Characterizing Error in Noncommutative Geometric Gait Analysis. - Capprin Bass; Suresh Ramasamy; Ross L. Hatton (ICRA, 2022)

Optimal Gait Families using Lagrange Multiplier Method. - Jinwoo Choi; Capprin Bass; Ross L. Hatton (IROS, 2022)

Linear Kinematics for General Constant Curvature and Torsion Manipulators. - Bill Fan; Farhan Rozaidi; Capprin Bass; Gina Olson; Melinda J. D. Malley; Ross L. Hatton (RoboSoft, 2023)

Towards Geometric Motion Planning for High-Dimensional Systems: Gait-Based Coordinate Optimization and Local Metrics. - Yanhao Yang; Capprin Bass; Ross L. Hatton (ICRA, 2024)