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)

Biophysically inspired development of a sand-swimming robot. - Ryan D. Maladen; Yang Ding; Paul Umbanhowar; Adam Kamor; Daniel I. Goldman (Robotics: Science and Systems, 2010)

Granular lift forces predict vertical motion of a sand-swimming robot. - Ryan D. Maladen; Paul Umbanhowar; Yang Ding; Andrew Masse; Daniel I. Goldman (ICRA, 2011)

Undulatory swimming in sand: experimental and simulation studies of a robotic sandfish. - Ryan D. Maladen; Yang Ding; Paul Umbanhowar; Daniel I. Goldman (Int. J. Robotics Res., 2011)

Walking and running on yielding and fluidizing ground. - Feifei Qian; Tingnan Zhang; Chen Li 017; Aaron M. Hoover; Pierangelo Masarati; Paul Birkmeyer; Andrew O. Pullin; Ronald S. Fearing; Daniel I. Goldman (Robotics: Science and Systems, 2012)

Lift-off dynamics in a simple jumping robot - Jeffrey Aguilar; Alex Lesov; Kurt Wiesenfeld; Daniel I. Goldman (CoRR, 2012)

Mechanics of Undulatory Swimming in a Frictional Fluid. - Yang Ding; Sarah S. Sharpe; Andrew Masse; Daniel I. Goldman (PLoS Comput. Biol., 2012)

Ground fluidization promotes rapid running of a lightweight robot. - Tingnan Zhang; Feifei Qian; Chen Li 017; Pierangelo Masarati; Aaron M. Hoover; Paul Birkmeyer; Andrew O. Pullin; Ronald S. Fearing; Daniel I. Goldman (Int. J. Robotics Res., 2013)

Conditioned Basis Array Factorization: An Approach to Gait Pattern Extraction. - Chaohui Gong; Matthew J. Travers; Henry C. Astley; Lu Li; Joseph Mendelson; David Hu; Daniel I. Goldman; Howie Choset (Robotics: Science and Systems, 2014)

Robot-inspired biology: The compound-wave control template. - Jin Dai; Matthew J. Travers; Tony Dear; Chaohui Gong; Henry C. Astley; Daniel I. Goldman; Howie Choset (ICRA, 2015)

Limbless locomotors that turn in place. - Chaohui Gong; Matthew J. Travers; Henry C. Astley; Daniel I. Goldman; Howie Choset (ICRA, 2015)

The dynamics of legged locomotion in heterogeneous terrain: universality in scattering and sensitivity to initial conditions. - Feifei Qian; Daniel I. Goldman (Robotics: Science and Systems, 2015)

Tractable terrain-aware motion planning on granular media: An impulsive jumping study. - Christian M. Hubicki; Jeff J. Aguilar; Daniel I. Goldman; Aaron D. Ames (IROS, 2016)

Geometric Swimming on a Granular Surface. - Jin Dai; Hossein Faraji; Chaohui Gong; Ross L. Hatton; Daniel I. Goldman; Howie Choset (Robotics: Science and Systems, 2016)

Simplifying Gait Design via Shape Basis Optimization. - Chaohui Gong; Daniel I. Goldman; Howie Choset (Robotics: Science and Systems, 2016)

Shape-Based Compliance in Locomotion. - Matthew J. Travers; Julian Whitman; Perrin E. Schiebel; Daniel I. Goldman; Howie Choset (Robotics: Science and Systems, 2016)

Robophysical study of excavation in confined environments. - Vadim Linevich; Daria Monaenkova; Daniel I. Goldman (Artif. Life Robotics, 2016)

A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems. - Jeffrey Aguilar; Tingnan Zhang; Feifei Qian; Mark Kingsbury; Benjamin McInroe; Nicole Mazouchova; Chen Li 017; Ryan D. Maladen; Chaohui Gong; Matthew J. Travers; Ross L. Hatton; Howie Choset; et al. (CoRR, 2016)

Kinematic gait synthesis for snake robots. - Chaohui Gong; Matthew J. Travers; Henry C. Astley; Lu Li; Joseph Mendelson; Daniel I. Goldman; Howie Choset (Int. J. Robotics Res., 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)

