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Personal profile

Research Interests

Professor Murphey's research focuses on computational methods in data-driven control, information theory in physical systems, and embodied intelligence.  Example projects include robotic exploration using electrosense, robotic exploration using mechanical contact, human-in-the-loop control, and shared control for rehabilitation/assistive devices.

Education/Academic qualification

Control and Dynamical Systems, PhD, California Institute of Technology

… → 2002

Mathematics, BS, University of Arizona

Research interests

  • Modeling and control of complex mechanisms
  • Puppets
  • Robotics

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Grants

Research Output

Experimental applications of the koopman operator in active learning for control

Berrueta, T. A., Abraham, I. & Murphey, T., Jan 1 2020, Lecture Notes in Control and Information Sciences. Springer, p. 421-450 30 p. (Lecture Notes in Control and Information Sciences; vol. 484).

Research output: Chapter in Book/Report/Conference proceedingChapter

  • Active Learning of Dynamics for Data-Driven Control Using Koopman Operators

    Abraham, I. & Murphey, T. D., Oct 2019, In : IEEE Transactions on Robotics. 35, 5, p. 1071-1083 13 p., 8759089.

    Research output: Contribution to journalArticle

  • 2 Scopus citations

    Adaptive single action control policies for linearly parameterized systems

    Ennasr, O., Mamakoukas, G., Castaño, M., Coleman, D., Murphey, T. & Tan, X., Jan 1 2019, Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing. American Society of Mechanical Engineers (ASME), V001T02A004. (ASME 2019 Dynamic Systems and Control Conference, DSCC 2019; vol. 1).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Data-driven gait segmentation for walking assistance in a lower-limb assistive device

    Kalinowska, A., Berrueta, T. A., Zoss, A. & Murphey, T., May 2019, 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., p. 1390-1396 7 p. 8794416. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2019-May).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Dynamical system segmentation for information measures in motion

    Berrueta, T. A., Pervan, A., Fitzsimons, K. & Murphey, T. D., Jan 1 2019, In : IEEE Robotics and Automation Letters. 4, 1, p. 169-176 8 p., 8552420.

    Research output: Contribution to journalArticle

  • 1 Scopus citations