Daniel E. Koditschek

209 papers A* 54A 17B 2C 9Journal 97Unranked 30

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Legged Autonomous Surface Science In Analogue Environments (LASSIE): Making Every Robotic Step Count in Planetary Exploration. CoRR Cristina G. Wilson, Marion Nachon, Shipeng Liu, John Ruck, J. Diego Caporale, Benjamin E. McKeeby, Yifeng Zhang, Jordan M. Bretzfelder, John Bush, Alivia M. Eng, Ethan Fulcher, Emmy B. Hughes, Ian C. Rankin, Jelis J. Sostre Cortés, Sophie Silver, Michael R. Zanetti, Ryan C. Ewing, Kenton R. Fisher, Douglas J. Jerolmack, Daniel E. Koditschek, Frances Rivera-Hernández, Thomas F. Shipley, Feifei Qian
2026	J	`jnl`	Scout-Rover cooperation: online terrain strength mapping and traversal risk estimation for planetary-analog explorations. CoRR Shipeng Liu, J. Diego Caporale, Yifeng Zhang, Xingjue Liao, William Hoganson, Wilson Hu, Shivangi Misra, Neha Peddinti, Rachel Holladay, Ethan Fulcher, Akshay Ram Panyam, Andrik Puentes, Jordan M. Bretzfelder, Michael R. Zanetti, Uland Wong, Daniel E. Koditschek, Mark Yim, Doug Jerolmack, Cynthia R. Sung, Feifei Qian
2023	A*	`conf`	Anchoring Sagittal Plane Templates in a Spatial Quadruped. ICRA Timothy Greco, Daniel E. Koditschek
2023	J	`jnl`	Kinegami: Algorithmic Design of Compliant Kinematic Chains From Tubular Origami. IEEE Trans. Robotics Wei-Hsi Chen, Woohyeok Yang, Lucien Peach, Daniel E. Koditschek, Cynthia R. Sung
2023	—	`conf`	Limb-Loss Recovery Gaits and Their Energetic Cost. ISER Abriana Stewart-Height, Daniel E. Koditschek
2023	J	`jnl`	Stability of a Groucho-Style Bounding Run in the Sagittal Plane. Robotics Jeffrey Duperret, Daniel E. Koditschek
2023	J	`jnl`	Technical Report on: Tripedal Dynamic Gaits for a Quadruped Robot. CoRR Abriana Stewart-Height, Daniel E. Koditschek
2023	A*	`conf`	Twisting Spine or Rigid Torso: Exploring Quadrupedal Morphology via Trajectory Optimization. ICRA J. Diego Caporale, Zeyuan Feng, Shane Rozen-Levy, Aja Mia Carter, Daniel E. Koditschek
2022	A*	`conf`	A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments. ICRA Vasileios Vasilopoulos, Sebastian Castro, William Vega-Brown, Daniel E. Koditschek, Nicholas Roy
2022	J	`jnl`	Mode-Reactive Template-Based Control in Planar Legged Robots. IEEE Access Avik De, T. Turner Topping, J. Diego Caporale, Daniel E. Koditschek
2022	J	`jnl`	Reactive navigation in partially familiar planar environments using semantic perceptual feedback. Int. J. Robotics Res. Vasileios Vasilopoulos, Georgios Pavlakos, Karl Schmeckpeper, Kostas Daniilidis, Daniel E. Koditschek
2022	J	`jnl`	Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped. CoRR Timothy Greco, Daniel E. Koditschek
2022	J	`jnl`	Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments. CoRR Vasileios Vasilopoulos, Sebastian Castro, William Vega-Brown, Daniel E. Koditschek, Nicholas Roy
2022	J	`jnl`	Tendon-Driven Auxetic Tubular Springs for Resilient Hopping Robots. Adv. Intell. Syst. Young-Joo Lee, Shivangi Misra, Wei-Hsi Chen, Daniel E. Koditschek, Cynthia Sung, Shu Yang
2021	J	`jnl`	Conley's Fundamental Theorem for a Class of Hybrid Systems. SIAM J. Appl. Dyn. Syst. Matthew D. Kvalheim, Paul Gustafson, Daniel E. Koditschek
2021	J	`jnl`	From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence. CoRR Nicholas Roy, Ingmar Posner, Tim D. Barfoot, Philippe Beaudoin, Yoshua Bengio, Jeannette Bohg, Oliver Brock, Isabelle Depatie, Dieter Fox, Daniel E. Koditschek, Tomás Lozano-Pérez, Vikash Mansinghka, Christopher J. Pal, Blake A. Richards, Dorsa Sadigh, Stefan Schaal, Gaurav S. Sukhatme, Denis Thérien, Marc Toussaint, Michiel van de Panne
2021	J	`jnl`	Hybrid dynamical type theories for navigation. CoRR Paul Gustafson, Jared Culbertson, Daniel E. Koditschek
2021	J	`jnl`	Motivation Dynamics for Autonomous Composition of Navigation tasks. IEEE Trans. Robotics Paul B. Reverdy, Vasileios Vasilopoulos, Daniel E. Koditschek
2021	J	`jnl`	Necessary conditions for feedback stabilization and safety. CoRR Matthew D. Kvalheim, Daniel E. Koditschek
