Fixed Structure Automata in a Multi-Teacher Environment. - Daniel E. Koditschek; Kumpati S. Narendra (IEEE Trans. Syst. Man Cybern., 1977)

Exact robot navigation by means of potential functions: Some topological considerations. - Daniel E. Koditschek (ICRA, 1987)

Exact robot navigation using cost functions: the case of distinct spherical boundaries in En. - Elon Rimon; Daniel E. Koditschek (ICRA, 1988)

A One Degree of Freedom Juggler in a Two Degree of Freedom Environment. - Martin Bühler; Daniel E. Koditschek; P. J. Kindlmann (IROS, 1988)

A new distributed real-time controller for robotics applications. - Martin Bühler; Louis L. Whitcomb; Forrest W. Levin; Daniel E. Koditschek (COMPCON, 1989)

A family of robot control strategies for intermittent dynamical environments. - Martin Bühler; Daniel E. Koditschek; P. J. Kindlmann (ICRA, 1989)

The construction of analytic diffeomorphisms for exact robot navigation on star worlds. - Elon Rimon; Daniel E. Koditschek (ICRA, 1989)

Autonomous Mobile Robots Controlled by Navigation Functions. - Daniel E. Koditschek (IROS, 1989)

A Simple Juggling Robot: Theory and Experimentation. - Martin Buehler; Daniel E. Koditschek; P. J. Kindlmann (ISER, 1989)

From stable to chaotic juggling: theory, simulation, and experiments. - Martin Bühler; Daniel E. Koditschek (ICRA, 1990)

Exact robot navigation in geometrically complicated but topologically simple spaces. - Elon Rimon; Daniel E. Koditschek (ICRA, 1990)

Robot control in a message passing environment: theoretical questions and preliminary experiments. - Louis L. Whitcomb; Daniel E. Koditschek (ICRA, 1990)

Automatic assembly planning and control via potential functions. - Louis L. Whitcomb; Daniel E. Koditschek (IROS, 1991)

Preliminary Experiments in Spatial Robot Juggling. - Alfred A. Rizzi; Daniel E. Koditschek (ISER, 1991)

Analysis of a Simplified Hopping Robot. - Daniel E. Koditschek; Martin Bühler (Int. J. Robotics Res., 1991)

Progress in spatial robot juggling. - Alfred A. Rizzi; Daniel E. Koditschek (ICRA, 1992)

Toward the automatic control of robot assembly tasks via potential functions: the case of 2-D sphere assemblies. - Louis L. Whitcomb; Daniel E. Koditschek; João B. D. Cabrera (ICRA, 1992)

Distributed Real-Time Control of a Spatial Robot Juggler. - Alfred A. Rizzi; Louis L. Whitcomb; Daniel E. Koditschek (Computer, 1992)

Task encoding: Toward a scientific paradigm for robot planning and control. - Daniel E. Koditschek (Robotics Auton. Syst., 1992)

Exact robot navigation using artificial potential functions. - Elon Rimon; Daniel E. Koditschek (IEEE Trans. Robotics Autom., 1992)

Further Progress in Robot Juggling: The Spatial Two-Juggle. - Alfred A. Rizzi; Daniel E. Koditschek (ICRA (3), 1993)

Toward the control of attention in a dynamically dexterous robot. - Alfred A. Rizzi; Daniel E. Koditschek (IROS, 1993)

Dynamic Stereo Triangulation for Robot Juggling. - Alfred A. Rizzi; Daniel E. Koditschek (ISER, 1993)

Comparative experiments with a new adaptive controller for robot arms. - Louis L. Whitcomb; Alfred A. Rizzi; Daniel E. Koditschek (IEEE Trans. Robotics Autom., 1993)

Further Progress in Robot Juggling: Solvable Mirror Laws. - Alfred A. Rizzi; Daniel E. Koditschek (ICRA, 1994)

Planning and Control of Robotic Juggling and Catching Tasks. - Martin Buehler; Daniel E. Koditschek; P. J. Kindlmann (Int. J. Robotics Res., 1994)

