Incorporating frictional anisotropy in the design of a robotic snake through the exploitation of scales. - Miguel Moises Serrano; Alexander H. Chang; Guangcong Zhang; Patricio A. Vela (ICRA, 2015)

Shape-centric modeling of lateral undulation and sidewinding gaits for Snake Robots. - Alexander H. Chang; Miguel Moises Serrano; Patricio A. Vela (CDC, 2016)

Shape-centric modeling of traveling wave rectilinear locomotion for snake-like robots. - Alexander H. Chang; Miguel Moises Serrano; Patricio A. Vela (CDC, 2016)

Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression. - Alexander H. Chang; Christian M. Hubicki; Jeff J. Aguilar; Daniel I. Goldman; Aaron D. Ames; Patricio A. Vela (ICRA, 2017)

Closed-loop path following of traveling wave rectilinear motion through obstacle-strewn terrain. - Alexander H. Chang; Patricio A. Vela (ICRA, 2017)

Optimal Trajectory Planning and Feedback Control of Lateral Undulation in Snake-Like Robots. - Alexander H. Chang; Nak-seung Patrick Hyun; Erik I. Verriest; Patricio A. Vela (ACC, 2018)

Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping. - Alexander H. Chang; Christian Hubicki; Aaron D. Ames; Patricio A. Vela (ICRA, 2019)

Autonomous, Monocular, Vision-Based Snake Robot Navigation and Traversal of Cluttered Environments using Rectilinear Gait Motion. - Alexander H. Chang; Shiyu Feng; Yipu Zhao; Justin S. Smith; Patricio A. Vela (CoRR, 2019)

Evaluation of Bio-Inspired Scales on Locomotion Performance of Snake-Like Robots. - Alexander H. Chang; Patricio A. Vela (Robotica, 2019)

Shape-centric modeling for control of traveling wave rectilinear locomotion on snake-like robots. - Alexander H. Chang; Patricio A. Vela (Robotics Auton. Syst., 2020)

Shape-centric Modeling for Soft Robot Inchworm Locomotion. - Alexander H. Chang; Caitlin Freeman; Arun Niddish Mahendran; Vishesh Vikas; Patricio A. Vela (IROS, 2021)

Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping. - Alexander H. Chang; Christian M. Hubicki; Jeff J. Aguilar; Daniel I. Goldman; Aaron D. Ames; Patricio A. Vela (IEEE Trans. Control. Syst. Technol., 2021)

In-Place Rotation for Enhancing Snake-like Robot Mobility. - Alexander H. Chang; Patricio A. Vela (CoRR, 2022)

Multi-Gait Locomotion Planning and Tracking for Tendon-Actuated Terrestrial Soft Robot (TerreSoRo). - Arun Niddish Mahendran; Caitlin Freeman; Alexander H. Chang; Michael McDougall; Patricio A. Vela; Vishesh Vikas (IROS, 2023)