I am a robotics researcher with interests in applications of dynamical systems to intelligent machines using bioinspired designs.
Navigation
On the Coordinated Navigation of Multiple Independent Disk-Shaped Robots (with Cem Serkan Karagöz and H. Isil Bozma), Technical Reports (CIS) (2003)
This paper addresses the coordinated navigation of multiple independently actuated disk-shaped robots - all placed...
Safe Cooperative Robot Dynamics on Graphs (with Robert W. Ghrist), Departmental Papers (ESE) (2002)
This paper introduces the use of vector fields to design, optimize, and implement reactive schedules...
Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies (with H. Isil Bozma), Departmental Papers (ESE) (2001)
We propose an event-driven algorithm for the control of simple robot assembly problems based on...
Rigid body visual servoing using navigation functions (with Noah J. Cowan and Gabriel A. D. Lopes), Departmental Papers (ESE) (2000)
Visual servo controllers in the literature rarely achieve provably large domains of attraction, and seldom...
Planar image based visual servoing as a navigation problem (with Noah J. Cowan), Departmental Papers (ESE) (1999)
We describe a hybrid planar image-based servo algorithm which, for a simplified planar convex rigid...
Locomotion
Toward a 6 DOF Body State Estimator for a Hexapod Robot with Dynamical Gaits (with Pei-Chun Lin and Haldun Komsuoglu), Departmental Papers (ESE) (2004)
We report on a continuous time full body state estimator for a hexapod robot operating...
Hybrid Zero Dynamics of Planar Biped Walkers (with E. R. Westervelt and J. W. Grizzle), Departmental Papers (ESE) (2003)
Planar, underactuated, biped walkers form an important domain of applications for hybrid dynamical systems. This...
Proprioception Based Behavioral Advances in a Hexapod Robot (with Haldun Komsuoglu, Dave McMordie, Uluc Saranli, Ned Moore, and Martin Buehler), Departmental Papers (ESE) (2001)
We report on our progress in extending the behavioral repertoire of RHex, a compliant leg...
A Hybrid Swing up Controller for a Two-link Brachiating Robot (with Jun Nakanishi and Toshio Fukuda), Departmental Papers (ESE) (1999)
In this paper, we report on a "hybrid" scheme for regulating the swing up behavior...
Analysis of a simplified hopping robot (with Martin Buehler), Departmental Papers (ESE) (1988)
The authors construct a simplified model of a dynamically dexterous robot, M.H. Raibert's hopper, and...
No subject area
X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks (with Kevin C. Galloway, Galen Clark Haynes, B. Deniz Ilhan, Aaron M. Johnson, Ryan Knopf, Goran A. Lynch, Benjamin N. Plotnick, and Mackenzie White), Technical Reports (ESE) (2010)
We report on the design and development of X-RHex, a hexapedal robot with a single...
Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots (with Aaron M. Johnson and Galen Clark Haynes), Departmental Papers (ESE) (2010)
We present a framework for detecting, identifying, and recovering within stride from faults and other...
Sprawl Angle in Simplified Models of Vertical Climbing: Implications for Robots and Roaches (with Goran A. Lynch and Lawrence Rome), Departmental Papers (ESE) (2010)
Empirical data taken from fast climbing sprawled posture animals reveals the presence of strong lateral...
Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion (with Kevin C. Galloway and Jonathan E. Clark), Departmental Papers (ESE) (2009)
Passively compliant legs have been instrumental in the development of dynamically running legged robots. Having...
Gait Transitions for Quasi-Static Hexapedal Locomotion on Level Ground (with Galen C. Haynes and Fred Cohen), Departmental Papers (ESE) (2009)
As robot bodies become more capable, the motivation grows to better coordinate them—whether multiple limbs...