Todd D. Murphey

Timothy M. Caldwell, Todd D. Murphey: Single Integration Optimization of Linear Time-Varying Switched Systems. IEEE Trans. Automat. Contr. 57(6): 1592-1597 (2012)

Timothy M. Caldwell, Todd D. Murphey: Projection-based switched system optimization: Absolute continuity of the line search. CDC 2012: 699-706

Kathrin Flaßkamp, Todd D. Murphey, Sina Ober-Blöbaum: Switching time optimization in discretized hybrid dynamical systems. CDC 2012: 707-712

Lauren M. Miller, Todd D. Murphey: Optimal contact decisions for ergodic exploration. CDC 2012: 5091-5097

David Pekarek, Todd D. Murphey: Global projections for variational nonsmooth mechanics. CDC 2012: 5572-5579

Jarvis Schultz, Todd D. Murphey: Trajectory generation for underactuated control of a suspended mass. ICRA 2012: 123-129

Benjamín Tovar, Todd D. Murphey: Trajectory tracking among landmarks and binary sensor-beams. ICRA 2012: 2121-2127

Vlad Seghete, Todd D. Murphey: Conditions for uniqueness in simultaneous impact with application to mechanical design. ICRA 2012: 5006-5011

Lauren M. Miller, Todd D. Murphey: Simultaneous optimal parameter and mode transition time estimation. IROS 2012: 719-724

Timothy M. Caldwell, Todd D. Murphey: Switching mode generation and optimal estimation with application to skid-steering. Automatica 47(1): 50-64 (2011)

Patrick Martin, Elliot R. Johnson, Todd D. Murphey, Magnus Egerstedt: Constructing and Implementing Motion Programs for Robotic Marionettes. IEEE Trans. Automat. Contr. 56(4): 902-907 (2011)

Elliot R. Johnson, Todd D. Murphey: Second-Order Switching Time Optimization for Nonlinear Time-Varying Dynamic Systems. IEEE Trans. Automat. Contr. 56(8): 1953-1957 (2011)

David Pekarek, Todd D. Murphey: A backwards error analysis approach for simulation and control of nonsmooth mechanical systems. CDC-ECE 2011: 6942-6949

Matthew Travers, Todd D. Murphey, Lucy Y. Pao: Impulsive data association with an unknown number of targets. HSCC 2011: 261-270

Andrew W. Long, Todd D. Murphey, Kevin M. Lynch: Optimal motion planning for a class of hybrid dynamical systems with impacts. ICRA 2011: 4220-4226

Greg Chirikjian, Howie Choset, Marco Morales, Todd D. Murphey: Editorial: Special Issue on the Eighth International Workshop on the Algorithmic Foundations of Robotics. I. J. Robotic Res. 29(7): 787-788 (2010)

Elliot R. Johnson, Todd D. Murphey: Local planning using switching time optimization. CASE 2010: 828-834

Corrina Gibson, Todd D. Murphey: Geometric integration of impact during an orbital docking procedure. CASE 2010: 928-932

Kristine L. Snyder, Todd D. Murphey: Second-order DMOC using projection. CDC 2010: 1872-1878

Timothy M. Caldwell, Todd D. Murphey: An adjoint method for second-order switching time optimization. CDC 2010: 2155-2162

Matthew Travers, Todd D. Murphey, Lucy Y. Pao: Impulse optimization for data association. CDC 2010: 2204-2209

Vlad Seghete, Todd D. Murphey: Variational solutions to simultaneous collisions between multiple rigid bodies. ICRA 2010: 2731-2738

Timothy M. Caldwell, Todd D. Murphey: Relaxed optimization for mode estimation in skid steering. ICRA 2010: 5423-5428

Elliot R. Johnson, Todd D. Murphey: Scalable Variational Integrators for Constrained Mechanical Systems in Generalized Coordinates. IEEE Transactions on Robotics 25(6): 1249-1261 (2009)

Timothy M. Caldwell, Todd D. Murphey: Second-order optimal estimation of slip state for a simple slip-steered vehicle. CASE 2009: 133-139

Elliot R. Johnson, Todd D. Murphey: Automated trajectory synthesis from animation data using trajectory optimization. CASE 2009: 274-279