A stability region criterion for flat-footed bipedal walking on deformable granular terrain. - Xiaobin Xiong; Aaron D. Ames; Daniel I. Goldman (IROS, 2017)

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)

Collisional Diffraction Emerges from Simple Control of Limbless Locomotion. - Perrin E. Schiebel; Jennifer M. Rieser; Alex M. Hubbard; Lillian Chen; Daniel I. Goldman (Living Machines, 2017)

Collision-induced scattering of a self-propelled slithering robot. - Jennifer M. Rieser; Perrin E. Schiebel; Arman Pazouki; Feifei Qian; Zachary Goddard; Andrew Zangwill; Dan Negrut; Daniel I. Goldman (CoRR, 2017)

Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods. - Jonathan R. Gosyne; Christian M. Hubicki; Xiaobin Xiong; Aaron D. Ames; Daniel I. Goldman (Humanoids, 2018)

Locomoting Robots Composed of Immobile Robots. - Ross Warkentin; William Savoie; Daniel I. Goldman (IRC, 2018)

Soft Robotic Burrowing Device with Tip-Extension and Granular Fluidization. - Nicholas D. Naclerio; Christian M. Hubicki; Yasemin Ozkan Aydin; Daniel I. Goldman; Elliot W. Hawkes (IROS, 2018)

Design of a soft robophysical earthworm model. - Yasemin Ozkan Aydin; Jennifer L. Molnar; Daniel I. Goldman; Frank L. Hammond (RoboSoft, 2018)

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)

Phototactic supersmarticles. - William Savoie; Sarah Cannon; Joshua J. Daymude; Ross Warkentin; Shengkai Li; Andréa W. Richa; Dana Randall; Daniel I. Goldman (Artif. Life Robotics, 2018)

Nutation Aids Heterogeneous Substrate Exploration in a Robophysical Root. - Yasemin Ozkan Aydin; Mason Murray-Cooper; Enes Aydin; Erin N. McCaskey; Nicholas D. Naclerio; Elliot W. Hawkes; Daniel I. Goldman (RoboSoft, 2019)

Kirigami Skin Improves Soft Earthworm Robot Anchoring and Locomotion Under Cohesive Soil. - Bangyuan Liu; Yasemin Ozkan Aydin; Daniel I. Goldman; Frank L. Hammond (RoboSoft, 2019)

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)

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)

A robot made of robots: Emergent transport and control of a smarticle ensemble. - William Savoie; Thomas A. Berrueta; Zachary Jackson; Ana Pervan; Ross Warkentin; Shengkai Li; Todd D. Murphey; Kurt Wiesenfeld; Daniel I. Goldman (Sci. Robotics, 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)

Robophysical Modeling of Bilaterally Activated and Soft Limbless Locomotors. - Perrin E. Schiebel; Marine C. Maisonneuve; Kelimar Diaz; Jennifer M. Rieser; Daniel I. Goldman (Living Machines, 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)

Frequency Modulation of Body Waves to Improve Performance of Limbless Robots. - Baxi Zhong; Tianyu Wang 010; Jennifer M. Rieser; Abdul Kaba; Howie Choset; Daniel I. Goldman (Robotics: Science and Systems, 2020)

Self-propulsion on spandex: toward a robotic analog gravity system. - Shengkai Li; Yasemin Ozkan Aydin; Gabriella Small; Charles Xiao; Jennifer M. Rieser; Hussain N. Gynai; Pablo Laguna; Daniel I. Goldman (CoRR, 2020)

Programming Active Granular Matter with Mechanically Induced Phase Changes. - Shengkai Li; Bahnisikha Dutta; Sarah Cannon; Joshua J. Daymude; Ram Avinery; Enes Aydin; Andréa W. Richa; Daniel I. Goldman; Dana Randall (CoRR, 2020)

Material remodeling and unconventional gaits facilitate locomotion of a robophysical rover over granular terrain. - Siddharth Shrivastava; Andras Karsai; Yasemin Ozkan Aydin; Ross Pettinger; William Bluethmann; Robert O. Ambrose; Daniel I. Goldman (Sci. Robotics, 2020)

Enhancing Legged Robot Navigation of Rough Terrain via Tail Tapping. - Daniel Soto 002; Kelimar Diaz; Daniel I. Goldman (CLAWAR, 2021)