An approach to autonomous robot assembly. - Daniel E. Koditschek (Robotica, 1994)

Control of Forward Velocity for a Simplyfied Planar Hopping Robot. - William J. Schwind; Daniel E. Koditschek (ICRA, 1995)

Global Asymptotic Stability of Passive Juggler: A Parts Feeding Strategy. - Peter J. Swanson; Robert R. Burridge; Daniel E. Koditschek (ICRA, 1995)

Toward a dynamical pick and place. - Robert R. Burridge; Alfred A. Rizzi; Daniel E. Koditschek (IROS (2), 1995)

A "robust" convergent visual servoing system. - D. Kim; Alfred A. Rizzi; Gregory D. Hager; Daniel E. Koditschek (IROS (1), 1995)

Toward Obstacle Avoidance in Intermittent Dynamical Environments. - Robert R. Burridge; Alfred A. Rizzi; Daniel E. Koditschek (ISER, 1995)

Dynamical system representation, generation, and recognition of basic oscillatory motion gestures. - Charles J. Cohen; Lynn Conway; Daniel E. Koditschek (FG, 1996)

An active visual estimator for dexterous manipulation. - Alfred A. Rizzi; Daniel E. Koditschek (IEEE Trans. Robotics Autom., 1996)

Preliminary studies of a second generation brachiation robot controller. - Jun Nakanishi; Toshio Fukuda; Daniel E. Koditschek (ICRA, 1997)

Characterization of monoped equilibrium gaits. - William J. Schwind; Daniel E. Koditschek (ICRA, 1997)

Toward Global Visual Servos and Estimators for Rigid Bodies. - Noah J. Cowan; Daniel E. Koditschek (ICRA, 1998)

Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot. - Jun Nakanishi; Toshio Fukuda; Daniel E. Koditschek (ICRA, 1998)

Toward the Control of a Multi-Jointed, Monoped Runner. - Uluc Saranli; William J. Schwind; Daniel E. Koditschek (ICRA, 1998)

Planar Image Based Visual Servoing as a Navigation Problem. - Noah J. Cowan; Daniel E. Koditschek (ICRA, 1999)

Sequential Composition of Dynamically Dexterous Robot Behaviors. - Robert R. Burridge; Alfred A. Rizzi; Daniel E. Koditschek (Int. J. Robotics Res., 1999)

Rigid body visual servoing using navigation functions. - Noah J. Cowan; Gabriel A. D. Lopes; Daniel E. Koditschek (CDC, 2000)

Event-Driven Parts' Moving in 2D Endogeneous Environments. - C. Serkan Karagöz; H. Isil Bozma; Daniel E. Koditschek (ICRA, 2000)

A Formalism for the Composition of Concurrent Robot Behaviors. - Eric Klavins; Daniel E. Koditschek (ICRA, 2000)

Design, Modeling and Preliminary Control of a Compliant Hexapod Robot. - Uluc Saranli; Martin Buehler; Daniel E. Koditschek (ICRA, 2000)

Piecewise Linear Homeomorphisms: The Scalar Case. - Richard E. Groff; Daniel E. Koditschek; Pramod P. Khargonekar (IJCNN (3), 2000)

Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot. - Richard Altendorfer; Uluc Saranli; Haldun Komsuoglu; Daniel E. Koditschek; H. Benjamin Brown Jr.; Martin Buehler; Ned Moore; Dave McMordie; Robert J. Full (ISER, 2000)

Approximating the Stance Map of a 2-DOF Monoped Runner. - William J. Schwind; Daniel E. Koditschek (J. Nonlinear Sci., 2000)

A brachiating robot controller. - Jun Nakanishi; Toshio Fukuda; Daniel E. Koditschek (IEEE Trans. Robotics Autom., 2000)

Stability of Coupled Hybrid Oscillators. - Eric Klavins; Daniel E. Koditschek (ICRA, 2001)

Proprioception Based Behavioral Advances in a Hexapod Robot. - Haldun Komsuoglu; Dave McMordie; Uluc Saranli; Ned Moore; Martin Buehler; Daniel E. Koditschek (ICRA, 2001)

