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)

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)