2021	A*	`conf`	Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments. ICRA Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas, Daniel E. Koditschek
2021	J	`jnl`	Virtual Energy Management for Physical Energy Savings in a Legged Robot Hopping on Granular Media. Frontiers Robotics AI Sonia F. Roberts, Daniel E. Koditschek
2021	J	`jnl`	What Is Robotics? Why Do We Need It and How Can We Get It? Annu. Rev. Control. Robotics Auton. Syst. Daniel E. Koditschek
2020	J	`jnl`	A Programmably Compliant Origami Mechanism for Dynamically Dexterous Robots. IEEE Robotics Autom. Lett. Wei-Hsi Chen, Shivangi Misra, Yuchong Gao, Young-Joo Lee, Daniel E. Koditschek, Shu Yang, Cynthia R. Sung
2020	—	`conf`	A Tendon-Driven Origami Hopper Triggered by Proprioceptive Contact Detection. RoboSoft Wei-Hsi Chen, Shivangi Misra, J. Diego Caporale, Daniel E. Koditschek, Shu Yang, Cynthia R. Sung
2020	J	`jnl`	An obstacle disturbance selection framework: emergent robot steady states under repeated collisions. Int. J. Robotics Res. Feifei Qian, Daniel E. Koditschek
2020	J	`jnl`	Autonomous Stairwell Ascent. Robotica B. Deniz Ilhan, Aaron M. Johnson, Daniel E. Koditschek
2020	J	`jnl`	Conley's fundamental theorem for a class of hybrid systems. CoRR Matthew D. Kvalheim, Paul Gustafson, Daniel E. Koditschek
2020	A*	`conf`	Coronal Plane Spine Twisting Composes Shape To Adjust the Energy Landscape for Grounded Reorientation. ICRA J. Diego Caporale, Benjamin W. McInroe, Chenze Ning, Thomas Libby, Robert J. Full, Daniel E. Koditschek
2020	B	`conf`	Data Foraging: Spatiotemporal Data Collection Decisions in Disciplinary Field Science. CogSci Cristina Wilson, Feifei Qian, Doug Jerolmack, Thomas F. Shipley, Sonia F. Roberts, Jonathan Ham, Daniel E. Koditschek
2020	J	`jnl`	Examples of Gibsonian Affordances in Legged Robotics Research Using an Empirical, Generative Framework. Frontiers Neurorobotics Sonia F. Roberts, Daniel E. Koditschek, Lisa J. Miracchi
2020	J	`jnl`	Modulation of Robot Orientation Via Leg-Obstacle Contact Positions. IEEE Robotics Autom. Lett. Divya Ramesh, Anmol Kathail, Daniel E. Koditschek, Feifei Qian
2020	J	`jnl`	Reactive Navigation in Partially Familiar Planar Environments Using Semantic Perceptual Feedback. CoRR Vasileios Vasilopoulos, Georgios Pavlakos, Karl Schmeckpeper, Kostas Daniilidis, Daniel E. Koditschek
2020	J	`jnl`	Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback. IEEE Robotics Autom. Lett. Vasileios Vasilopoulos, Georgios Pavlakos, Sean L. Bowman, J. Diego Caporale, Kostas Daniilidis, George J. Pappas, Daniel E. Koditschek
2020	J	`jnl`	Technical Report: A New Hopping Controller for Highly Dynamical Bipeds. CoRR Shane Rozen-Levy, Daniel E. Koditschek
2020	J	`jnl`	Technical Report: Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments. CoRR Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas, Daniel E. Koditschek
2020	J	`jnl`	Technical Report: Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback. CoRR Vasileios Vasilopoulos, Georgios Pavlakos, Sean L. Bowman, J. Diego Caporale, Kostas Daniilidis, George J. Pappas, Daniel E. Koditschek
2019	J	`jnl`	A Tunably Compliant Origami Mechanism for Dynamically Dexterous Robots. CoRR Wei-Hsi Chen, Shivangi Misra, Yuchong Gao, Young-Joo Lee, Daniel E. Koditschek, Shu Yang, Cynthia R. Sung
2019	C	`conf`	Composition of Templates for Transitional Pedipulation Behaviors. ISRR T. Turner Topping, Vasileios Vasilopoulos, Avik De, Daniel E. Koditschek
2019	J	`jnl`	Formal composition of hybrid systems. CoRR Jared Culbertson, Paul Gustafson, Daniel E. Koditschek, Peter F. Stiller
2019	A*	`conf`	Mitigating energy loss in a robot hopping on a physically emulated dissipative substrate. ICRA Sonia F. Roberts, Daniel E. Koditschek
2019	J	`jnl`	Sensor-based reactive navigation in unknown convex sphere worlds. Int. J. Robotics Res. Ömür Arslan, Daniel E. Koditschek