RHex: A Biologically Inspired Hexapod Runner. - Richard Altendorfer; Ned Moore; Haldun Komsuoglu; Martin Buehler; H. Benjamin Brown Jr.; Dave McMordie; Uluc Saranli; Robert J. Full; Daniel E. Koditschek (Auton. Robots, 2001)

Editorial: Special Issue on the Ninth International Symposium of Robotics Research. - John M. Hollerbach; Daniel E. Koditschek (Int. J. Robotics Res., 2001)

RHex: A Simple and Highly Mobile Hexapod Robot. - Uluc Saranli; Martin Buehler; Daniel E. Koditschek (Int. J. Robotics Res., 2001)

Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies. - H. Isil Bozma; Daniel E. Koditschek (Robotica, 2001)

Back Flips with a Hexapedal Robot. - Uluc Saranli; Daniel E. Koditschek (ICRA, 2002)

Brachiation on a ladder with irregular intervals. - Jun Nakanishi; Toshio Fukuda; Daniel E. Koditschek (Adv. Robotics, 2002)

Phase Regulation of Decentralized Cyclic Robotic Systems. - Eric Klavins; Daniel E. Koditschek (Int. J. Robotics Res., 2002)

Safe Cooperative Robot Dynamics on Graphs. - Robert Ghrist; Daniel E. Koditschek (SIAM J. Control. Optim., 2002)

Visual servoing via navigation functions. - Noah J. Cowan; Joel Weingarten; Daniel E. Koditschek (IEEE Trans. Robotics Autom., 2002)

Towards a Factored Analysis of Legged Locomotion Models. - Richard Altendorfer; Daniel E. Koditschek; Philip Holmes (ICRA, 2003)

A leg configuration sensory system for dynamical body state estimates in a hexapod robot. - Pei-Chun Lin; Haldun Komsuoglu; Daniel E. Koditschek (ICRA, 2003)

Visual registration and navigation using planar features. - Gabriel A. D. Lopes; Daniel E. Koditschek (ICRA, 2003)

Template based control of hexapedal running. - Uluc Saranli; Daniel E. Koditschek (ICRA, 2003)

A Simply Stabilized Running Model. - Raffaele M. Ghigliazza; Richard Altendorfer; Philip Holmes; Daniel E. Koditschek (SIAM J. Appl. Dyn. Syst., 2003)

A Local Convergence Proof for the Minvar Algorithm for Computing Continuous Piecewise Linear Approximations. - Richard E. Groff; Pramod P. Khargonekar; Daniel E. Koditschek (SIAM J. Numer. Anal., 2003)

Hybrid zero dynamics of planar biped walkers. - Eric R. Westervelt; Jessy W. Grizzle; Daniel E. Koditschek (IEEE Trans. Autom. Control., 2003)

Automated Gait Adaptation for Legged Robots. - Joel Weingarten; Gabriel A. D. Lopes; Martin Buehler; Richard E. Groff; Daniel E. Koditschek (ICRA, 2004)

Toward a 6 DOF body state estimator for a hexapod robot with dynamical gaits. - Pei-Chun Lin; Haldun Komsuoglu; Daniel E. Koditschek (IROS, 2004)

Level sets and stable manifold approximations for perceptually driven nonholonomically constrained navigation. - Gabriel A. D. Lopes; Daniel E. Koditschek (IROS, 2004)

Legged Odometry from Body Pose in a Hexapod Robot. - Pei-Chun Lin; Haldun Komsuoglu; Daniel E. Koditschek (ISER, 2004)

A framework for the coordination of legged robot gaits. - Joel Weingarten; Richard E. Groff; Daniel E. Koditschek (RAM, 2004)

Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod. - Uluc Saranli; Alfred A. Rizzi; Daniel E. Koditschek (WAFR, 2004)

Stability Analysis of Legged Locomotion Models by Symmetry-Factored Return Maps. - Richard Altendorfer; Daniel E. Koditschek; Philip Holmes (Int. J. Robotics Res., 2004)

