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Murphey Publications

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Contents

Articles In Preparation

  • T. D. Murphey, “Intrinsic operators on Riemannian graphs,” To be submitted to IEEE Transactions on Automatic Control, 2007. 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, 2007. In Preparation.

Book Chapters and Journal Articles

  1. E. Johnson and T. D. Murphey, “Scalable variational integrators for constrained mechanical systems in generalized coordinates,” IEEE Transactions on Robotics, 2008 (Submitted)
  2. B. Shucker, T. D. Murphey, and J. Bennett, “Convergence preserving switching for topology dependent decentralized systems,” IEEE Transactions on Robotics, 2008 (Accepted for Publication)
  3. 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)
  4. T. D. Murphey and J. Falcon, “Programming from the ground up in controls laboratories using graphical programming,” International Journal of Engineering Education 2008 (Accepted for Publication)
  5. T.D. Murphey. Kinematic Reductions for Uncertain Mechanical Contact. Robotica, 25, pp. 751-764, Nov. 2007.
  6. M. Egerstedt, T.D. Murphey, and J. Ludwig. Hybrid Systems : Computation and Control, volume of Lecture Notes in Computer Science, chapter Motion Programs for Puppet Choreography and Control, pp 190-202. Springer-Verlag, 2007.
  7. T. D. Murphey. Teaching rigid body mechanics using student-created virtual environments. IEEE Transactions on Education, vol. 51, no. 1, pp. 45–52, 2008. Mathematica M-file.
  8. T. D. Murphey. Algorithmic Foundations of Robotics VII, chapter Mechanical Manipulation Using Reduced Models of Uncertainty. Springer Verlag, 2006. To be published
  9. T. D. Murphey. On multiple model control for multiple contact systems. Automatica, vol. 44, pp. 451–458, 2008.
  10. T. D. Murphey and J. W. Burdick. The power dissipation method and kinematic reducibility of multiple model robotic systems. IEEE Transactions on Robotics, 22(4):694-­710, August 2006
  11. T. D. Murphey. Multi-point Interaction with Real and Virtual Objects, chapter On Observing Contact States in Overconstrained Manipulation, pages 151-­164. Springer-Verlag, 2005
  12. T. D. Murphey and J. W. Burdick. Feedback control for distributed manipulation with changing contacts. International Journal of Robotics Research, 23(7/8):763-­782, July 2004
  13. T. D. Murphey and J. W. Burdick. Algorithmic Foundations of Robotics V, chapter Feedback Control for Distributed Manipulation, pages 487-­503. Springer Verlag, 2004
  14. K.M. Lynch and T. D. Murphey. Control Problems in Robotics and Automation, chapter Control Issues in Nonprehensile Manipulation, pages 39-­57. Springer-Verlag, 2003

Conference Papers

  1. M. Travers, T.D. Murphey, and L.Y. Pao. Data association with ambiguous targets. In American Controls Conference, 2008
  2. T.D. Murphey. Filtering of interaction rules in cooperation. In American Controls Conference, 2008
  3. M. Horowitz and T.D. Murphey. Adaptive Cooperative Manipulation with Intermittent Contact. In IEEE Int. Conf. on Robotics and Automation, 2008
  4. 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
  5. T.D. Murphey and M. Egerstedt. Choreography for Marionettes: Imitation, Planning, and Control. In IEEE Int. Conf. on Intelligent and Robotic Systems (IROS) Workshop on Art and Robots, 2008
  6. T. D. Murphey, Geometric derived information spaces in manipulation with mechanical contact, in IEEE Int. Conf. on Automation Science and Engineering (CASE), pp. 338–345, 2007.
  7. E. Johnson and T.D. Murphey. Dynamic modeling and motion planning for marionettes: Rigid bodies articulated by massless strings. In IEEE Int. Conf. on Robotics and Automation, 2007
  8. T.D. Murphey. Teaching rigid body mechanics using student-created virtual environments. In American Controls Conference (ACC), 2007
  9. B. Shucker, T.D. Murphey, and J. Bennett. Switching rules for decentralized control with simple control laws. In American Controls Conference (ACC), 2007
  10. T.D. Murphey and J. Falcon. Programming from the ground up in controls laboratories using graphical programming. In Proceedings of the IFAC Advances in Control Education (ACE), 2006
  11. T.D. Murphey. Modeling and control of multiple-contact manipulation without modeling friction. In Proc. American Controls Conference (ACC), 2006
  12. B. Shucker, T.D. Murphey, and J. Bennett. Switching control without nearest neighbor rules. In Proc. American Controls Conference (ACC), 2006
  13. T.D. Murphey. Motion planning for kinematically overconstrained vehicles using feedback primitives. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 1643­-1648, 2006
  14. B. Shucker, T.D. Murphey, and J. Bennett. Cooperative control using occasional non-local interactions. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 1324­-1329, 2006
  15. T. D. Murphey, J. Bernheisel, D. Choi, and K. M. Lynch. An example of parts handling and self-assembly using stable limit sets. In Proc. of International Conference on Intelligent Robots and Systems (IROS), pages 1624­-1629, 2005
  16. T. D. Murphey. Application of supervisory control methods to uncertain multiple model systems. In Proc. American Controls Conference (ACC), volume 2, pages 774­-780,2005
  17. T. D. Murphey, D. Choi, J. Bernheisel, and K. M. Lynch. Experiments in the use of stable limits sets for parts handling. In Proc. Int. Conf. MEMS, NANO, and Smart Systems (ICMENS), pages 218-­224, Banff, Canada, 2004
  18. T. D. Murphey and J. W. Burdick. Kinematic reducibility for multiple model systems. In Proc. IEEE Conf. on Decision and Control (CDC), volume 5, pages 5307­-5313, Maui, Hawaii, 2003
  19. T. D. Murphey and J. W. Burdick. Experiments in nonsmooth control of distributed manipulation. In IEEE Int. Conf. on Robotics and Automation, pages 3600­-3606, 2003
  20. T. D. Murphey and J. W. Burdick. Smooth feedback control algorithms for fully actuated distributed manipulators. In IEEE Int. Conf. on Robotics and Automation, pages 3619-­3623, 2003
  21. T. D. Murphey and J. W. Burdick. Nonsmooth controllability theory and an example. In Proc. IEEE Conf. on Decision and Control (CDC), pages 370­-376, Washington D.C.,2002
  22. T. D. Murphey and J. W. Burdick. Global exponential stabilizability for distributed manipulation. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 1210­-1216, Washington D.C., 2002
  23. T. D. Murphey and J. W. Burdick. A local controllability test for nonlinear multiple model systems. In Proc. American Controls Conference (ACC), volume 6, pages 4657-­4661, Anchorage, Alaska, 2002
  24. T. D. Murphey and J. W. Burdick. Global stability for distributed systems with changing contact states. In Proc. IEEE Int. Conf. on Intelligent Robots and Systems, pages 214-­219, Hawaii, 2001
  25. T. D. Murphey and J. W. Burdick. A controllability test and motion planning primitives for overconstrained vehicles. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 2716­2722, Seoul, Korea, 2001
  26. T. D. Murphey and J. W. Burdick. On the stability and design of distributed systems. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 2686­2691, Seoul, Korea, 2001
  27. T. D. Murphey and J. W. Burdick. Issues in controllability and motion planning for overconstrained wheeled vehicles. In Proc. Int. Conf. Math. Theory of Networks and Systems (MTNS), Perpignan, France, 2000

Thesis

T.D. Murphey Control of Multiple Model Systems - Caltech Ph.D. Thesis, 2002

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