2019	J	`jnl`	Task-Based Control and Design of a BLDC Actuator for Robotics. IEEE Robotics Autom. Lett. Avik De, Abriana Stewart-Height, Daniel E. Koditschek
2019	J	`jnl`	Towards a terramechanics for bio-inspired locomotion in granular environments. CoRR Chen Li, Yang Ding, Nick Gravish, Ryan D. Maladen, Andrew Masse, Paul B. Umbanhowar, Haldun Komsuoglu, Daniel E. Koditschek, Daniel I. Goldman
2018	J	`jnl`	A Dynamical System for Prioritizing and Coordinating Motivations. SIAM J. Appl. Dyn. Syst. Paul Reverdy, Daniel E. Koditschek
2018	J	`jnl`	A hybrid dynamical extension of averaging and its application to the analysis of legged gait stability. Int. J. Robotics Res. Avik De, Samuel A. Burden, Daniel E. Koditschek
2018	—	`conf`	Actuator Transparency and the Energetic Cost of Proprioception. ISER Gavin D. Kenneally, Wei-Hsi Chen, Daniel E. Koditschek
2018	A	`conf`	Analytically-Guided Design of a Tailed Bipedal Hopping Robot. IROS Abdulaziz Shamsah, Avik De, Daniel E. Koditschek
2018	J	`jnl`	Autonomous legged hill ascent. J. Field Robotics B. Deniz Ilhan, Aaron M. Johnson, Daniel E. Koditschek
2018	A*	`conf`	Integration of Local Geometry and Metric Information in Sampling-Based Motion Planning. ICRA Vincent Pacelli, Ömür Arslan, Daniel E. Koditschek
2018	J	`jnl`	Iterated Belief Revision Under Resource Constraints: Logic as Geometry. CoRR Dan P. Guralnik, Daniel E. Koditschek
2018	J	`jnl`	Navigation Functions for Convex Potentials in a Space With Convex Obstacles. IEEE Trans. Autom. Control. Santiago Paternain, Daniel E. Koditschek, Alejandro Ribeiro
2018	C	`conf`	Reactive Navigation in Partially Known Non-convex Environments. WAFR Vasileios Vasilopoulos, Daniel E. Koditschek
2018	—	`conf`	Reactive velocity control reduces energetic cost of jumping with a virtual leg spring on simulated granular media. ROBIO Sonia F. Roberts, Daniel E. Koditschek
2018	A	`conf`	Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator. IROS Vasileios Vasilopoulos, T. Turner Topping, William Vega-Brown, Nicholas Roy, Daniel E. Koditschek
2018	A*	`conf`	Sensor-Based Reactive Symbolic Planning in Partially Known Environments. ICRA Vasileios Vasilopoulos, William Vega-Brown, Ömür Arslan, Nicholas Roy, Daniel E. Koditschek
2018	J	`jnl`	Technical Report: Reactive Navigation in Partially Known Non-Convex Environments. CoRR Vasileios Vasilopoulos, Daniel E. Koditschek
2018	J	`jnl`	Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting. Int. J. Robotics Res. Avik De, Daniel E. Koditschek
2018	A*	`conf`	Voronoi-Based Coverage Control of Pan/Tilt/Zoom Camera Networks. ICRA Ömür Arslan, Hancheng Min, Daniel E. Koditschek
2017	J	`jnl`	Discriminative measures for comparison of phylogenetic trees. Discret. Appl. Math. Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek
2017	A*	`conf`	Empirical validation of a spined sagittal-plane quadrupedal model. ICRA Jeffrey Duperret, Daniel E. Koditschek
2017	J	`jnl`	Morphology and the gradient of a symmetric potential predict gait transitions of dogs. Biol. Cybern. Simon Wilshin, G. Clark Haynes, Jack Porteous, Daniel E. Koditschek, Shai Revzen, Andrew J. Spence
2017	A*	`conf`	Quasi-static and dynamic mismatch for door opening and stair climbing with a legged robot. ICRA T. Turner Topping, Gavin D. Kenneally, Daniel E. Koditschek
2017	J	`jnl`	Sensor-Based Reactive Symbolic Planning in Partially Known Environments. CoRR Vasileios Vasilopoulos, William Vega-Brown, Ömür Arslan, Nicholas Roy, Daniel E. Koditschek
2017	—	`conf`	Sensor-based legged robot homing using range-only target localization. ROBIO Vasileios Vasilopoulos, Ömür Arslan, Avik De, Daniel E. Koditschek
2017	A	`conf`	Sensory steering for sampling-based motion planning. IROS Ömür Arslan, Vincent Pacelli, Daniel E. Koditschek
2017	A*	`conf`	Smooth extensions of feedback motion planners via reference governors. ICRA Ömür Arslan, Daniel E. Koditschek
2017	C	`conf`	Towards Reactive Control of Transitional Legged Robot Maneuvers. ISRR Jeffrey Duperret, Daniel E. Koditschek