Stability Analysis of a Clock-Driven Rigid-Body SLIP Model for RHex. - Richard Altendorfer; Daniel E. Koditschek; Philip Holmes (Int. J. Robotics Res., 2004)

Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot. - Uluc Saranli; Alfred A. Rizzi; Daniel E. Koditschek (Int. J. Robotics Res., 2004)

Feedback-based event-driven parts moving. - C. Serkan Karagöz; H. Isil Bozma; Daniel E. Koditschek (IEEE Trans. Robotics, 2004)

Level sets and stable manifold approximations for perceptually driven non-holonomically constrained navigation. - Gabriel A. D. Lopes; Daniel E. Koditschek (Adv. Robotics, 2005)

A leg configuration measurement system for full-body pose estimates in a hexapod robot. - Pei-Chun Lin; Haldun Komsuoglu; Daniel E. Koditschek (IEEE Trans. Robotics, 2005)

The Dynamics of Legged Locomotion: Models, Analyses, and Challenges. - Philip Holmes; Robert J. Full; Daniel E. Koditschek; John Guckenheimer (SIAM Rev., 2006)

Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits. - Pei-Chun Lin; Haldun Komsuoglu; Daniel E. Koditschek (IEEE Trans. Robotics, 2006)

Heterogeneous Leg Stiffness and Roll in Dynamic Running. - Samuel Burden; Jonathan E. Clark; Joel Weingarten; Haldun Komsuoglu; Daniel E. Koditschek (ICRA, 2007)

Design of a Bio-inspired Dynamical Vertical Climbing Robot. - Jonathan E. Clark; Daniel I. Goldman; Pei-Chun Lin; Goran Lynch; Tao Chen; Haldun Komsuoglu; Robert J. Full; Daniel E. Koditschek (Robotics: Science and Systems, 2007)

Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems. - Gabriel A. D. Lopes; Daniel E. Koditschek (Int. J. Robotics Res., 2007)

A Physical Model for Dynamical Arthropod Running on Level Ground. - Haldun Komsuoglu; Kiwon Sohn; Robert J. Full; Daniel E. Koditschek (ISER, 2008)

Biologically inspired climbing with a hexapedal robot. - Matthew Spenko; G. Clark Haynes; J. A. Saunders; Mark R. Cutkosky; Alfred A. Rizzi; Robert J. Full; Daniel E. Koditschek (J. Field Robotics, 2008)

A distributed dynamical scheme for fastest mixing Markov chains. - Michael M. Zavlanos; Daniel E. Koditschek; George J. Pappas (ACC, 2009)

Rapid pole climbing with a quadrupedal robot. - G. Clark Haynes; Alex Khripin; Goran Lynch; Jonathan Amory; Aaron Saunders; Alfred A. Rizzi; Daniel E. Koditschek (ICRA, 2009)

A self-exciting controller for high-speed vertical running. - Goran A. Lynch; Jonathan E. Clark; Daniel E. Koditschek (IROS, 2009)

Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints. - Nora Ayanian; Vijay Kumar 001; Daniel E. Koditschek (ISRR, 2009)

Gait Transitions for Quasi-static Hexapedal Locomotion on Level Ground. - Galen Clark Haynes; Fred R. Cohen; Daniel E. Koditschek (ISRR, 2009)

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

On the Comparative Analysis of Locomotory Systems with Vertical Travel. - Galen Clark Haynes; Daniel E. Koditschek (ISER, 2010)

Characterization of Dynamic Behaviors in a Hexapod Robot. - Haldun Komsuoglu; Anirudha Majumdar; Yasemin Ozkan Aydin; Daniel E. Koditschek (ISER, 2010)

Experimental investigations into the role of passive variable compliant legs for dynamic robotic locomotion. - Kevin C. Galloway; Jonathan E. Clark; Mark Yim; Daniel E. Koditschek (ICRA, 2011)

Hierarchically clustered navigation of distinct Euclidean particles. - Ömür Arslan; Dan P. Guralnik; Daniel E. Koditschek (Allerton Conference, 2012)

Toward a memory model for autonomous topological mapping and navigation: The case of binary sensors and discrete actions. - Dan P. Guralnik; Daniel E. Koditschek (Allerton Conference, 2012)

