Geometric Mechanics Applied to Tetrapod Locomotion on Granular Media. - Yasemin Ozkan Aydin; Baxi Chong; Chaohui Gong; Jennifer M. Rieser; Jeffery W. Rankin; Krijn B. Michel; Alfredo G. Nicieza; John R. Hutchinson; Howie Choset; Daniel I. Goldman (Living Machines, 2017)

Coordination of back bending and leg movements for quadrupedal locomotion. - Baxi Chong; Yasemin Ozkan Aydin; Chaohui Gong; Guillaume Sartoretti; Yunjin Wu; Jennifer M. Rieser; Haosen Xing; Jeffery W. Rankin; Krijn B. Michel; Alfredo G. Nicieza; John R. Hutchinson; Daniel I. Goldman; et al. (Robotics: Science and Systems, 2018)

A Hierarchical Geometric Framework to Design Locomotive Gaits for Highly Articulated Robots. - Baxi Chong; Yasemin Ozkan Aydin; Guillaume Sartoretti; Jennifer M. Rieser; Chaohui Gong; Haosen Xing; Howie Choset; Daniel I. Goldman (Robotics: Science and Systems, 2019)

Optimizing coordinate choice for locomotion systems with toroidal shape spaces. - Bo Lin; Baxi Chong; Yasemin Ozkan Aydin; Enes Aydin; Howie Choset; Daniel I. Goldman; Greg Blekherman (IROS, 2020)

The Omega Turn: A Biologically-Inspired Turning Strategy for Elongated Limbless Robots. - Tianyu Wang 010; Baxi Chong; Kelimar Diaz; Julian Whitman; Hang Lu; Matthew J. Travers; Daniel I. Goldman; Howie Choset (IROS, 2020)

A systematic approach to creating terrain-capable hybrid soft/hard myriapod robots. - Yasemin Ozkan Aydin; Baxi Chong; Enes Aydin; Daniel I. Goldman (RoboSoft, 2020)

Moving sidewinding forward: optimizing contact patterns for limbless robots via geometric mechanics. - Baxi Chong; Tianyu Wang 010; Bo Lin; Shengkai Li; Howie Choset; Grigoriy Blekherman; Daniel I. Goldman (Robotics: Science and Systems, 2021)

A general locomotion control framework for serially connected multi-legged robots. - Baxi Chong; Yasemin Ozkan Aydin; Jennifer M. Rieser; Guillaume Sartoretti; Tianyu Wang 010; Julian Whitman; Abdul Kaba; Enes Aydin; Ciera McFarland; Howie Choset; Daniel I. Goldman (CoRR, 2021)

Coordination of lateral body bending and leg movements for sprawled posture quadrupedal locomotion. - Baxi Chong; Yasemin Ozkan Aydin; Chaohui Gong; Guillaume Sartoretti; Yunjin Wu; Jennifer M. Rieser; Haosen Xing; Perrin E. Schiebel; Jeffery W. Rankin; Krijn B. Michel; Alfredo G. Nicieza; John R. Hutchinson; et al. (Int. J. Robotics Res., 2021)

Frequency modulation of body waves to improve performance of sidewinding robots. - Baxi Chong; Tianyu Wang 010; Jennifer M. Rieser; Bo Lin; Abdul Kaba; Grigoriy Blekherman; Howie Choset; Daniel I. Goldman (Int. J. Robotics Res., 2021)

Reconstruction of Backbone Curves for Snake Robots. - Tianyu Wang 010; Bo Lin; Baxi Chong; Julian Whitman; Matthew J. Travers; Daniel I. Goldman; Greg Blekherman; Howie Choset (IEEE Robotics Autom. Lett., 2021)

Generalized Omega Turn Gait Enables Agile Limbless Robot Turning in Complex Environments. - Tianyu Wang 010; Baxi Chong; Yuelin Deng; Ruijie Fu; Howie Choset; Daniel I. Goldman (ICRA, 2022)

Gait design for limbless obstacle aided locomotion using geometric mechanics. - Baxi Chong; Tianyu Wang 010; Daniel Irvine; Velin Kojouharov; Bo Lin; Howie Choset; Daniel I. Goldman; Grigoriy Blekherman (Robotics: Science and Systems, 2023)

Geometry of contact: contact planning for multi-legged robots via spin models duality. - Baxi Chong; Di Luo; Tianyu Wang 010; Gabriel B. Margolis; Juntao He; Pulkit Agrawal 001; Marin Soljacic; Daniel I. Goldman (CoRR, 2023)

Multi-legged matter transport: a framework for locomotion on noisy landscapes. - Baxi Chong; Juntao He; Daniel Soto 002; Tianyu Wang 010; Daniel Irvine; Grigoriy Blekherman; Daniel I. Goldman (CoRR, 2023)

Optimizing contact patterns for robot locomotion via geometric mechanics. - Baxi Chong; Tianyu Wang 010; Bo Lin; Shengkai Li; Pranav C. Muthukrishnan; Juntao He; Daniel Irvine; Howie Choset; Grigoriy Blekherman; Daniel I. Goldman (Int. J. Robotics Res., 2023)

Mechanical intelligence simplifies control in terrestrial limbless locomotion. - Tianyu Wang 010; Christopher Pierce; Velin Kojouharov; Baxi Chong; Kelimar Diaz; Hang Lu; Daniel I. Goldman (Sci. Robotics, 2023)

Learning to enhance multi-legged robot on rugged landscapes. - Juntao He; Baxi Chong; Zhaochen Xu; Sehoon Ha; Daniel I. Goldman (CoRR, 2024)

Addition of a peristaltic wave improves multi-legged locomotion performance on complex terrains. - Massimiliano Iaschi; Baxi Chong; Tianyu Wang 010; Jianfeng Lin 002; Juntao He; Daniel Soto 002; Zhaochen Xu; Daniel I. Goldman (CoRR, 2024)

Steering Elongate Multi-legged Robots By Modulating Body Undulation Waves. - Esteban Flores; Baxi Chong; Daniel Soto 002; Dan Tatulescu; Daniel I. Goldman (CoRR, 2024)

Effective self-righting strategies for elongate multi-legged robots. - Erik Teder; Baxi Chong; Juntao He; Tianyu Wang 010; Massimiliano Iaschi; Daniel Soto 002; Daniel I. Goldman (CoRR, 2024)

Probabilistic approach to feedback control enhances multi-legged locomotion on rugged landscapes. - Juntao He; Baxi Chong; Jianfeng Lin 002; Zhaochen Xu; Hosain Bagheri; Esteban Flores; Daniel I. Goldman (CoRR, 2024)

Probabilistic Approach to Feedback Control Enhances Multilegged Locomotion on Rugged Landscapes. - Juntao He; Baxi Chong; Jianfeng Lin 002; Zhaochen Xu; Hosain Bagheri; Esteban Flores; Daniel I. Goldman (IEEE Trans. Robotics, 2025)

Tactile sensing enables vertical obstacle negotiation for elongate many-legged robots. - Juntao He; Baxi Chong; Massimiliano Iaschi; Vincent R. Nienhusser; Sehoon Ha; Daniel I. Goldman (CoRR, 2025)

Robust control for multi-legged elongate robots in noisy environments. - Baxi Chong; Juntao He; Daniel Irvine; Tianyu Wang 010; Esteban Flores; Daniel Soto 002; Jianfeng Lin 002; Zhaochen Xu; Vincent R. Nienhusser; Grigoriy Blekherman; Daniel I. Goldman (CoRR, 2025)