Under Review:
- J. A. Schultz, H. Sanders, P. D. H. Bui, and M. Killpack, “Modeling the dynamics of soft robots by discs and threads,” in Robotics and Automation (ICRA) 2022 IEEE International Conference on, (under review) 2022.
- P. Hyatt, C.S. Williams, and M. D. Killpack, “Parameterized and GPU-Parallelized Real-Time Model Predictive Control for High Degree of Freedom Robots,” International Journal of Robotics Research, (under review) 2020.
- E. Mielke, E. Townsend, D. Wingate, and M. D. Killpack, “Human-robot co-manipulation of extended objects: Data-driven models and control from analysis of human-human dyads,” International Journal of Robotics Research, (under review) 2019.
Journal Articles:
- Johnson CC, Quackenbush T, Sorensen T, Wingate D and Killpack MD (2021) Using First Principles for Deep Learning and Model-Based Control of Soft Robots. Front. Robot. AI 8:654398. doi: 10.3389/frobt.2021.654398
- Jensen, S. W., Salmon, J. L., & Killpack, M. D. (2021). Trends in haptic communication of human-human dyads: Toward natural human-robot co-manipulation. Frontiers in Neurorobotics, 15. https://doi.org/10.3389/fnbot.2021.626074
- Hyatt P, Johnson CC and Killpack MD (2020) Model Reference Predictive Adaptive Control for Large-Scale Soft Robots. Front. Robot. AI 7:558027. doi: 10.3389/frobt.2020.558027
- C. M. Best, L. Rupert, and M. D. Killpack, “Comparing Model-based Control Methods for Simultaneous Stiffness and Position Control of Inflatable Soft Robots,” International Journal of Robotics Research (2020)
- P. Hyatt, and M.D. Killpack, “Real-Time Nonlinear Model Predictive Control of Robots Using a Graphics Processing Unit,” IEEE Robotics and Automation Letters, accepted (will be presented at IEEE ICRA as well), 2020.
- P. Hyatt, D. Wingate, and M.D. Killpack, “Model-based Control of Soft Actuators Using Learned Nonlinear Discrete-time Models,” Frontiers in Robotics and AI, 6, pp.22, 2019.
- P. Hyatt, D. Kraus, V. Sherrod, L. Rupert, N. Day, and M.D. Killpack, “Configuration Estimation for Accurate Position Control of Large-Scale Soft Robots,” IEEE-ASME Transactions on Mechatronics, 24(1), pp.88-99, 2019
- N. Day, J. Penaloza, V.J. Santos, and M.D. Killpack, “Scalable fabric tactile sensor arrays for soft bodies,” Journal of Micromechanics and Microengineering, vol. 28, no. 6, 2018.
- C. M. Best, M. T. Gillespie, P. Hyatt, L. Rupert, V. Sherrod, and M. D. Killpack, “A New Soft Robot Control Method: Using Model Predictive Control for a Pneumatically Actuated Humanoid,” IEEE Robotics & Automation Magazine, vol. 23, no. 3, pp. 75 - 84, 2016.
- M. D. Killpack, A. Kapusta, and C. C. Kemp, “Model predictive control for fast reaching in clutter,” Autonomous Robots, vol. 40, no. 3, pp. 537 - 560, 2016.
- A. Jain∗, M. D. Killpack∗, A. Edsinger, and C. C. Kemp, “Reaching in Clutter with Whole-Arm Tactile Sensing,” International Journal of Robotics Research, vol. 32, no. 4, pp. 458-482, 2013. * - equally contributing authors
- M.D. Killpack and F. Abed-Meraim, “Limit-point buckling analyses using solid, shell and solid-shell elements,” Journal of mechanical science and technology, vol. 25, no. 5, pp. 1105-1117, 2011.
Refereed Conference Proceedings:
- D. Kraus, A. Jensen, and M.D. Killpack, “Coordinated Soft Robot Multi-Arm Manipulation,” Soft Robotics, 2020 IEEE 3rd International Conference on, (accepted), 2020.
- J.S. Terry, J. Whitaker, R.W. Beard, and M.D. Killpack, “Adaptive Control of Largescale Soft Robot Manipulators with Unknown Payloads,” ASME Dynamic Systems and Control Conference, 2019.
- M.T. Gillespie, C.M. Best, E.C. Townsend, D. Wingate, and M.D. Killpack, “Learning nonlinear dynamic models of soft robots for model predictive control with neural networks,” in Soft Robotics, 2018 IEEE 1st International Conference on, pp. 39-45, 2018
- P. Hyatt, M. D. Killpack, “Real-Time Evolutionary Model Predictive Control Using a Graphics Processing Unit,” in Humanoid Robots (Humanoids), 2017 IEEE-RAS 15th International Conference on, 2017.
- J. Terry, L. Rupert, and M. D. Killpack, “Comparison of Linearized Dynamic Robot Manipulator Models for Model Predictive Control,” in Humanoid Robots (Humanoids), 2017 IEEE-RAS 15th International Conference on, 2017.
- E. Mielke, E. Townsend, and M. D. Killpack, “Analysis of Rigid Extended Object CoManipulation by Human Dyads: Lateral Movement Characterization,” in Robotics: Science and Systems, 2017.