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)

Low rattling: A predictive principle for self-organization in active collectives. - Pavel Chvykov; Thomas A. Berrueta; Akash Vardhan; William Savoie; Alexander Samland; Todd D. Murphey; Kurt Wiesenfeld; Daniel I. Goldman; Jeremy L. England (CoRR, 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)

Self-reconfigurable multilegged robot swarms collectively accomplish challenging terradynamic tasks. - Yasemin Ozkan Aydin; Daniel I. Goldman (Sci. Robotics, 2021)

Controlling subterranean forces enables a fast, steerable, burrowing soft robot. - Nicholas D. Naclerio; Andras Karsai; Mason Murray-Cooper; Yasemin Ozkan Aydin; Enes Aydin; Daniel I. Goldman; Elliot W. Hawkes (Sci. Robotics, 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)

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)

Robophysical modeling of spacetime dynamics. - Shengkai Li; Hussain N. Gynai; Steven Tarr; Pablo Laguna; Gongjie Li; Daniel I. Goldman (CoRR, 2022)

Construction and Excavation by Collaborative Double-Tailed SAW Robots. - Luyang Robby Huang; Alexander Zhu; Kathleen Wang; Daniel I. Goldman; Andy Ruina; Kirstin H. Petersen (IEEE Robotics Autom. Lett., 2022)

Real-Time Remodeling of Granular Terrain for Robot Locomotion. - Andras Karsai; Deniz Kerimoglu; Daniel Soto 002; Sehoon Ha; Tingnan Zhang; Daniel I. Goldman (Adv. Intell. Syst., 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)

Robust self-propulsion in sand using simply controlled vibrating cubes. - Bangyuan Liu; Tianyu Wang 010; Velin Kojouharov; Frank L. Hammond III; 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 manipulation of steep granular slopes for fast Mini Rover turning. - Deniz Kerimoglu; Daniel Soto 002; Malone Lincoln Hemsley; Joseph Brunner; Sehoon Ha; Tingnan Zhang; Daniel I. Goldman (ICRA, 2024)

Anisotropic body compliance facilitates robotic sidewinding in complex environments. - Velin Kojouharov; Tianyu Wang 010; Matthew Fernandez; Jiyeon Maeng; Daniel I. Goldman (ICRA, 2024)

AquaMILR: Mechanical intelligence simplifies control of undulatory robots in cluttered fluid environments. - Tianyu Wang 010; Nishanth Mankame; Matthew Fernandez; Velin Kojouharov; Daniel I. Goldman (CoRR, 2024)

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

AquaMILR+: Design of an untethered limbless robot for complex aquatic terrain navigation. - Matthew Fernandez; Tianyu Wang 010; Galen Tunnicliffe; Donoven Dortilus; Peter Gunnarson; John O. Dabiri; 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)

Robust self-propulsion in sand using simply controlled vibrating cubes. - Bangyuan Liu; Tianyu Wang 010; Deniz Kerimoglu; Velin Kojouharov; Frank L. Hammond; Daniel I. Goldman (Frontiers Robotics AI, 2024)

Robot swarms meet soft matter physics. - Daniel I. Goldman; D. Zeb Rocklin (Sci. Robotics, 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)

Collision Induced Binding and Transport of Shape Changing Robot Pairs. - Akash Vardhan; Ram Avinery; Hosain Bagheri; Velin Kojohourav; Shengkai Li; Hridesh Kedia; Tianyu Wang 010; Daniel Soto 002; Kurt Wiesenfeld; Daniel I. Goldman (CoRR, 2025)

Toward Task Capable Active Matter: Learning to Avoid Clogging in Confined Collectives via Collisions. - Kehinde O. Aina; Ram Avinery; Hui-Shun Kuan; Meredith D. Betterton; Michael A. D. Goodisman; Daniel I. Goldman (CoRR, 2025)

Fault-Tolerant Multi-Robot Coordination with Limited Sensing within Confined Environments. - Kehinde O. Aina; Hosain Bagheri; 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)

Robot Excavation and Manipulation of Geometrically Cohesive Granular Media. - Laura Treers; Daniel Soto 002; Joonha Hwang; Michael A. D. Goodisman; Daniel I. Goldman (CoRR, 2025)