Andrew P. Murray
Papers
12
Total Citations
154
H-Index
6
About
Andrew P. Murray’s research bridges the gap between robotic mechanisms and human biomechanics, with a core focus on kinematics, center-of-mass (CoM) estimation, and continuum robot design. His most significant contribution is the development of the Statically Equivalent Serial Chain (SESC) model, a powerful technique for estimating the CoM of articulated systems—from humanoid robots to the human body. This work, published in a 2009 paper with 63 citations, has become a foundational tool in both robotics and gait analysis. Murray further extended this concept to analyze CoM manipulability for robot design, earning over a dozen citations for his 2010 study. In more recent work, he has tackled the complex kinematics of piecewise constant curvature continuum robots, providing reachability criteria for multi-segment systems (2023, 24 citations). His methodological contributions also include novel projection metrics on SE(n) using SVD and PD techniques (2004, 15 citations), which help define meaningful distances in rigid-body motion. With a career spanning from early evolutionary robotics strategies (1995) to cutting-edge morphing mechanical chains (2019–2020), Murray’s work consistently advances how we model, control, and design articulated and continuum systems.
Research Focus
Key Achievements
Top Papers
- 1Estimation of the Center of Mass: From Humanoid Robots to Human Beings63 citations · 2009
- 2The Kinematics of Constant Curvature Continuum Robots Through Three Segments24 citations · 2023
- 3SVD and PD Based Projection Metrics on SE(n)15 citations · 2004
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- 6Design Strategies for Evolutionary Robotics7 citations · 1995
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- 8Synthesizing Mechanical Chains for Morphing Between Spatial Curves4 citations · 2019
- 9Synthesizing Mechanical Chains for Morphing Between Spatial Curves3 citations · 2020
- 10Projection Metrics for Rigid-Body Displacements3 citations · 2005