Murphey:Murphey
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 | Todd Murphey Assistant Professor Department of Electrical Engineering University of Colorado at Boulder Boulder, CO 80309 CV My Schedule More about Todd Murphey |
Contents |
Conferences and Workshops
ICRA 2008 Workshop: Contact Models for Manipulation and Locomotion (Co-Organizer: Vijay Kumar)
|ICRA 2008 Workshop: Is human-like dexterous manipulation within our robotic grasp? (Co-Organizers: Francisco Valero-Cuevas, Yoky Matsuoka, and Rob Howe)
Workshop on the Algorithmic Foundations of Robotics (WAFR) 2008 (Co-Organizers: Greg Chirikjian, Howie Choset, and Marco Morales)
Software
trep software package Software in C and Python to simulate constrained rigid body systems using variational integrators. Over time this software will include synthesis and analysis tools as well, including: linearization; second-order expansions; optimal control; spectral analysis; linear and nonlinear controllability; kinematic reducibility; nonlinear stability analysis.
Recent Publications
Articles In Preparation
- T. D. Murphey, “Intrinsic operators on Riemannian graphs,” To be submitted to IEEE Transactions on Automatic Control, In Preparation.
- T. Caldwell and T. D. Murphey, “Experimental slip-steering control using hybrid estimation and control,” To be submitted to International Journal of Field Robotics, In Preparation.
Recent Articles
- E. Johnson and T. D. Murphey, Scalable variational integrators for constrained mechanical systems in generalized coordinates, IEEE Transactions on Robotics, 2008 (Submitted)
- B. Shucker, T. D. Murphey, and J. Bennett, “Convergence preserving switching for topology dependent decentralized systems,” IEEE Transactions on Robotics, 2008 (Accepted for Publication)
- T.D. Murphey and K.M. Lynch. Case Studies in Planar Part Feeding and Assembly Based on Design of Limit Sets. International Journal of Robotics Research, 2008 (Accepted for Publication)
- M. Travers, T.D. Murphey, and L.Y. Pao. Data association with ambiguous targets. In American Controls Conference, 2008
- T.D. Murphey. Filtering of interaction rules in cooperation. In American Controls Conference, 2008
- M. Horowitz and T.D. Murphey. Adaptive Cooperative Manipulation with Intermittent Contact. In IEEE Int. Conf. on Robotics and Automation, 2008
- E. Johnson and T.D. Murphey. Discrete and Continuous Mechanics for Tree Representations of Mechanical Systems. In IEEE Int. Conf. on Robotics and Automation, 2008
- T.D. Murphey and M. Egerstedt. Choreography for Marionettes: Imitation, Planning, and Control. In IEEE Int. Conf. on Intelligent and Robotic (IROS) Workshop on Art and Robotics, 2008
More Publications
Projects
Click here for descriptions of these projects
 Autonomous Vehicles |
 Constrained Multi-Point Manipulation and Distributed Manipulation |
 Cooperative Control and Cooperative Manipulation |
 MarioNET Project |
 Part Manipulation and Self-Assembly |
- Variational Integrators for Continuous Mechanics
- Neuro-Muscular Structure of Human Manipulation
- Estimation and Data Association on Riemannian manifolds
Teaching
All courses are managed through Moodle.
- Engineering Freshman Honors Colloquium: Everything and More–A History Of Limits And The Development Of Modern Calculus. Spring 2008
- Engineering Freshman Projects (GEEN 1400) Autumn 2007
- Robot Motion Planning and Dynamics (ECEN 4028) Spring 2006
- Control Systems Lab (ECEN 4638) Autumn 2005, 2006, 2007
- Control Systems Analysis (ECEN 4138) Autumn 2005, 2006
- Robot Control (ECEN 5438) Spring 2005, 2007
Students
Current Students
Ph.D. Students
- Elliot Johnson
- Matthew Travers
M.S. Students
- Tim Caldwell
- Sophia Del Rio
Undergraduate Students
- Corrina Gibson
- Matanya Horowitz
- Kirk Nichols
Prior Students
- Brian Shucker (Ph.D. -- worked with John Bennett as well and is now at MIT Lincoln Laboratories)
Collaborators
- Magnus Egerstedt (Georgia Tech)
- Mathieu Desbrun (Caltech)
- Lucy Pao (University of Colorado)
- Francisco Valero-Cuevas (USC)