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Marc Killpack

Associate Professor

360E EB
Provo, UT 84602

Office Hours

Available by appointment


Soft Robots, Human-Robot Interaction, Controls, Robot Manipulation, Computer vision and 3D Sensing, Haptic Sensing

Graduate Students

Marc Killpack completed his Ph.D. in Robotics from the Georgia Institute of Technology and joined BYU as an Assistant Professor in December of 2013. His areas of expertise include soft robotics, human-robot interaction, controls, mechanics and perception for robotics and other automated systems. His current research interests relate to improving modeling and control for robot manipulation in unstructured and difficult environments. This includes applications related to search and rescue, disaster response and human robot interaction. While at Georgia Tech in the Healthcare Robotics Lab (HRL), Marc worked on projects including sensing and control for mobile robot bases, automating learning from robot grasping, manipulation around and interacting with human subjects, and control of a robot arm in cluttered and unmodeled environments. Prior to joining HRL, he completed Masters degrees in Mechanical Engineering from both Georgia Tech and AM Paris Tech (formerly ENSAM) in Metz, France. In 2007, Marc graduated with a Bachelor's of Science in Mechanical Engineering from Brigham Young University.

Graduate students:

  • Levi Rupert (Ph.D. Student)
  • Philip Hyatt (Ph.D. Student)
  • Mat Haskell (Ph.D. Student)
  • Devin Wheelwright (MS/MBA Student)
  • Seth Freeman (MS Student)
  • Tyler Quackenbush (MS Student)


  • Charles Best (MS Student) - Raytheon
  • Morgan Gillespie (MS Student) - L3
  • Joshua Wilson (MS Student) - Ford
  • Eric Townsend (MS Student) - SkyTech Robotics
  • Daniel Bodily (MS Student) - 3M Research Engineer
  • Dustan Kraus (MS Student) - Raytheon
  • Nathan Day (MS Student) - AUBO robotics
  • Vallan Sherrod (MS Student) - SISU Robotics
  • Erich Mielke (MS Student) - 3M Research Engineer
  • Jon Terry (MS Student) - SISU Robotics

Refereed Journal Articles:

  • Jain*, A., Killpack*, M., Edsinger, A., and Kemp, C.C., “Reaching in Clutter with Whole-Arm Tactile Sensing”, International Journal of Robotics Research, 2013, Sage.* - equally contributing authors
  • Killpack, M., Abed-Meraim F., “Limit-point buckling analysis using the assumed strain continuum shell element SHB8PS”, Journal of mechanical science and technology, 2011, Springer.

Refereed Conference Articles:

  • Killpack, M., and Kemp, C.C., “Fast Reaching in Clutter While Regulating Forces Using Model Predictive Control”, IEEE-RAS International Conference on Humanoid Robots, 2013. (Nominated for best paper)
  • Bhattacharjee, T., Jain, A., Vaish, S., Killpack, M. D., and Kemp, C. C., “Tactile sensing over articulated joints with stretchable sensors,” IEEE World Haptics Conference, 2013.
  • Grice, P., Killpack, M., Jain, A., Vaish, S., Hawke, J., and Kemp, C.C., “Whole-arm tactile sensing for beneficial and acceptable contact during robotic assistance,” International Conference on Rehabilitation Robotics, 2013.
  • Killpack, M., Deyle, T., Anderson, C., Kemp, C.C., ""Visual Odometry and Control for an Omnidirectional Mobile Robot with a Downward-Facing Camera,"" IROS 2010.
  • Book, W.J., Winck, R., Killpack, M., Huggins, J., Dickerson, S., Collins, T., Prado, R., and Jayaraman, S., “Automated garment manufacturing system using novel sensing and actuation,” Proceedings of 2010 ISFA 2010 International Symposium on Flexible Automation, 2010.
  • King, C.-H., Killpack, M., and Kemp, C.C., “Effects of force feedback and arm compliance on teleoperation of an assistive robot for hygiene,” Proceedings of Eurohaptics, 2010.

Technical Reports:

  • Killpack, M., ""Automated Tracking and Control of Non-rigid Cloth,"" 2012.

In Preparation:

  • Killpack, M., Mathews, J., Hawkins, K., and Kemp, C.C., “Design of System for High-Throughput Data Capture of Autonomous Robot Manipulation,” 2013.
  • Killpack, M., Kapusta, A., and Kemp C.C., ""Improvements in Time Efficiency for Reaching in Clutter While Controlling Forces Using Model Predictive Control"".

Me En 335 Dynamic System Modeling

Me En 363 Instrumentation

Me En 362 Engineering Measurements

Me En 537 Robotics