Vlad Seghete, Todd D. Murphey: Multiple Instantaneous Collisions in a Variational Framework. CDC 2009: 5015-5020

Elliot R. Johnson, Todd D. Murphey: Second order switching time optimization for time-varying nonlinear systems. CDC 2009: 5281-5286

Howie Choset, Marco Morales, Todd D. Murphey (Eds.): Algorithmic Foundation of Robotics VIII, Selected Contributions of the Eight International Workshop on the Algorithmic Foundations of Robotics, WAFR 2008, Guanajuato, México, December 7-9, 2008. Springer Tracts in Advanced Robotics 57, Springer 2009, isbn 978-3-642-00311-0

Todd D. Murphey: On multiple model control for multiple contact systems. Automatica 44(2): 451-458 (2008)

Todd D. Murphey, Kevin M. Lynch: Case Studies in Planar Part Feeding and Assembly Based on Design of Limit Sets. I. J. Robotic Res. 27(6): 693-708 (2008)

Todd D. Murphey: Teaching Rigid Body Mechanics Using Student-Created Virtual Environments. IEEE Trans. Education 51(1): 45-52 (2008)

Brian Shucker, Todd D. Murphey, John K. Bennett: Convergence-Preserving Switching for Topology-Dependent Decentralized Systems. IEEE Transactions on Robotics 24(6): 1405-1415 (2008)

Kirk Nichols, Todd D. Murphey: Variational integrators for constrained cables. CASE 2008: 802-807

Elliot R. Johnson, Todd D. Murphey: Discrete and continuous mechanics for tree representations of mechanical systems. ICRA 2008: 1106-1111

Todd D. Murphey, Matanya Horowitz: Adaptive cooperative manipulation with intermittent contact. ICRA 2008: 1483-1488

Elliot R. Johnson, Karen Morris, Todd D. Murphey: A Variational Approach to Strand-Based Modeling of the Human Hand. WAFR 2008: 151-166

Todd D. Murphey: Kinematic reductions for uncertain mechanical contact. Robotica 25(6): 751-764 (2007)

Todd D. Murphey: Geometric Derived Information Spaces in Manipulation with Mechanical Contact. CASE 2007: 338-345

Magnus Egerstedt, Todd D. Murphey, Jon Ludwig: Motion Programs for Puppet Choreography and Control. HSCC 2007: 190-202

Elliot R. Johnson, Todd D. Murphey: Dynamic Modeling and Motion Planning for Marionettes: Rigid Bodies Articulated by Massless Strings. ICRA 2007: 330-335

Brian Shucker, Todd D. Murphey, John K. Bennett: A Method of Cooperative Control using Occasional non-local Interactions. ICRA 2006: 1324-1329

Todd D. Murphey: Motion Planning for Kinematically Overconstrained Vehicles using Feedback Primitives. ICRA 2006: 1643-1648

Todd D. Murphey: Mechanical Manipulation Using Reduced Models of Uncertainty. WAFR 2006: 359-374

Todd D. Murphey, Jay Bernheisel, David Choi, Kevin M. Lynch: An example of parts handling and self-assembly using stable limit sets. IROS 2005: 1624-1629

Todd D. Murphey, Joel W. Burdick: Feedback Control Methods for Distributed Manipulation Systems that Involve Mechanical Contacts. I. J. Robotic Res. 23(7-8): 763-781 (2004)

Todd D. Murphey, David Choi, Jay Bernheisel, Kevin M. Lynch: Experiments in the Use of Stable Limit Sets for Parts Handling. ICMENS 2004: 218-224

Todd D. Murphey, Joel W. Burdick, J. Burgess, A. Homyk: Experiments in nonsmooth control of distributed manipulation. ICRA 2003: 3600-3606

Todd D. Murphey, Joel W. Burdick: Smooth feedback control algorithms for distributed manipulators. ICRA 2003: 3619-3623

Todd D. Murphey, Joel W. Burdick: Global Exponential Stabilizability for Distributed Manipulation Systems. ICRA 2002: 1210-1216

Todd D. Murphey, Joel W. Burdick: On the Stability and Design of Distributed Manipulation Control Systems. ICRA 2001: 2686-2691

Todd D. Murphey, Joel W. Burdick: A Controllability test and Motion planning Primitives for Overconstrained Vehicles. ICRA 2001: 2716-2722