2016	J	`jnl`	A Hybrid Dynamical Extension of Averaging. CoRR Avik De, Samuel A. Burden, Daniel E. Koditschek
2016	J	`jnl`	A hybrid systems model for simple manipulation and self-manipulation systems. Int. J. Robotics Res. Aaron M. Johnson, Samuel A. Burden, Daniel E. Koditschek
2016	J	`jnl`	Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation. IEEE Trans. Robotics Thomas Libby, Aaron M. Johnson, Evan Chang-Siu, Robert J. Full, Daniel E. Koditschek
2016	J	`jnl`	Coordinated Robot Navigation via Hierarchical Clustering. IEEE Trans. Robotics Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek
2016	—	`conf`	Core Actuation Promotes Self-manipulability on a Direct-Drive Quadrupedal Robot. ISER Jeffrey Duperret, Benjamin Kramer, Daniel E. Koditschek
2016	J	`jnl`	Design Principles for a Family of Direct-Drive Legged Robots. IEEE Robotics Autom. Lett. Gavin D. Kenneally, Avik De, Daniel E. Koditschek
2016	J	`jnl`	Event-Selected Vector Field Discontinuities Yield Piecewise-Differentiable Flows. SIAM J. Appl. Dyn. Syst. Samuel A. Burden, S. Shankar Sastry, Daniel E. Koditschek, Shai Revzen
2016	A*	`conf`	Exact robot navigation using power diagrams. ICRA Ömür Arslan, Daniel E. Koditschek
2016	A	`conf`	Frontal plane stabilization and hopping with a 2DOF tail. IROS Garrett Wenger, Avik De, Daniel E. Koditschek
2016	A	`conf`	Mobile robots as remote sensors for spatial point process models. IROS Paul Reverdy, Daniel E. Koditschek
2016	J	`jnl`	On the Optimality of Napoleon Triangles. J. Optim. Theory Appl. Ömür Arslan, Daniel E. Koditschek
2016	C	`conf`	Sensor-Based Reactive Navigation in Unknown Convex Sphere Worlds. WAFR Ömür Arslan, Daniel E. Koditschek
2016	A*	`conf`	Voronoi-based coverage control of heterogeneous disk-shaped robots. ICRA Ömür Arslan, Daniel E. Koditschek
2015	J	`jnl`	A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems. CoRR Aaron M. Johnson, Samuel A. Burden, Daniel E. Koditschek
2015	A	`conf`	A drift-diffusion model for robotic obstacle avoidance. IROS Paul Reverdy, B. Deniz Ilhan, Daniel E. Koditschek
2015	—	`conf`	An empirical investigation of legged transitional maneuvers leveraging Raibert's Scissor algorithm. ROBIO Jeffrey M. Duperret, Daniel E. Koditschek
2015	—	`conf`	Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped. ISRR (2) Avik De, Daniel E. Koditschek
2015	J	`jnl`	Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation. CoRR Thomas Libby, Aaron M. Johnson, Evan Chang-Siu, Robert J. Full, Daniel E. Koditschek
2015	J	`jnl`	Coordinated Robot Navigation via Hierarchical Clustering. CoRR Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek
2015	A	`conf`	Leg design for energy management in an electromechanical robot. IROS Gavin D. Kenneally, Daniel E. Koditschek
2015	A*	`conf`	Parallel composition of templates for tail-energized planar hopping. ICRA Avik De, Daniel E. Koditschek
2015	A	`conf`	Tail-assisted rigid and compliant legged leaping. IROS Anna L. Brill, Avik De, Aaron M. Johnson, Daniel E. Koditschek
2015	J	`jnl`	The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates. CoRR Avik De, Daniel E. Koditschek
2015	J	`jnl`	Universal Memory Architectures for Autonomous Machines. CoRR Dan P. Guralnik, Daniel E. Koditschek
2015	J	`jnl`	Voronoi-Based Coverage Control of Heterogeneous Disk-Shaped Robots. CoRR Ömür Arslan, Daniel E. Koditschek
2014	A*	`conf`	Active sensing for dynamic, non-holonomic, robust visual servoing. ICRA Avik De, Karl S. Bayer, Daniel E. Koditschek
2014	J	`jnl`	Anytime Hierarchical Clustering. CoRR Ömür Arslan, Daniel E. Koditschek
2014	J	`jnl`	Coordinated Navigation of Multiple Independent Disk-Shaped Robots. IEEE Trans. Robotics C. Serkan Karagöz, H. Isil Bozma, Daniel E. Koditschek
2014	C	`conf`	Navigation of Distinct Euclidean Particles via Hierarchical Clustering. WAFR Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek
2014	—	`conf`	Towards a Comparative Measure of Legged Agility. ISER Jeffrey Duperret, Gavin D. Kenneally, Jason L. Pusey, Daniel E. Koditschek
