent Robots and Systems, 1996 IEEE/RSJ International Conference on, vol. 2: IEEE, pp. 889–896, 1996.
Peshkin, M. A., J. E. Colgate, and C. A. Moore, "Passive robots and haptic displays based on nonholonomic elements", Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on, vol. 1: IEEE, pp. 551–556, 1996.
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.
Lynch, K. M., and M. T. Mason, "Controllability of pushing", Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on, vol. 1: IEEE, pp. 112–119, 1995.
Millman, P. A., and J. E. Colgate, "Experimental study of haptic information pickup in manipulation", Photonics for Industrial Applications: International Society for Optics and Photonics, pp. 74–87, 1995.
Colgate, J. E., and G. G. Schenkel, "Passivity of a class of sampled-data systems: Application to haptic interfaces", American Control Conference, 1994, vol. 3: IEEE, pp. 3236–3240, 1994.
Colgate, J. E., and J. M. Brown, "Factors affecting the z-width of a haptic display", Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on: IEEE, pp. 3205–3210, 1994.
Brokowski, ME., M. A. Peshkin, and K. Goldberg, "Curved fences for part alignment", Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on: IEEE, pp. 467–473, 1993.
Colgate, J. E., P. E. Grafing, M. C. Stanley, and G. G. Schenkel, "Implementation of stiff virtual walls in force-reflecting interfaces", Virtual Reality Annual International Symposium, 1993., 1993 IEEE: IEEE, pp. 202–208, 1993.
Colgate, J. E., M. C. Stanley, and G. G. Schenkel, "Dynamic range of achievable impedances in force-reflecting interfaces", Optical Tools for Manufacturing and Advanced Automation: International Society for Optics and Photonics, pp. 199–210, 1993.
Goswami, A., and M. A. Peshkin, "Task-space/joint-space damping transformations for passive redundant manipulators", Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on: IEEE, pp. 642–647, 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.
Goswami, A., A. Quaid, and M. A. Peshkin, "Complete parameter identification of a robot from partial pose information", Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on: IEEE, pp. 168–173, 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.
Lynch, K. M., "Estimating the friction parameters of pushed objects", Intelligent Robots and Systems, 1993 IEEE/RSJ International Conference on, vol. 1: IEEE, pp. 186–193, 1993.
Mason, M. T., and K. M. Lynch, "Dynamic manipulation", Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on, vol. 1, pp. 152 -159 vol.1, jul, 1993.  (907.01 KB)
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.
Millman, P. A., M. C. Stanley, and J. E. Colgate, "Design of a high performance haptic interface to virtual environments", Virtual Reality Annual International Symposium, 1993., 1993 IEEE: IEEE, pp. 216–222, 1993.
Millman, P. A., M. C. Stanley, and J. E. Colgate, "Design of a High Performance Haptic Interface to Virtual Environments", IEEE Virtual Reality annual International Symposium: IEEE Service Center, pp. 216-222, 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., "Robust Impedance Shaping via Bilateral Manipulation", American Control Conference, 1991: IEEE, pp. 3070–3071, 1991.
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.
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.
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.
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.
Book Chapter
Berrueta, T., I. Abraham, and T. D. Murphey, "Experimental Applications of the Koopman Operator in Active Learning for Control", The Koopman Operator in Systems and Control: Theory, Numerics, and Applications: Springer, In Press.
Schultz, J. A., E. Johnson, and T. D. Murphey, "Trajectory Optimization in Discrete Mechanics", Differential-Geometric Methods in Computational Multibody System Dynamics: Springer International Publishing, In Press.  (703.15 KB)
Pervan, A., and T. D. Murphey, "Algorithmic materials: Embedding computation within material properties for autonomy", Robotic Systems and Autonomous Platforms: Woodhead Publishing, pp. 197-221, 2019.
Jochum, E., J. A. Schultz, E. Johnson, and T. D. Murphey, "Robotic Puppets and the Engineering of Autonomous Theater", Controls and Art: Springer International Publishing, pp. 107-128, 2014.
Hwang, M., M. L. Elwin, P. Yang, R. A. Freeman, and K. M. Lynch, "Experimental Validation of Multi-Agent Coordination by Decentralized Estimation and Control", Networking Humans, Robots, and Environments: Bentham Science, 2013.
Lynch, K. M., A. M. Bloch, S. V. Drakunov, M. Reyhanoglu, and D. Zenkov, "Control of nonholonomic and underactuated systems", The Control Handbook, W. Levine, ed.: Taylor and Francis, 2011.
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)
Kao, I., K. M. Lynch, and J. W. Burdick, "Chapter 27, Contact Modeling and Manipulation", Springer handbook of robotics: Springer-Verlag New York Inc, 2008.
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)
Lynch, K. M., and T. D. Murphey, "Control of nonprehensile manipulation", Control Problems in Robotics and Automation: Springer-Verlag, pp. 39–58, 2003.  (582.83 KB)
Lenarcic, J., M. Stanisic, and E. M. Schearer, "Humanoid Humeral Pointing Kinematics", Advances in Robot Kinematics: Kluwer Academic Publishers, 2002.
Lynch, K. M., and M. A. Peshkin, "Linear and rotational sensors", The Mechatronics Handbook: CRC Press, Boca Raton, FL, 2002.
Peshkin, M. A., J. E. Colgate, P. Akella, and W. Wannasuphoprasit, "Cobots in materials handling", Human and Machine Haptics, Cambridge, MIT Press, 2000.
MacIver, M. A., J. L. Lin, and M. E. Nelson, "Estimation of signal characteristics during electrolocation from video analysis of prey capture behavior in weakly electric fish", Computational Neuroscience: Trends in Research, 1997: Plenum, pp. 729-734, 1997.  (1.59 MB)
Book
Lynch, K. M., N. D. Marchuk, and M. L. Elwin, Embedded Computing and Mechatronics with the PIC32 Microcontroller, , Oxford, Newnes, 2016.
Wiertlewski, M., "Reproduction of Tactual Textures: Transducers, Mechanics and Signal Encoding", Springer Series on Touch and Haptic Systems: Springer London, Limited, 2013.
Chirikjian, G. S., H. Choset, M. Morales, and T. D. Murphey, Algorithmic Foundations of Robotics VIII: Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics, , vol. 57: Springer, 2010.
Choset, H., K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementation, : MIT Press, 2005.
Peshkin, M. A., Robotic manipulation strategies, : Prentice Hall, 1990.
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 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, : Carnegie-Mellon University, The Robotics Institute, 1985.
Peshkin, M. A., and A. C. Sanderson, A Modeless Convex Hull Algorithm for Simple Polygons, : Carnegie-Mellon University, The Robotics Institute, 1985.

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