Dynamical trajectory replanning for uncertain environments. - Shai Revzen; B. Deniz Ilhan; Daniel E. Koditschek (CDC, 2012)

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

Multistable phase regulation for robust steady and transitional legged gaits. - G. Clark Haynes; Alfred A. Rizzi; Daniel E. Koditschek (Int. J. Robotics Res., 2012)

A bioinspired dynamical vertical climbing robot. - Goran A. Lynch; Jonathan E. Clark; Pei-Chun Lin; Daniel E. Koditschek (Int. J. Robotics Res., 2012)

Convergence of Bayesian histogram filters for location estimation. - Avik De; Alejandro Ribeiro; William Moran 001; Daniel E. Koditschek (CDC, 2013)

Toward dynamical sensor management for reactive wall-following. - Avik De; Daniel E. Koditschek (ICRA, 2013)

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)

Active sensing for dynamic, non-holonomic, robust visual servoing. - Avik De; Karl S. Bayer; Daniel E. Koditschek (ICRA, 2014)

Towards a Comparative Measure of Legged Agility. - Jeffrey Duperret; Gavin D. Kenneally; Jason L. Pusey; Daniel E. Koditschek (ISER, 2014)

Navigation of Distinct Euclidean Particles via Hierarchical Clustering. - Ömür Arslan; Dan P. Guralnik; Daniel E. Koditschek (WAFR, 2014)

Anytime Hierarchical Clustering. - Ömür Arslan; Daniel E. Koditschek (CoRR, 2014)

Coordinated Navigation of Multiple Independent Disk-Shaped Robots. - C. Serkan Karagöz; H. Isil Bozma; Daniel E. Koditschek (IEEE Trans. Robotics, 2014)

Parallel composition of templates for tail-energized planar hopping. - Avik De; Daniel E. Koditschek (ICRA, 2015)

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

Leg design for energy management in an electromechanical robot. - Gavin D. Kenneally; Daniel E. Koditschek (IROS, 2015)

A drift-diffusion model for robotic obstacle avoidance. - Paul Reverdy; B. Deniz Ilhan; Daniel E. Koditschek (IROS, 2015)

Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped. - Avik De; Daniel E. Koditschek (ISRR (2), 2015)

An empirical investigation of legged transitional maneuvers leveraging Raibert's Scissor algorithm. - Jeffrey M. Duperret; Daniel E. Koditschek (ROBIO, 2015)

The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates. - Avik De; Daniel E. Koditschek (CoRR, 2015)

Universal Memory Architectures for Autonomous Machines. - Dan P. Guralnik; Daniel E. Koditschek (CoRR, 2015)

Exact robot navigation using power diagrams. - Ömür Arslan; Daniel E. Koditschek (ICRA, 2016)

Voronoi-based coverage control of heterogeneous disk-shaped robots. - Ömür Arslan; Daniel E. Koditschek (ICRA, 2016)

Mobile robots as remote sensors for spatial point process models. - Paul Reverdy; Daniel E. Koditschek (IROS, 2016)

Frontal plane stabilization and hopping with a 2DOF tail. - Garrett Wenger; Avik De; Daniel E. Koditschek (IROS, 2016)

Core Actuation Promotes Self-manipulability on a Direct-Drive Quadrupedal Robot. - Jeffrey Duperret; Benjamin Kramer; Daniel E. Koditschek (ISER, 2016)

A Hybrid Dynamical Extension of Averaging. - Avik De; Samuel A. Burden; Daniel E. Koditschek (CoRR, 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)

On the Optimality of Napoleon Triangles. - Ömür Arslan; Daniel E. Koditschek (J. Optim. Theory Appl., 2016)

Design Principles for a Family of Direct-Drive Legged Robots. - Gavin D. Kenneally; Avik De; Daniel E. Koditschek (IEEE Robotics Autom. Lett., 2016)

Event-Selected Vector Field Discontinuities Yield Piecewise-Differentiable Flows. - Samuel A. Burden; S. Shankar Sastry; Daniel E. Koditschek; Shai Revzen (SIAM J. Appl. Dyn. Syst., 2016)

