J. Murray

About

J. Murray has established himself as a pioneering figure in computational robotics, with foundational contributions spanning dynamic modeling, symbolic computation, and control engineering for robotic systems. His most celebrated work centers on the development of the Algebraic Robot Modeler (ARM), a groundbreaking software program capable of symbolically generating complete closed-form dynamic robot models — a contribution that effectively synthesized classical mechanics with computer-aided symbolic computation and gave rise to what Murray termed "computational robot dynamics." His 1989 paper on closed-chain robotic manipulators (70 citations) demonstrated an elegant D'Alembert's principle-based approach to modeling kinematically complex systems, while his broader ARM-related body of work (accumulating over 200 citations collectively) introduced heuristic optimization strategies, linearization frameworks, and customized algorithms — including a complete dynamic model of the influential PUMA robot — that dramatically reduced computational overhead for real-time control applications. Murray's research has equipped control engineers with practical, efficient tools for robotic simulation and trajectory planning. Notably, his more recent work ventures into neuromorphic vision sensing using SPAD-based systems and memristive processing, reflecting a remarkable breadth of research interests that continues to evolve with emerging technologies.

Research Focus

Key Achievements

Top Papers

1. 1
   Dynamic modeling of closed-chain robotic manipulators and implications for trajectory control

   70 citations · 1989
2. 2
   ARM: An algebraic robot dynamic modeling program

   58 citations · 2005
3. 3
   Computational robot dynamics: Foundations and applications

   55 citations · 1985
4. 4
   Linearization and sensitivity functions of dynamic robot models

   39 citations · 1984
5. 5
   Customized computational robot dynamics

   36 citations · 1987
6. 6
   The Complete Dynamic Model and Customized Algorithms of the Puma Robot

   34 citations · 1987
7. 7
   Symbolically efficient formulations for computational robot dynamics

   31 citations · 1987
8. 8
   Organizing customized robot dynamics algorithms for efficient numerical evaluation

   22 citations · 1988
9. 9
   A Single Chip SPAD Based Vision Sensing System With Integrated Memristive Spiking Neuromorphic Processing

   15 citations · 2023
10. 10
    Linearization and Sensitivity Models of the Newton-Euler Dynamic Robot Model

    15 citations · 1986

Key Collaborators

Contact & Links