Anchoring Sagittal Plane Templates in a Spatial Quadruped

Publisher ICRA

Kinegami: Algorithmic Design of Compliant Kinematic Chains From Tubular Origami

Publisher IEEE Transactions on Robotics

Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Autonomous Stairwell Ascent

Publisher Robotica

Coronal Plane Spine Twisting Composes Shape to Adjust the Energy Landscape for Grounded Reorientation

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Examples of Gibsonian Affordances in Legged Robotics Research Using an Empirical, Generative Framework

Publisher Frontiers in Neurorobotics

Extended Version of Simple Sagittal Running: Stability of a Quadrupedal Bound

Publisher UPenn Technical Reports (ESE)

Mechanical and virtual compliance for robot locomotion in a compliant world

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Mitigating energy loss in a robot hopping on a physically emulated dissipative substrate

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Rapid In Situ Characterization of Soil Erodibility With a Field Deployable Robot

Publisher Journal of Geophysical Research: Earth Surface

Sensor-based reactive navigation in unknown convex sphere worlds

Publisher International Journal of Robotics Research (IJRR)

Systematizing Gibsonian affordances in robotics: an empirical, generative approach derived from case studies in legged locomotion

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Task-Based Control and Design of a BLDC Actuator for Robotics

Publisher IEEE Robotics and Automation Letters (RA-L)

A hybrid dynamical extension of averaging and its application to the analysis of legged gait stability

Publisher International Journal of Robotics Research (IJRR)

Actuator Transparency and the Energetic Cost of Proprioception

Publisher International Symposium on Experimental Robotics (ISER)

Analytically-Guided Design of a Tailed Bipedal Hopping Robot

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Autonomous legged hill ascent

Publisher Journal of Field Robotics

Integration of Local Geometry and Metric Information in Sampling-Based Motion Planning

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Iterated Belief Revision Under Resource Constraints: Logic as Geometry

Publisher arXiv

Navigation Functions for Convex Potentials in a Space With Convex Obstacles

Publisher IEEE Transactions on Automatic Control

Reactive velocity control reduces energetic cost of jumping with a virtual leg spring on simulated granular media

Publisher IEEE International Conference on Robotics and Biomimetics (ROBIO)

Sensor-based legged robot homing using range-only target localization

Publisher IEEE International Conference on Robotics and Biomimetics (ROBIO)

Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Sensor-Based Reactive Symbolic Planning in Partially Known Environments

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting

Publisher International Journal of Robotics Research (IJRR)

Voronoi-Based Coverage Control of Pan/Tilt/Zoom Camera Networks

Publisher IEEE International Conference on Robotics and Automation (ICRA)

A dynamical system for prioritizing and coordinating motivations

Publisher SIAM Journal on Applied Dynamical Systems (SIADS)

Discriminative measures for comparison of phylogenetic trees

Publisher Discrete Applied Mathematics

Empirical validation of a spined sagittal-plane quadrupedal model

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Ground robotic measurement of aeolian processes

Publisher Aeolian Research

Longitudinal quasi-static stability predicts changes in dog gait on rough terrain

Publisher Journal of Experimental Biology

Morphology and the gradient of a symmetric potential predict gait transitions of dogs

Publisher Biological Cybernetics

Quasi-static and dynamic mismatch for door opening and stair climbing with a legged robot

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Sensory steering for sampling-based motion planning

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Smooth extensions of feedback motion planners via reference governors

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Spatial Sampling Strategies with Multiple Scientific Frames of Reference

Publisher UPenn Departmental Papers (ESE)

Why We Need More Degrees of Freedom

Publisher Procedia IUTAM

A hybrid systems model for simple manipulation and self-manipulation systems

Publisher International Journal of Robotics Research (IJRR)

Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation

Publisher IEEE Transactions on Robotics

Coordinated Robot Navigation via Hierarchical Clustering

Publisher IEEE Transactions on Robotics

Design Principles for a Family of Direct-Drive Legged Robots

Publisher IEEE Robotics and Automation Letters (RA-L)

Event-selected vector field discontinuities yield piecewise-differentiable flows

Publisher SIAM Journal on Applied Dynamical Systems (SIADS)

Exact robot navigation using power diagrams

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Frontal plane stabilization and hopping with a 2dof tail

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Mobile robots as remote sensors for spatial point process models

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

On the Optimality of Napoleon Triangles

Publisher Journal of Optimization Theory and Applications

RHex Slips on Granular Media

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Towards a comparative measure of legged agility

Publisher Springer Tracts in Advanced Robotics

Towards bipedal behavior on a quadrupedal platform using optimal control

Publisher International Society for Optical Engineering (SPIE)

Voronoi-based coverage control of heterogeneous disk-shaped robots

Publisher IEEE International Conference on Robotics and Automation (ICRA)

A drift-diffusion model for robotic obstacle avoidance

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

An empirical investigation of legged transitional maneuvers leveraging Raibert’s Scissor algorithm

Publisher 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Leg design for energy management in an electromechanical robot

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Navigation of distinct euclidean particles via hierarchical clustering

Publisher Springer Tracts in Advanced Robotics

Parallel composition of templates for tail-energized planar hopping

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Semi-autonomous exploration of multi-floor buildings with a legged robot

Publisher International Society for Optical Engineering (SPIE)

Tail-assisted rigid and compliant legged leaping

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Universal Memory Architectures for Autonomous Machines

Publisher arXiv