Coordinated Robot Navigation via Hierarchical Clustering. - Ömür Arslan; Dan P. Guralnik; Daniel E. Koditschek (IEEE Trans. Robotics, 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)

Smooth extensions of feedback motion planners via reference governors. - Ömür Arslan; Daniel E. Koditschek (ICRA, 2017)

Empirical validation of a spined sagittal-plane quadrupedal model. - Jeffrey Duperret; Daniel E. Koditschek (ICRA, 2017)

Quasi-static and dynamic mismatch for door opening and stair climbing with a legged robot. - T. Turner Topping; Gavin D. Kenneally; Daniel E. Koditschek (ICRA, 2017)

Sensory steering for sampling-based motion planning. - Ömür Arslan; Vincent Pacelli; Daniel E. Koditschek (IROS, 2017)

Towards Reactive Control of Transitional Legged Robot Maneuvers. - Jeffrey Duperret; Daniel E. Koditschek (ISRR, 2017)

Sensor-based legged robot homing using range-only target localization. - Vasileios Vasilopoulos; Ömür Arslan; Avik De; Daniel E. Koditschek (ROBIO, 2017)

Morphology and the gradient of a symmetric potential predict gait transitions of dogs. - Simon Wilshin; G. Clark Haynes; Jack Porteous; Daniel E. Koditschek; Shai Revzen; Andrew J. Spence (Biol. Cybern., 2017)

Discriminative measures for comparison of phylogenetic trees. - Ömür Arslan; Dan P. Guralnik; Daniel E. Koditschek (Discret. Appl. Math., 2017)

Voronoi-Based Coverage Control of Pan/Tilt/Zoom Camera Networks. - Ömür Arslan; Hancheng Min; Daniel E. Koditschek (ICRA, 2018)

Integration of Local Geometry and Metric Information in Sampling-Based Motion Planning. - Vincent Pacelli; Ömür Arslan; Daniel E. Koditschek (ICRA, 2018)

Sensor-Based Reactive Symbolic Planning in Partially Known Environments. - Vasileios Vasilopoulos; William Vega-Brown; Ömür Arslan; Nicholas Roy; Daniel E. Koditschek (ICRA, 2018)

Analytically-Guided Design of a Tailed Bipedal Hopping Robot. - Abdulaziz Shamsah; Avik De; Daniel E. Koditschek (IROS, 2018)

Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator. - Vasileios Vasilopoulos; T. Turner Topping; William Vega-Brown; Nicholas Roy; Daniel E. Koditschek (IROS, 2018)

Actuator Transparency and the Energetic Cost of Proprioception. - Gavin D. Kenneally; Wei-Hsi Chen; Daniel E. Koditschek (ISER, 2018)

Reactive velocity control reduces energetic cost of jumping with a virtual leg spring on simulated granular media. - Sonia F. Roberts; Daniel E. Koditschek (ROBIO, 2018)

Reactive Navigation in Partially Known Non-convex Environments. - Vasileios Vasilopoulos; Daniel E. Koditschek (WAFR, 2018)

Technical Report: Reactive Navigation in Partially Known Non-Convex Environments. - Vasileios Vasilopoulos; Daniel E. Koditschek (CoRR, 2018)

Iterated Belief Revision Under Resource Constraints: Logic as Geometry. - Dan P. Guralnik; Daniel E. Koditschek (CoRR, 2018)

A hybrid dynamical extension of averaging and its application to the analysis of legged gait stability. - Avik De; Samuel A. Burden; Daniel E. Koditschek (Int. J. Robotics Res., 2018)

Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting. - Avik De; Daniel E. Koditschek (Int. J. Robotics Res., 2018)

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

A Dynamical System for Prioritizing and Coordinating Motivations. - Paul Reverdy; Daniel E. Koditschek (SIAM J. Appl. Dyn. Syst., 2018)

Navigation Functions for Convex Potentials in a Space With Convex Obstacles. - Santiago Paternain; Daniel E. Koditschek; Alejandro Ribeiro (IEEE Trans. Autom. Control., 2018)

