Comparing Model Predictive Control and input shaping for improved response of low-impedance robots. - Levi Rupert; Phillip Hyatt; Marc D. Killpack (Humanoids, 2015)

A New Soft Robot Control Method: Using Model Predictive Control for a Pneumatically Actuated Humanoid. - Charles M. Best; Morgan T. Gillespie; Phillip Hyatt; Levi Rupert; Vallan Sherrod; Marc D. Killpack (IEEE Robotics Autom. Mag., 2016)

Comparison of linearized dynamic robot manipulator models for model predictive control. - Jonathan S. Terry; Levi Rupert; Marc D. Killpack (Humanoids, 2017)

Closed-Form Non-Singular Constant-Curvature Continuum Manipulator Kinematics. - Thomas F. Allen; Levi Rupert; Timothy R. Duggan; Gabriel Hein; Kevin Albert (RoboSoft, 2020)

Improved Continuum Joint Configuration Estimation Using a Linear Combination of Length Measurements and Optimization of Sensor Placement. - Levi Rupert; Timothy R. Duggan; Marc D. Killpack (Frontiers Robotics AI, 2021)

Performance Metrics for Fluidic Soft Robot Rotational Actuators. - Levi Rupert; Benjamin O. Saunders; Marc D. Killpack (Frontiers Robotics AI, 2021)

Comparing model-based control methods for simultaneous stiffness and position control of inflatable soft robots. - Charles M. Best; Levi Rupert; Marc D. Killpack (Int. J. Robotics Res., 2021)