- D. Bodily, T. F. Allen, and M. D. Killpack, “Motion planning for mobile robots using inverse kinematics branching,” in Robotics and Automation (ICRA), 2017 IEEE International Conference on, 2017, pp. 5043-5050.
- D. Bodily, T. F. Allen, and M. D. Killpack, “Multi-Objective Design Optimization of a Soft, Pneumatic Robot,” in Robotics and Automation (ICRA), 2017 IEEE International Conference on, 2017, pp. 1864-1871.
- J. P. Wilson, C. M. Best, and M. D. Killpack, “Variable Stiffness Adaptation to Mitigate System Failure in Inflatable Robots,” in Robotics and Automation (ICRA), 2017 IEEE International Conference on, 2017, pp. 5844-5851.
- M. T. Gillespie, C. M. Best, and M. D. Killpack, “Simultaneous position and stiffness control for an inflatable soft robot,” in Robotics and Automation (ICRA), 2016 IEEE International Conference on, 2016, pp. 1095-1101.
- C. M. Best, J. P. Wilson, and M. D. Killpack, “Control of a pneumatically actuated, fully inflatable, fabric-based, humanoid robot,” in Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, 2015, pp. 1133-1140.
- L.Rupert, P. Hyatt, and M. D. Killpack, “Comparing Model Predictive Control and input shaping for improved response of low-impedance robots,” in Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, 2015, pp. 256-263.
- P. M. Grice, M. D. Killpack, A. Jain, S. Vaish, J. Hawke, and C. C. Kemp, “Whole-arm tactile sensing for beneficial and acceptable contact during robotic assistance,” in Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on, 2013, pp. 1-8.
- M.D. Killpack and C. C. Kemp, “Fast reaching in clutter while regulating forces using model predictive control,” in Humanoid Robots (Humanoids), 2013 IEEE-RAS 15th International Conference on, 2013, pp. 146-153.
- T. Bhattacharjee, A. Jain, S. Vaish, M. D. Killpack, and C. C. Kemp, “Tactile sensing over articulated joints with stretchable sensors,” in World Haptics Conference (WHC), 2013, pp. 103-108.
- M. Killpack, T. Deyle, C. Anderson, and C. C. Kemp, “Visual odometry and control for an omnidirectional mobile robot with a downward-facing camera,” in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, 2010, pp. 139-146.
- W. J. Book, R. Winck, M. Killpack, J. Huggins, S. Dickerson, T. Collins, R. Prado and S. Jayaraman., “Automated Garment Manufacturing System Using Novel Sensing and Actuation,” in International Symposium on Flexible Automation, 2010.
- C.-H. King, M. D. Killpack, and C. C. Kemp, “Effects of force feedback and arm compliance on teleoperation for a hygiene task,” in Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I, 2010, pp. 248-255.
Technical Reports, Workshops and Invited Presentations:
- M.D. Killpack et al., “Past success and future directions for modeling and control of large-scale soft robot manipulators,” presented at the IEEE Robosoft Workshop on Soft Robot Modeling and Control, Livorno, Italy, 2018.
- M. D. Killpack et al., “Human-Robot Physical Co-manipulation of an Extended Object,” presented at the IEEE International Conference on Humanoid Robots - Workshop: HumanHumanoid collaboration: the next industrial revolution?, Birmingham, United Kingdom, 2017.
- M.D. Killpack et al., “Soft Robot Design, Sensing, and Control Approaches to Enable Human-Robot Co-Manipulation,” presented at the IEEE International Conference on Humanoid Robots - Workshop: Can we build Baymax? Part III: Design and Control for Soft Human-Robot Interaction, Birmingham, United Kingdom, 2017.
- N.Day, and M. D. Killpack, “Scalable Resistive Tactile Sensor Arrays for Soft Robot Manipulation,” Robotics: Science and Systems - Workshop: Tactile Sensing for Manipulation: Hardware, Modeling, and Learning, Boston, Massachusetts, 2017.
- C. M. Best, J. P. Wilson, M. T. Gillespie, E. Townsend, V. Sherrod, D. Kraus, N. Day, P. Hyatt, L. Rupert, and M. D. Killpack, “Soft Robot Variable Stiffness Control, Failure Mitigation, and Tactile Sensor Design,” presented at the IEEE International Conference on Humanoid Robots - Workshop: Can We Build Baymax Part 2, Cancun, Mexico, 2016.
- C. M. Best∗, M. T. Gillespie, P. Hyatt, L. Rupert, J. P. Wilson, and M.D. Killpack, “Training Up Baymax: Progress and Future Directions for Soft Humanoid Robot Control,” presented at the IEEE International Conference on Humanoid Robots - Workshop: Can we build Baymax?-Soft Robotics and Safe Human-Robot Interaction in Humanoids, Seoul, South Korea, 2015. *-authors in alphabetical order except for senior author.
- T. Bhattacharjee, P. M. Grice, A. Kapusta, M.D. Killpack, D. Park, and C. C. Kemp, “A robotic system for reaching in dense clutter that integrates model predictive control, learning, haptic mapping, and planning,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)-3rd Workshop on Robots in Clutter: Perception and Interaction in Clutter, 2014, pp. 14-18.
- M.D. Killpack and C. C. Kemp, “Model-based Tactile Feedback Control for Robot Manipulation in Cluttered Scenarios,” in Robotics: Science and Systems - Workshop: Sensitive Robotics, Berlin, Germany, 2013.