2013	—	`conf`	Convergence of Bayesian histogram filters for location estimation. CDC Avik De, Alejandro Ribeiro, William Moran, Daniel E. Koditschek
2013	J	`jnl`	Discriminative Measures for Comparison of Phylogenetic Trees. CoRR Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek
2013	J	`jnl`	Legged Self-Manipulation. IEEE Access Aaron M. Johnson, Daniel E. Koditschek
2013	A*	`conf`	Toward a vocabulary of legged leaping. ICRA Aaron M. Johnson, Daniel E. Koditschek
2013	A*	`conf`	Toward dynamical sensor management for reactive wall-following. ICRA Avik De, Daniel E. Koditschek
2012	J	`jnl`	A bioinspired dynamical vertical climbing robot. Int. J. Robotics Res. Goran A. Lynch, Jonathan E. Clark, Pei-Chun Lin, Daniel E. Koditschek
2012	—	`conf`	Dynamical trajectory replanning for uncertain environments. CDC Shai Revzen, B. Deniz Ilhan, Daniel E. Koditschek
2012	—	`conf`	Hierarchically clustered navigation of distinct Euclidean particles. Allerton Conference Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek
2012	J	`jnl`	Multistable phase regulation for robust steady and transitional legged gaits. Int. J. Robotics Res. G. Clark Haynes, Alfred A. Rizzi, Daniel E. Koditschek
2012	A	`conf`	Standing self-manipulation for a legged robot. IROS Aaron M. Johnson, G. Clark Haynes, Daniel E. Koditschek
2012	—	`conf`	Toward a memory model for autonomous topological mapping and navigation: The case of binary sensors and discrete actions. Allerton Conference Dan P. Guralnik, Daniel E. Koditschek
2011	A*	`conf`	Experimental investigations into the role of passive variable compliant legs for dynamic robotic locomotion. ICRA Kevin C. Galloway, Jonathan E. Clark, Mark Yim, Daniel E. Koditschek
2010	—	`conf`	Characterization of Dynamic Behaviors in a Hexapod Robot. ISER Haldun Komsuoglu, Anirudha Majumdar, Yasemin Ozkan Aydin, Daniel E. Koditschek
2010	A	`conf`	Disturbance detection, identification, and recovery by gait transition in legged robots. IROS Aaron M. Johnson, Galen Clark Haynes, Daniel E. Koditschek
2010	—	`conf`	On the Comparative Analysis of Locomotory Systems with Vertical Travel. ISER Galen Clark Haynes, Daniel E. Koditschek
2009	C	`conf`	A distributed dynamical scheme for fastest mixing Markov chains. ACC Michael M. Zavlanos, Daniel E. Koditschek, George J. Pappas
2009	A	`conf`	A self-exciting controller for high-speed vertical running. IROS Goran A. Lynch, Jonathan E. Clark, Daniel E. Koditschek
2009	C	`conf`	Gait Transitions for Quasi-static Hexapedal Locomotion on Level Ground. ISRR Galen Clark Haynes, Fred R. Cohen, Daniel E. Koditschek
2009	A*	`conf`	Rapid pole climbing with a quadrupedal robot. ICRA G. Clark Haynes, Alex Khripin, Goran Lynch, Jonathan Amory, Aaron Saunders, Alfred A. Rizzi, Daniel E. Koditschek
2009	C	`conf`	Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints. ISRR Nora Ayanian, Vijay Kumar, Daniel E. Koditschek
2008	—	`conf`	A Physical Model for Dynamical Arthropod Running on Level Ground. ISER Haldun Komsuoglu, Kiwon Sohn, Robert J. Full, Daniel E. Koditschek
2008	J	`jnl`	Biologically inspired climbing with a hexapedal robot. J. Field Robotics Matthew Spenko, G. Clark Haynes, J. A. Saunders, Mark R. Cutkosky, Alfred A. Rizzi, Robert J. Full, Daniel E. Koditschek
2007	—	`conf`	Design of a Bio-inspired Dynamical Vertical Climbing Robot. Robotics: Science and Systems Jonathan E. Clark, Daniel I. Goldman, Pei-Chun Lin, Goran Lynch, Tao Chen, Haldun Komsuoglu, Robert J. Full, Daniel E. Koditschek
2007	A*	`conf`	Heterogeneous Leg Stiffness and Roll in Dynamic Running. ICRA Samuel Burden, Jonathan E. Clark, Joel Weingarten, Haldun Komsuoglu, Daniel E. Koditschek
2007	J	`jnl`	Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems. Int. J. Robotics Res. Gabriel A. D. Lopes, Daniel E. Koditschek
2006	J	`jnl`	Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits. IEEE Trans. Robotics Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek
2006	J	`jnl`	The Dynamics of Legged Locomotion: Models, Analyses, and Challenges. SIAM Rev. Philip Holmes, Robert J. Full, Daniel E. Koditschek, John Guckenheimer
2005	J	`jnl`	A Simply Stabilized Running Model. SIAM Rev. Raffaele M. Ghigliazza, Richard Altendorfer, Philip Holmes, Daniel E. Koditschek
2005	J	`jnl`	A leg configuration measurement system for full-body pose estimates in a hexapod robot. IEEE Trans. Robotics Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek
2005	J	`jnl`	Level sets and stable manifold approximations for perceptually driven non-holonomically constrained navigation. Adv. Robotics Gabriel A. D. Lopes, Daniel E. Koditschek
2005	A*	`conf`	Sensor Data Fusion for Body State Estimation in a Hexapod Robot with Dynamical Gaits. ICRA Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek
2004	—	`conf`	A framework for the coordination of legged robot gaits. RAM Joel Weingarten, Richard E. Groff, Daniel E. Koditschek
2004	A*	`conf`	Automated Gait Adaptation for Legged Robots. ICRA Joel Weingarten, Gabriel A. D. Lopes, Martin Buehler, Richard E. Groff, Daniel E. Koditschek
2004	J	`jnl`	Feedback-based event-driven parts moving. IEEE Trans. Robotics C. Serkan Karagöz, H. Isil Bozma, Daniel E. Koditschek
2004	—	`conf`	Legged Odometry from Body Pose in a Hexapod Robot. ISER Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek
2004	A	`conf`	Level sets and stable manifold approximations for perceptually driven nonholonomically constrained navigation. IROS Gabriel A. D. Lopes, Daniel E. Koditschek
2004	J	`jnl`	Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot. Int. J. Robotics Res. Uluc Saranli, Alfred A. Rizzi, Daniel E. Koditschek
2004	C	`conf`	Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod. WAFR Uluc Saranli, Alfred A. Rizzi, Daniel E. Koditschek
2004	J	`jnl`	Stability Analysis of Legged Locomotion Models by Symmetry-Factored Return Maps. Int. J. Robotics Res. Richard Altendorfer, Daniel E. Koditschek, Philip Holmes
2004	J	`jnl`	Stability Analysis of a Clock-Driven Rigid-Body SLIP Model for RHex. Int. J. Robotics Res. Richard Altendorfer, Daniel E. Koditschek, Philip Holmes
2004	A	`conf`	Toward a 6 DOF body state estimator for a hexapod robot with dynamical gaits. IROS Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek
2003	J	`jnl`	A Local Convergence Proof for the Minvar Algorithm for Computing Continuous Piecewise Linear Approximations. SIAM J. Numer. Anal. Richard E. Groff, Pramod P. Khargonekar, Daniel E. Koditschek
2003	J	`jnl`	A Simply Stabilized Running Model. SIAM J. Appl. Dyn. Syst. Raffaele M. Ghigliazza, Richard Altendorfer, Philip Holmes, Daniel E. Koditschek
2003	A*	`conf`	A leg configuration sensory system for dynamical body state estimates in a hexapod robot. ICRA Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek
2003	J	`jnl`	Hybrid zero dynamics of planar biped walkers. IEEE Trans. Autom. Control. Eric R. Westervelt, Jessy W. Grizzle, Daniel E. Koditschek
2003	A*	`conf`	Template based control of hexapedal running. ICRA Uluc Saranli, Daniel E. Koditschek
2003	A*	`conf`	Towards a Factored Analysis of Legged Locomotion Models. ICRA Richard Altendorfer, Daniel E. Koditschek, Philip Holmes
2003	A*	`conf`	Visual registration and navigation using planar features. ICRA Gabriel A. D. Lopes, Daniel E. Koditschek
2002	A*	`conf`	Back Flips with a Hexapedal Robot. ICRA Uluc Saranli, Daniel E. Koditschek
2002	J	`jnl`	Brachiation on a ladder with irregular intervals. Adv. Robotics Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek
2002	J	`jnl`	Phase Regulation of Decentralized Cyclic Robotic Systems. Int. J. Robotics Res. Eric Klavins, Daniel E. Koditschek
2002	J	`jnl`	Safe Cooperative Robot Dynamics on Graphs. SIAM J. Control. Optim. Robert Ghrist, Daniel E. Koditschek
2002	J	`jnl`	Visual servoing via navigation functions. IEEE Trans. Robotics Autom. Noah J. Cowan, Joel Weingarten, Daniel E. Koditschek
