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

Discrete and continuous mechanics for tree representations of mechanical systems. - Elliot R. Johnson; Todd D. Murphey (ICRA, 2008)

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

Dangers of two-point holonomic constraints for variational integrators. - Elliot R. Johnson; Todd D. Murphey (ACC, 2009)

Automated trajectory synthesis from animation data using trajectory optimization. - Elliot R. Johnson; Todd D. Murphey (CASE, 2009)

Second order switching time optimization for time-varying nonlinear systems. - Elliot R. Johnson; Todd D. Murphey (CDC, 2009)

Scalable Variational Integrators for Constrained Mechanical Systems in Generalized Coordinates. - Elliot R. Johnson; Todd D. Murphey (IEEE Trans. Robotics, 2009)

Linearizations for mechanical systems in generalized coordinates. - Elliot R. Johnson; Todd D. Murphey (ACC, 2010)

Local planning using switching time optimization. - Elliot R. Johnson; Todd D. Murphey (CASE, 2010)

Control aesthetics in software architecture for robotic marionettes. - Todd D. Murphey; Elliot R. Johnson (ACC, 2011)

Second-Order Switching Time Optimization for Nonlinear Time-Varying Dynamic Systems. - Elliot R. Johnson; Todd D. Murphey (IEEE Trans. Autom. Control., 2011)

Constructing and Implementing Motion Programs for Robotic Marionettes. - Patrick Martin 003; Elliot R. Johnson; Todd D. Murphey; Magnus Egerstedt (IEEE Trans. Autom. Control., 2011)

Structured Linearization of Discrete Mechanical Systems for Analysis and Optimal Control. - Elliot R. Johnson; Jarvis A. Schultz; Todd D. Murphey (IEEE Trans Autom. Sci. Eng., 2015)