Mitigating energy loss in a robot hopping on a physically emulated dissipative substrate. - Sonia F. Roberts; Daniel E. Koditschek (ICRA, 2019)

Composition of Templates for Transitional Pedipulation Behaviors. - T. Turner Topping; Vasileios Vasilopoulos; Avik De; Daniel E. Koditschek (ISRR, 2019)

A Tunably Compliant Origami Mechanism for Dynamically Dexterous Robots. - Wei-Hsi Chen; Shivangi Misra; Yuchong Gao; Young-Joo Lee; Daniel E. Koditschek; Shu Yang 008; Cynthia R. Sung (CoRR, 2019)

Towards a terramechanics for bio-inspired locomotion in granular environments. - Chen Li 017; Yang Ding; Nick Gravish; Ryan D. Maladen; Andrew Masse; Paul B. Umbanhowar; Haldun Komsuoglu; Daniel E. Koditschek; Daniel I. Goldman (CoRR, 2019)

Formal composition of hybrid systems. - Jared Culbertson; Paul Gustafson; Daniel E. Koditschek; Peter F. Stiller (CoRR, 2019)

Sensor-based reactive navigation in unknown convex sphere worlds. - Ömür Arslan; Daniel E. Koditschek (Int. J. Robotics Res., 2019)

Task-Based Control and Design of a BLDC Actuator for Robotics. - Avik De; Abriana Stewart-Height; Daniel E. Koditschek (IEEE Robotics Autom. Lett., 2019)

Data Foraging: Spatiotemporal Data Collection Decisions in Disciplinary Field Science. - Cristina Wilson; Feifei Qian; Doug Jerolmack; Thomas F. Shipley; Sonia F. Roberts; Jonathan Ham; Daniel E. Koditschek (CogSci, 2020)

Coronal Plane Spine Twisting Composes Shape To Adjust the Energy Landscape for Grounded Reorientation. - J. Diego Caporale; Benjamin W. McInroe; Chenze Ning; Thomas Libby; Robert J. Full; Daniel E. Koditschek (ICRA, 2020)

A Tendon-Driven Origami Hopper Triggered by Proprioceptive Contact Detection. - Wei-Hsi Chen; Shivangi Misra; J. Diego Caporale; Daniel E. Koditschek; Shu Yang 008; Cynthia R. Sung (RoboSoft, 2020)

Technical Report: Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback. - Vasileios Vasilopoulos; Georgios Pavlakos; Sean L. Bowman; J. Diego Caporale; Kostas Daniilidis; George J. Pappas; Daniel E. Koditschek (CoRR, 2020)

Technical Report: A New Hopping Controller for Highly Dynamical Bipeds. - Shane Rozen-Levy; Daniel E. Koditschek (CoRR, 2020)

Technical Report: Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments. - Vasileios Vasilopoulos; Yiannis Kantaros; George J. Pappas; Daniel E. Koditschek (CoRR, 2020)

Examples of Gibsonian Affordances in Legged Robotics Research Using an Empirical, Generative Framework. - Sonia F. Roberts; Daniel E. Koditschek; Lisa J. Miracchi (Frontiers Neurorobotics, 2020)

An obstacle disturbance selection framework: emergent robot steady states under repeated collisions. - Feifei Qian; Daniel E. Koditschek (Int. J. Robotics Res., 2020)

A Programmably Compliant Origami Mechanism for Dynamically Dexterous Robots. - Wei-Hsi Chen; Shivangi Misra; Yuchong Gao; Young-Joo Lee; Daniel E. Koditschek; Shu Yang 008; Cynthia R. Sung (IEEE Robotics Autom. Lett., 2020)

Modulation of Robot Orientation Via Leg-Obstacle Contact Positions. - Divya Ramesh; Anmol Kathail; Daniel E. Koditschek; Feifei Qian (IEEE Robotics Autom. Lett., 2020)

Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback. - Vasileios Vasilopoulos; Georgios Pavlakos; Sean L. Bowman; J. Diego Caporale; Kostas Daniilidis; George J. Pappas; Daniel E. Koditschek (IEEE Robotics Autom. Lett., 2020)