2001	J	`jnl`	Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies. Robotica H. Isil Bozma, Daniel E. Koditschek
2001	J	`jnl`	Editorial: Special Issue on the Ninth International Symposium of Robotics Research. Int. J. Robotics Res. John M. Hollerbach, Daniel E. Koditschek
2001	A*	`conf`	Proprioception Based Behavioral Advances in a Hexapod Robot. ICRA Haldun Komsuoglu, Dave McMordie, Uluc Saranli, Ned Moore, Martin Buehler, Daniel E. Koditschek
2001	J	`jnl`	RHex: A Biologically Inspired Hexapod Runner. Auton. Robots Richard Altendorfer, Ned Moore, Haldun Komsuoglu, Martin Buehler, H. Benjamin Brown Jr., Dave McMordie, Uluc Saranli, Robert J. Full, Daniel E. Koditschek
2001	J	`jnl`	RHex: A Simple and Highly Mobile Hexapod Robot. Int. J. Robotics Res. Uluc Saranli, Martin Buehler, Daniel E. Koditschek
2001	A*	`conf`	Stability of Coupled Hybrid Oscillators. ICRA Eric Klavins, Daniel E. Koditschek
2000	A*	`conf`	A Formalism for the Composition of Concurrent Robot Behaviors. ICRA Eric Klavins, Daniel E. Koditschek
2000	J	`jnl`	A brachiating robot controller. IEEE Trans. Robotics Autom. Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek
2000	J	`jnl`	Approximating the Stance Map of a 2-DOF Monoped Runner. J. Nonlinear Sci. William J. Schwind, Daniel E. Koditschek
2000	A*	`conf`	Design, Modeling and Preliminary Control of a Compliant Hexapod Robot. ICRA Uluc Saranli, Martin Buehler, Daniel E. Koditschek
2000	A*	`conf`	Event-Driven Parts' Moving in 2D Endogeneous Environments. ICRA C. Serkan Karagöz, H. Isil Bozma, Daniel E. Koditschek
2000	—	`conf`	Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot. ISER Richard Altendorfer, Uluc Saranli, Haldun Komsuoglu, Daniel E. Koditschek, H. Benjamin Brown Jr., Martin Buehler, Ned Moore, Dave McMordie, Robert J. Full
2000	—	`conf`	Piecewise Linear Homeomorphisms: The Scalar Case. IJCNN (3) Richard E. Groff, Daniel E. Koditschek, Pramod P. Khargonekar
2000	—	`conf`	Rigid body visual servoing using navigation functions. CDC Noah J. Cowan, Gabriel A. D. Lopes, Daniel E. Koditschek
2000	J	`jnl`	Safe cooperative robot dynamics on graphs CoRR Robert Ghrist, Daniel E. Koditschek
1999	A*	`conf`	Brachiation on a Ladder with Irregular Intervals. ICRA Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek
1999	A*	`conf`	Planar Image Based Visual Servoing as a Navigation Problem. ICRA Noah J. Cowan, Daniel E. Koditschek
1999	J	`jnl`	Sequential Composition of Dynamically Dexterous Robot Behaviors. Int. J. Robotics Res. Robert R. Burridge, Alfred A. Rizzi, Daniel E. Koditschek
1998	A*	`conf`	Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot. ICRA Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek
1998	A*	`conf`	Toward Global Visual Servos and Estimators for Rigid Bodies. ICRA Noah J. Cowan, Daniel E. Koditschek
1998	A*	`conf`	Toward the Control of a Multi-Jointed, Monoped Runner. ICRA Uluc Saranli, William J. Schwind, Daniel E. Koditschek
1997	A*	`conf`	Characterization of monoped equilibrium gaits. ICRA William J. Schwind, Daniel E. Koditschek
1997	A*	`conf`	Preliminary studies of a second generation brachiation robot controller. ICRA Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek
1996	J	`jnl`	An active visual estimator for dexterous manipulation. IEEE Trans. Robotics Autom. Alfred A. Rizzi, Daniel E. Koditschek
1996	B	`conf`	Dynamical system representation, generation, and recognition of basic oscillatory motion gestures. FG Charles J. Cohen, Lynn Conway, Daniel E. Koditschek
1995	—	`conf`	A "robust" convergent visual servoing system. IROS (1) D. Kim, Alfred A. Rizzi, Gregory D. Hager, Daniel E. Koditschek
1995	A*	`conf`	Control of Forward Velocity for a Simplyfied Planar Hopping Robot. ICRA William J. Schwind, Daniel E. Koditschek
1995	A*	`conf`	Global Asymptotic Stability of Passive Juggler: A Parts Feeding Strategy. ICRA Peter J. Swanson, Robert R. Burridge, Daniel E. Koditschek
1995	—	`conf`	Toward Obstacle Avoidance in Intermittent Dynamical Environments. ISER Robert R. Burridge, Alfred A. Rizzi, Daniel E. Koditschek
