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Swissler, P., and M. Rubenstein, "FireAnt: A Modular Robot with Full-Body Continuous Docks", Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018.  (944.93 KB)
Sulzer, J. S., M. A. Peshkin, and J. L. Patton, "Catastrophe and Stability Analysis of a Cable-Driven Actuator", Engineering in Medicine and Biology Society, 2006.
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.
Sulzer, J. S., K. E. Gordon, T. G. Hornby, M. A. Peshkin, and J. L. Patton, "Adaptation to knee flexion torque during gait", Rehabilitation Robotics, 2009. ICORR 2009. IEEE International Conference on: IEEE, pp. 713–718, 2009.
Sulzer, J. S., A. Salamat, V. S. Chib, and J. E. Colgate, "A behavioral adaptation approach to identifying visual dependence of haptic perception", EuroHaptics Conference, 2007 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint: IEEE, pp. 3–8, 2007.
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.
Sulzer, J. S., M. A. Peshkin, and J. L. Patton, "Pulling your strings", Robotics & Automation Magazine, IEEE, vol. 15, no. 3: IEEE, pp. 70–78, 2008.
Sulzer, J. S., M. A. Peshkin, and J. L. Patton, "Design of a Mobile, Inexpensive Device for Upper Extremity Rehabilitation at Home", Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on: IEEE, pp. 933–937, 2007.
Strandburg, K. J., M. A. Peshkin, D. F. Boyd, C. Chambers, and B. O’Keefe, "Phase transitions in dilute, locally connected neural networks", Physical Review A, vol. 45, no. 8: APS, pp. 6135, 1992.
Strachan, S., M. Wiertlewski, H. Zophoniasson, and M. Anastassova, "ViPong: Probabilistic Haptic Feedback for Eyes-Free Interaction", World Haptics Conference (WHC),. IEEE, 2013.  (526.07 KB)
Stanley, M. C., and J. E. Colgate, "Computer Simulation of Interacting Dynamic Mechanical Systems Using Distributed Memory Parallel Processors", Advances in Robotics, vol. 42, pp. p55–61, 1992.
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.
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)
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.
Song, A., D. Morris, J. E. Colgate, and M. A. Peshkin, "Real time stiffness display interface device for perception of virtual soft object", Intelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE/RSJ International Conference on: IEEE, pp. 139–143, 2005.
Song, A., D. Morris, and J. E. Colgate, "Haptic telemanipulation of soft environment without direct force feedback", Information Acquisition, 2005 IEEE International Conference on: IEEE, pp. 5–pp, 2005.
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., 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., M. J. Z. Hartmann, and C. L. Schroeder, Object profile sensing, , vol. US8109007 B2, no. US 12/455,389, 02/2012.
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.
Solomon, J. H., and M. J. Z. Hartmann, "Artificial whiskers suitable for array implementation: Accounting for lateral slip and surface friction", Robotics, IEEE Transactions on, vol. 24, no. 5: IEEE, pp. 1157–1167, 2008.
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)
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., and M. J. Z. Hartmann, "Biomechanics: Robotic whiskers used to sense features", Nature, vol. 443, no. 7111: Nature Publishing Group, pp. 525–525, 2006.
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.
Solomon, J. H., and M. J. Z. Hartmann, "Sensing features with robotic whiskers", Nature, vol. 443, pp. 525, 2006.
Solberg, J. R., K. M. Lynch, and M. A. MacIver, "Active electrolocation for underwater target localization", The International Journal of Robotics Research, vol. 27, no. 5: SAGE Publications, pp. 529–548, 2008.  (5.1 MB)
Solberg, J. R., K. M. Lynch, and M. A. MacIver, "Robotic electrolocation: Active underwater target localization with electric fields", Robotics and Automation, 2007 IEEE International Conference on: IEEE, pp. 4879–4886, 2007.  (1.92 MB)
Snyder, J. B., Y. Silverman, Y. Bai, and M. A. MacIver, "Underwater object tracking using electrical impedance tomography", 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura-Algarve, Portugal, IEEE, 2012.  (1.76 MB)
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)
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)
Silverman, Y., L. M. Miller, M. A. MacIver, and T. D. Murphey, "Optimal Planning for Information Acquisition", IROS 2013, 2013.  (1.77 MB)
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)
Shultz, C., M. A. Peshkin, and E. J. Colgate, "The application of tactile, audible, and ultrasonic forces to human fingertips using broadband electroadhesion", 2017 IEEE World Haptics Conference (WHC)2017 IEEE World Haptics Conference (WHC), Munich, Germany, IEEE, pp. 119 - 124, 2017.
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.
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)
Shucker, B., T. D. Murphey, and J. K. Bennett, "An approach to switching control beyond nearest neighbor rules", American Control Conference, 2006: IEEE, pp. 7–pp, 2006.  (465.06 KB)
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)
Shucker, B., T. D. Murphey, and J. K. Bennett, "Convergence-preserving switching for topology-dependent decentralized systems", Robotics, IEEE Transactions on, vol. 24, no. 6: IEEE, pp. 1405–1415, 2008.  (409.54 KB)
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.
Shirgaonkar, A. A., O. M. Curet, N. A. Patankar, and M. A. MacIver, "The time evolution of vortical structures in the swimming of weakly electric fish", Journal of Experimental Biology, 2008.
