Design of a modular snake robot. - Cornell Wright III; Aaron M. Johnson 001; Aaron Peck; Zachary McCord; Allison Naaktgeboren; Philip Gianfortoni; Manuel González-Rivero; Ross L. Hatton; Howie Choset (IROS, 2007)

Disturbance detection, identification, and recovery by gait transition in legged robots. - Aaron M. Johnson 001; Galen Clark Haynes; Daniel E. Koditschek (IROS, 2010)

Standing self-manipulation for a legged robot. - Aaron M. Johnson 001; G. Clark Haynes; Daniel E. Koditschek (IROS, 2012)

Toward a vocabulary of legged leaping. - Aaron M. Johnson 001; Daniel E. Koditschek (ICRA, 2013)

Legged Self-Manipulation. - Aaron M. Johnson 001; Daniel E. Koditschek (IEEE Access, 2013)

Tail-assisted rigid and compliant legged leaping. - Anna L. Brill; Avik De; Aaron M. Johnson 001; Daniel E. Koditschek (IROS, 2015)

A System for Multi-step Mobile Manipulation: Architecture, Algorithms, and Experiments. - Siddhartha S. Srinivasa; Aaron M. Johnson 001; Gilwoo Lee; Michael C. Koval; Shushman Choudhury; Jennifer E. King; Christopher M. Dellin; Matthew Harding; David T. Butterworth; Prasanna Velagapudi; Allison Thackston (ISER, 2016)

Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces. - Yifan Hou; Zhenzhong Jia; Aaron M. Johnson 001; Matthew T. Mason (WAFR, 2016)

A hybrid systems model for simple manipulation and self-manipulation systems. - Aaron M. Johnson 001; Samuel A. Burden; Daniel E. Koditschek (Int. J. Robotics Res., 2016)

Convergent Planning. - Aaron M. Johnson 001; Jennifer E. King; Siddhartha S. Srinivasa (IEEE Robotics Autom. Lett., 2016)

Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation. - Thomas Libby; Aaron M. Johnson 001; Evan Chang-Siu; Robert J. Full; Daniel E. Koditschek (IEEE Trans. Robotics, 2016)

Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems. - Gilwoo Lee; Zita Marinho; Aaron M. Johnson 001; Geoffrey J. Gordon; Siddhartha S. Srinivasa; Matthew T. Mason (CoRR, 2017)

A Probabilistic Planning Framework for Planar Grasping Under Uncertainty. - Jiaji Zhou; Robert Paolini; Aaron M. Johnson 001; J. Andrew Bagnell; Matthew T. Mason (IEEE Robotics Autom. Lett., 2017)

Autonomous legged hill ascent. - B. Deniz Ilhan; Aaron M. Johnson 001; Daniel E. Koditschek (J. Field Robotics, 2018)

Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover. - Catherine Pavlov; Aaron M. Johnson 001 (ICRA, 2019)

Optimally Convergent Trajectories for Navigation. - Nathan J. Kong; Aaron M. Johnson 001 (ISRR, 2019)

Direct Drive Hands: Force-Motion Transparency in Gripper Design. - Ankit Bhatia; Aaron M. Johnson 001; Matthew T. Mason (Robotics: Science and Systems, 2019)

Developing a Simple Model for Sand-Tool Interaction and Autonomously Shaping Sand. - Wooshik Kim; Catherine Pavlov; Aaron M. Johnson 001 (CoRR, 2019)

Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller. - Shuo Yang; Zhaoyuan Gu; Ruohai Ge; Aaron M. Johnson 001; Matthew J. Travers; Howie Choset (CoRR, 2019)

Contact-Implicit Trajectory Optimization Using Orthogonal Collocation. - Amir Patel; Stacey Leigh Shield; Saif R. Kazi; Aaron M. Johnson 001; Lorenz T. Biegler (IEEE Robotics Autom. Lett., 2019)

Fast Global Motion Planning for Dynamic Legged Robots. - Joseph Norby; Aaron M. Johnson 001 (IROS, 2020)

Contact Localization using Velocity Constraints. - Sean Wang 004; Ankit Bhatia; Matthew T. Mason; Aaron M. Johnson 001 (IROS, 2020)

Mapping Distributions through Hybrid Dynamical Systems and its Application to Kalman Filtering. - Nathan J. Kong; J. Joe Payne; George Council; Aaron M. Johnson 001 (CoRR, 2020)

Autonomous Stairwell Ascent. - B. Deniz Ilhan; Aaron M. Johnson 001; Daniel E. Koditschek (Robotica, 2020)

iLQR for Piecewise-Smooth Hybrid Dynamical Systems. - Nathan J. Kong; George Council; Aaron M. Johnson 001 (CDC, 2021)

Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning. - Sean J. Wang; Samuel Triest; Wenshan Wang; Sebastian A. Scherer; Aaron M. Johnson 001 (CoRL, 2021)

Domain Adaptation Using System Invariant Dynamics Models. - Sean J. Wang; Aaron M. Johnson 001 (L4DC, 2021)

The Salted Kalman Filter: Kalman filtering on hybrid dynamical systems. - Nathan J. Kong; J. Joe Payne; George Council; Aaron M. Johnson 001 (Autom., 2021)

Enabling Dynamic Behaviors With Aerodynamic Drag in Lightweight Tails. - Joseph Norby; Jun Yang Li; Cameron Selby; Amir Patel; Aaron M. Johnson 001 (IEEE Trans. Robotics, 2021)

Scalable Minimally Actuated Leg Extension Bipedal Walker Based on 3D Passive Dynamics. - Sharfin Islam; Kamal Carter; Justin K. Yim; James Kyle; Sarah Bergbreiter; Aaron M. Johnson 001 (ICRA, 2022)

Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots. - Hans Kumar; J. Joe Payne; Matthew J. Travers; Aaron M. Johnson 001; Howie Choset (ICRA, 2022)

TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models. - Samuel Triest; Matthew Sivaprakasam; Sean J. Wang; Wenshan Wang; Aaron M. Johnson 001; Sebastian A. Scherer (ICRA, 2022)

Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits. - James Zhu; Nathan J. Kong; George Council; Aaron M. Johnson 001 (ICRA, 2022)

Microspine Design for Additive Manufacturing. - Paul Nadan; Dinesh K. Patel; Catherine Pavlov; Spencer B. Backus; Aaron M. Johnson 001 (IROS, 2022)

The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards. - J. Joe Payne; Nathan J. Kong; Aaron M. Johnson 001 (IROS, 2022)

Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots. - Nathan J. Kong; Chuanzheng Li; Aaron M. Johnson 001 (CoRR, 2022)

Environmental Sampling with the Boustrophedon Decomposition Algorithm. - Hannah He; Joe Norby; Sean Wang 004; Natasha Sihota; Thomas P. Hoelen; Gregory V. Lowry; Aaron M. Johnson 001 (CoRR, 2022)

Reacting to Contact: Transparency and Collision Reflex in Actuation. - Ankit Bhatia; Matthew T. Mason; Aaron M. Johnson 001 (CoRR, 2022)

Contact-Implicit Direct Collocation With a Discontinuous Velocity State. - Stacey Shield; Aaron M. Johnson 001; Amir Patel (IEEE Robotics Autom. Lett., 2022)

Editorial: Special Issue on Robotics Collaborative Technology Alliance (RCTA) Program. - Larry H. Matthies; Aaron M. Johnson 001; Monroe Kennedy 001; Cynthia Matuszek; Dilip Patel (Field Robotics, 2022)

The Simplest Walking Robot: A Bipedal Robot with One Actuator and two Rigid Bodies. - James Kyle; Justin K. Yim; Kendall Hart; Sarah Bergbreiter; Aaron M. Johnson 001 (Humanoids, 2023)

Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization. - Michael R. Turski; Joseph Norby; Aaron M. Johnson 001 (IROS, 2023)

Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots. - Yanhao Yang; Joseph Norby; Justin K. Yim; Aaron M. Johnson 001 (IROS, 2023)

Proprioception and Reaction for Walking Among Entanglements. - Justin K. Yim; Jiming Ren; David Ologan; Selvin Garcia Gonzalez; Aaron M. Johnson 001 (IROS, 2023)

Grounding Robot Navigation in Self-Defense Law. - James Zhu; Anoushka Shrivastava; Aaron M. Johnson 001 (RO-MAN, 2023)

Collision Detection for Multi-Robot Motion Planning with Efficient Quad-Tree Update and Skipping. - Abdel Zaro; Ardalan Tajbakhsh; Aaron M. Johnson 001 (CoRR, 2023)

Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots. - Nathan J. Kong; Chuanzheng Li; George Council; Aaron M. Johnson 001 (IEEE Trans. Robotics, 2023)

LORIS: A Lightweight Free-Climbing Robot for Extreme Terrain Exploration. - Paul Nadan; Spencer B. Backus; Aaron M. Johnson 001 (ICRA, 2024)

Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning. - Ardalan Tajbakhsh; Lorenz T. Biegler; Aaron M. Johnson 001 (ICRA, 2024)

Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving. - Sean J. Wang; Honghao Zhu; Aaron M. Johnson 001 (ICRA, 2024)

Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots. - James Zhu; J. Joe Payne; Aaron M. Johnson 001 (ICRA, 2024)

Double-Anonymous Review for Robotics. - Justin K. Yim; Paul Nadan; James Zhu; Alexandra Stutt; J. Joe Payne; Catherine Pavlov; Aaron M. Johnson 001 (CoRR, 2024)

Optimal Covariance Steering of Linear Stochastic Systems with Hybrid Transitions. - Hongzhe Yu; Diana Frias Franco; Aaron M. Johnson 001; Yongxin Chen (CoRR, 2024)

Path Integral Control for Hybrid Dynamical Systems. - Hongzhe Yu; Diana Frias Franco; Aaron M. Johnson 001; Yongxin Chen (CoRR, 2024)

SuperLoc: The Key to Robust LiDAR-Inertial Localization Lies in Predicting Alignment Risks. - Shibo Zhao; Honghao Zhu; Yuanjun Gao; Beomsoo Kim; Yuheng Qiu; Aaron M. Johnson 001; Sebastian A. Scherer (CoRR, 2024)

Multi-Momentum Observer Contact Estimation for Bipedal Robots. - J. Joe Payne; Daniel A. Hagen; Denis Garagic; Aaron M. Johnson 001 (CoRR, 2024)

Adaptive Complexity Model Predictive Control. - Joseph Norby; Ardalan Tajbakhsh; Yanhao Yang; Aaron M. Johnson 001 (IEEE Trans. Robotics, 2024)

Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems. - Nathan J. Kong; J. Joe Payne; James Zhu; Aaron M. Johnson 001 (Proc. IEEE, 2024)

Picotaur: A 15 mg Hexapedal Robot with Electrostatically Driven, 3D-Printed Legs. - Sukjun Kim; Aaron M. Johnson 001; Sarah Bergbreiter (Adv. Intell. Syst., 2024)

Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid Systems. - J. Joe Payne; James Zhu; Nathan J. Kong; Aaron M. Johnson 001 (IEEE Robotics Autom. Lett., 2025)

Zippy: The smallest power-autonomous bipedal robot. - Steven Man; Soma Narita; Josef Macera; Naomi Oke; Aaron M. Johnson 001; Sarah Bergbreiter (CoRR, 2025)