1995	—	`conf`	Toward a dynamical pick and place. IROS (2) Robert R. Burridge, Alfred A. Rizzi, Daniel E. Koditschek
1994	J	`jnl`	An approach to autonomous robot assembly. Robotica Daniel E. Koditschek
1994	A*	`conf`	Further Progress in Robot Juggling: Solvable Mirror Laws. ICRA Alfred A. Rizzi, Daniel E. Koditschek
1994	J	`jnl`	Planning and Control of Robotic Juggling and Catching Tasks. Int. J. Robotics Res. Martin Buehler, Daniel E. Koditschek, P. J. Kindlmann
1993	J	`jnl`	Comparative experiments with a new adaptive controller for robot arms. IEEE Trans. Robotics Autom. Louis L. Whitcomb, Alfred A. Rizzi, Daniel E. Koditschek
1993	—	`conf`	Dynamic Stereo Triangulation for Robot Juggling. ISER Alfred A. Rizzi, Daniel E. Koditschek
1993	—	`conf`	Further Progress in Robot Juggling: The Spatial Two-Juggle. ICRA (3) Alfred A. Rizzi, Daniel E. Koditschek
1993	A	`conf`	Toward the control of attention in a dynamically dexterous robot. IROS Alfred A. Rizzi, Daniel E. Koditschek
1992	J	`jnl`	Distributed Real-Time Control of a Spatial Robot Juggler. Computer Alfred A. Rizzi, Louis L. Whitcomb, Daniel E. Koditschek
1992	J	`jnl`	Exact robot navigation using artificial potential functions. IEEE Trans. Robotics Autom. Elon Rimon, Daniel E. Koditschek
1992	A*	`conf`	Progress in spatial robot juggling. ICRA Alfred A. Rizzi, Daniel E. Koditschek
1992	J	`jnl`	Task encoding: Toward a scientific paradigm for robot planning and control. Robotics Auton. Syst. Daniel E. Koditschek
1992	A*	`conf`	Toward the automatic control of robot assembly tasks via potential functions: the case of 2-D sphere assemblies. ICRA Louis L. Whitcomb, Daniel E. Koditschek, João B. D. Cabrera
1991	J	`jnl`	Analysis of a Simplified Hopping Robot. Int. J. Robotics Res. Daniel E. Koditschek, Martin Bühler
1991	A	`conf`	Automatic assembly planning and control via potential functions. IROS Louis L. Whitcomb, Daniel E. Koditschek
1991	A*	`conf`	Comparative experiments with a new adaptive controller for robot arms. ICRA Louis L. Whitcomb, Alfred A. Rizzi, Daniel E. Koditschek
1991	—	`conf`	Preliminary Experiments in Spatial Robot Juggling. ISER Alfred A. Rizzi, Daniel E. Koditschek
1990	A*	`conf`	Exact robot navigation in geometrically complicated but topologically simple spaces. ICRA Elon Rimon, Daniel E. Koditschek
1990	A*	`conf`	From stable to chaotic juggling: theory, simulation, and experiments. ICRA Martin Bühler, Daniel E. Koditschek
1990	A*	`conf`	Robot control in a message passing environment: theoretical questions and preliminary experiments. ICRA Louis L. Whitcomb, Daniel E. Koditschek
1989	—	`conf`	A Simple Juggling Robot: Theory and Experimentation. ISER Martin Buehler, Daniel E. Koditschek, P. J. Kindlmann
1989	A*	`conf`	A family of robot control strategies for intermittent dynamical environments. ICRA Martin Bühler, Daniel E. Koditschek, P. J. Kindlmann
1989	—	`conf`	A new distributed real-time controller for robotics applications. COMPCON Martin Bühler, Louis L. Whitcomb, Forrest W. Levin, Daniel E. Koditschek
1989	A	`conf`	Autonomous Mobile Robots Controlled by Navigation Functions. IROS Daniel E. Koditschek
1989	A*	`conf`	The construction of analytic diffeomorphisms for exact robot navigation on star worlds. ICRA Elon Rimon, Daniel E. Koditschek
1988	A	`conf`	A One Degree of Freedom Juggler in a Two Degree of Freedom Environment. IROS Martin Bühler, Daniel E. Koditschek, P. J. Kindlmann
1988	A*	`conf`	Analysis of a simplified hopping robot. ICRA Martin Bühler, Daniel E. Koditschek
1988	A*	`conf`	Exact robot navigation using cost functions: the case of distinct spherical boundaries in E ICRA Elon Rimon, Daniel E. Koditschek
1987	A*	`conf`	Exact robot navigation by means of potential functions: Some topological considerations. ICRA Daniel E. Koditschek
1977	J	`jnl`	Fixed Structure Automata in a Multi-Teacher Environment. IEEE Trans. Syst. Man Cybern. Daniel E. Koditschek, Kumpati S. Narendra