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., O. M. Curet, N. A. Patankar, and M. A. MacIver, "Hydrodynamic aspects of thrust generation in gymnotiform swimming", Bulletin of the American Physical Society, vol. 53: APS, 2008.
Shirgaonkar, A. A., O. M. Curet, N. A. Patankar, and M. A. MacIver, "The hydrodynamics of ribbon-fin propulsion during impulsive motion", Journal of Experimental Biology, vol. 211, no. 21: The Company of Biologists Ltd, pp. 3490–3503, 2008.  (2.4 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.
Shirgaonkar, A. A., N. A. Patankar, and M. A. MacIver, "An efficient algorithm for fully resolved simulation of freely swimming bodies", Bulletin of the American Physical Society, vol. 52: APS, 2007.
Shi, J., J. Z. Woodruff, and K. M. Lynch, "Dynamic In-hand Sliding Manipulation", Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, Hamburg, Germany, IEEE, pp. 870 - 877, Sept. 2015.  (4.82 MB) (32.58 MB)
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)
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)
Seghete, V., and T. D. Murphey, "Variational solutions to simultaneous collisions between multiple rigid bodies", 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, AK, IEEE, 05/2010.  (269.41 KB)
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.
Seghete, V., and T. D. Murphey, "Conditions for uniqueness in simultaneous impact with application to mechanical design", IEEE International Conference on Robotics and Automation (ICRA): IEEE, pp. 5006–5011, 2012.  (232.58 KB)
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)
Sefati, S., I. D. Neveln, M. A. MacIver, E. S. Fortune, and N. J. Cowan, "Counter-propagating waves enhance maneuverability and stability: a bio-inspired strategy for robotic ribbon-fin propulsion", Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on: IEEE, pp. 1620–1625, 2012.  (837.72 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)
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)
Schultz, J. A., and T. D. Murphey, "Embedded Control Synthesis Using One-Step Methods in Discrete Mechanics", American Control Conference (ACC), Washington, D.C., 2013.  (345.06 KB)
Schultz, J. A., and T. D. Murphey, "Trajectory generation for underactuated control of a suspended mass", 2012 IEEE International Conference on Robotics and Automation (ICRA), 2012.  (1.52 MB) (19.27 MB)
Schultz, J. A., and M. Garnich, "Meso-scale and multicontinuum modeling of a triaxial braided textile composite", Journal of Composite Materials, vol. 47, issue 3, pp. 303-314, 03/2012.
Schultz, J. A., and T. D. Murphey, "Extending Filter Performance Through Structured Integration", American Control Conference (ACC), 2014.  (319.44 KB)
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.
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.
Schimmels, J. M., and M. A. Peshkin, "Force-assembly with friction", Robotics and Automation, IEEE Transactions on, vol. 10, no. 4: IEEE, pp. 465–479, 1994.
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.
Schimmels, J. M., and M. A. Peshkin, "Admittance matrix design for force-guided assembly", Robotics and Automation, IEEE Transactions on, vol. 8, no. 2: IEEE, pp. 213–227, 1992.
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.
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.
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)
Schearer, E. M., Y. W. Liao, E. Perreault, M. Tresch, W. Memberg, R. Kirsch, and K. M. Lynch, "Identifying Inverse Human Arm Dynamics Using a Robotic Testbed", 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014.  (3.36 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)
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)
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)
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)
Santos-Munné, J. J., A. Makhlin, E. Lewis, M. A. Peshkin, D. A. Brown, J. E. Colgate, J. L. Patton, B. L. Rush, and D. Schwandt, Walking and balance exercise device, , 2007.
Santos-Munné, J. J., A. Makhlin, E. Lewis, M. A. Peshkin, D. A. Brown, J. E. Colgate, J. L. Patton, B. L. Rush, D. Schwandt, and others, Walking and balance exercise device, : Google Patents, 2010.
Santos-Munné, J. J., M. A. Peshkin, E. L. Faulring, J. E. Colgate, A. Makhlin, T. Moyer, T. Hauptman, and W. Hoffmann, An apparatus for use in breaking down an animal carcass, , 2010.
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.
Sanderson, A. C., M. A. Peshkin, and LS. Homen de Mello, "Task planning for robotic manipulation in space applications", Aerospace and Electronic Systems, IEEE Transactions on, vol. 24, no. 5: IEEE, pp. 619–629, 1988.
Sanderson, A. C., M. A. Peshkin, and LS. Homen de Mello, Task planning and control synthesis for robotic manipulation in space applications, , 1987.
Samur, E., J. E. Colgate, and M. A. Peshkin, "Psychophysical evaluation of a variable friction tactile interface", IS&T/SPIE Electronic Imaging: International Society for Optics and Photonics, pp. 72400J–72400J, 2009.
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.
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)
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.
Salada, M. A., J. E. Colgate, P. M. Vishton, and E. Frankel, "An experiment on tracking surface features with the sensation of slip", Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. World Haptics 2005. First Joint: IEEE, pp. 132–137, 2005.
Salada, M. A., J. E. Colgate, M. V. Lee, and P. M. Vishton, "Fingertip haptics: A novel direction in haptic display", Proceedings of the 8th Mechatronics Forum International Conference, pp. 1211–1220, 2002.
Salada, M. A., P. M. Vishton, J. E. Colgate, and E. Frankel, "Two experiments on the perception of slip at the fingertip", Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS'04. Proceedings. 12th International Symposium on: IEEE, pp. 146–153, 2004.