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

Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments. - Vasileios Vasilopoulos; Yiannis Kantaros; George J. Pappas; Daniel E. Koditschek (ICRA, 2021)

What Is Robotics? Why Do We Need It and How Can We Get It? - Daniel E. Koditschek (Annu. Rev. Control. Robotics Auton. Syst., 2021)

Necessary conditions for feedback stabilization and safety. - Matthew D. Kvalheim; Daniel E. Koditschek (CoRR, 2021)

Hybrid dynamical type theories for navigation. - Paul Gustafson; Jared Culbertson; Daniel E. Koditschek (CoRR, 2021)

From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence. - Nicholas Roy; Ingmar Posner; Tim D. Barfoot; Philippe Beaudoin; Yoshua Bengio; Jeannette Bohg; Oliver Brock; Isabelle Depatie; Dieter Fox; Daniel E. Koditschek; Tomás Lozano-Pérez; Vikash Mansinghka 001; et al. (CoRR, 2021)

Virtual Energy Management for Physical Energy Savings in a Legged Robot Hopping on Granular Media. - Sonia F. Roberts; Daniel E. Koditschek (Frontiers Robotics AI, 2021)

Conley's Fundamental Theorem for a Class of Hybrid Systems. - Matthew D. Kvalheim; Paul Gustafson; Daniel E. Koditschek (SIAM J. Appl. Dyn. Syst., 2021)

Motivation Dynamics for Autonomous Composition of Navigation tasks. - Paul B. Reverdy; Vasileios Vasilopoulos; Daniel E. Koditschek (IEEE Trans. Robotics, 2021)

A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments. - Vasileios Vasilopoulos; Sebastian Castro; William Vega-Brown; Daniel E. Koditschek; Nicholas Roy (ICRA, 2022)

Mode-Reactive Template-Based Control in Planar Legged Robots. - Avik De; T. Turner Topping; J. Diego Caporale; Daniel E. Koditschek (IEEE Access, 2022)

Tendon-Driven Auxetic Tubular Springs for Resilient Hopping Robots. - Young-Joo Lee; Shivangi Misra; Wei-Hsi Chen; Daniel E. Koditschek; Cynthia Sung 001; Shu Yang 008 (Adv. Intell. Syst., 2022)

Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments. - Vasileios Vasilopoulos; Sebastian Castro; William Vega-Brown; Daniel E. Koditschek; Nicholas Roy (CoRR, 2022)

Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped. - Timothy Greco; Daniel E. Koditschek (CoRR, 2022)

Reactive navigation in partially familiar planar environments using semantic perceptual feedback. - Vasileios Vasilopoulos; Georgios Pavlakos; Karl Schmeckpeper; Kostas Daniilidis; Daniel E. Koditschek (Int. J. Robotics Res., 2022)

Twisting Spine or Rigid Torso: Exploring Quadrupedal Morphology via Trajectory Optimization. - J. Diego Caporale; Zeyuan Feng; Shane Rozen-Levy; Aja Mia Carter; Daniel E. Koditschek (ICRA, 2023)

Anchoring Sagittal Plane Templates in a Spatial Quadruped. - Timothy Greco; Daniel E. Koditschek (ICRA, 2023)

Limb-Loss Recovery Gaits and Their Energetic Cost. - Abriana Stewart-Height; Daniel E. Koditschek (ISER, 2023)

Technical Report on: Tripedal Dynamic Gaits for a Quadruped Robot. - Abriana Stewart-Height; Daniel E. Koditschek (CoRR, 2023)

Kinegami: Algorithmic Design of Compliant Kinematic Chains From Tubular Origami. - Wei-Hsi Chen; Woohyeok Yang; Lucien Peach; Daniel E. Koditschek; Cynthia R. Sung (IEEE Trans. Robotics, 2023)

Stability of a Groucho-Style Bounding Run in the Sagittal Plane. - Jeffrey Duperret; Daniel E. Koditschek (Robotics, 2023)