Design of a modular snake robot. - Cornell Wright III; Aaron M. Johnson 001; Aaron Peck; Zachary McCord; Allison Naaktgeboren; Philip Gianfortoni; Manuel González-Rivero; Ross L. Hatton; Howie Choset (IROS, 2007)

Generating gaits for snake robots by annealed chain fitting and Keyframe wave extraction. - Ross L. Hatton; Howie Choset (IROS, 2009)

Approximating displacement with the body velocity integral. - Ross L. Hatton; Howie Choset (Robotics: Science and Systems, 2009)

Parameterized and Scripted Gaits for Modular Snake Robots. - Matthew Tesch; Kevin Lipkin; Isaac Brown; Ross L. Hatton; Aaron Peck; Justine Rembisz; Howie Choset (Adv. Robotics, 2009)

Sidewinding on slopes. - Ross L. Hatton; Howie Choset (ICRA, 2010)

Optimizing coordinate choice for locomoting systems. - Ross L. Hatton; Howie Choset (ICRA, 2010)

Generating gaits for snake robots: annealed chain fitting and keyframe wave extraction. - Ross L. Hatton; Howie Choset (Auton. Robots, 2010)

Geometric maneuverability with applications to low reynolds number swimming. - Ross L. Hatton; Lisa J. Burton; Anette E. Hosoi; Howie Choset (IROS, 2011)

Kinematic Cartography for Locomotion at Low Reynolds Numbers. - Ross L. Hatton; Howie Choset (Robotics: Science and Systems, 2011)

Geometric motion planning: The local connection, Stokes' theorem, and the importance of coordinate choice. - Ross L. Hatton; Howie Choset (Int. J. Robotics Res., 2011)

Conical sidewinding. - Chaohui Gong; Ross L. Hatton; Howie Choset (ICRA, 2012)

Minimum perturbation coordinates on SO(3). - Matthew J. Travers; Ross L. Hatton; Howie Choset (ACC, 2013)

Snakes on a plan: Toward combining planning and control. - Ross L. Hatton; Ross A. Knepper; Howie Choset; David Rollinson; Chaohui Gong; Enric Galceran (ICRA, 2013)

Geometric Swimming at Low and High Reynolds Numbers. - Ross L. Hatton; Howie Choset (IEEE Trans. Robotics, 2013)

Nonlinear dimensionality reduction for kinematic cartography with an application toward robotic locomotion. - Tony Dear; Ross L. Hatton; Howie Choset (IROS, 2014)

Passive-dynamic leg design for agile robots. - Andy Abate; Ross L. Hatton; Jonathan W. Hurst (ICRA, 2015)

Wrapping a target with a tethered projectile. - Lucas Hill; Thomas Woodward; Hitoshi Arisumi; Ross L. Hatton (ICRA, 2015)

Evaluation of linear and revolute underactuated grippers for steel foundry operations. - Ryan Carpenter; Ross L. Hatton; Ravi Balasubramanian (Ind. Robot, 2015)

Soap-bubble optimization of gaits. - Suresh Ramasamy; Ross L. Hatton (CDC, 2016)

Aiming and vaulting: Spider inspired leaping for jumping robots. - Hossein Faraji; Ramsey Tachella; Ross L. Hatton (ICRA, 2016)

Mechanical Antagonism in Legged Robots. - Andy Abate; Jonathan W. Hurst; Ross L. Hatton (Robotics: Science and Systems, 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)

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)

Geometric gait optimization beyond two dimensions. - Suresh Ramasamy; Ross L. Hatton (ACC, 2017)

Soft snake robots: Mechanical design and geometric gait implementation. - Callie Branyan; Chloe Fleming; Jacquelin Remaley; Ammar Kothari; Kagan Tumer; Ross L. Hatton; Yigit Mengüç (ROBIO, 2017)

Kinematic Cartography and the Efficiency of Viscous Swimming. - Ross L. Hatton; Tony Dear; Howie Choset (IEEE Trans. Robotics, 2017)

Robot Leg Design: A Constructive Framework. - Siavash Rezazadeh; Andy Abate; Ross L. Hatton; Jonathan W. Hurst (IEEE Access, 2018)

Aesthetics of Curvature Bases for Sketches. - Keith Lippincott; Ross L. Hatton; Cindy Grimm (Expressive, 2019)

A Comparison of Lateral Dynamic Models for Tractor-Trailer Systems. - Zachary Brock; James Nelson; Ross L. Hatton (IV, 2019)

The Geometry of Optimal Gaits for Drag-Dominated Kinematic Systems. - Suresh Ramasamy; Ross L. Hatton (IEEE Trans. Robotics, 2019)

Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running. - Kevin Green; Ross L. Hatton; Jonathan W. Hurst (ICRA, 2020)

Evaluation of a Circumferential Extending Antagonist Actuator in a Soft Arm. - Max Asselmeier; Ross L. Hatton; Yigit Mengüç; Gina Olson (RoboSoft, 2020)

Data-Driven Geometric System Identification for Shape-Underactuated Dissipative Systems. - Brian Bittner; Ross L. Hatton; Shai Revzen (CoRR, 2020)

Snake-Inspired Kirigami Skin for Lateral Undulation of a Soft Snake Robot. - Callie Branyan; Ross L. Hatton; Yigit Mengüç (IEEE Robotics Autom. Lett., 2020)

Geometric Motion Planning for a System on the Cylindrical Surface. - Shuoqi Chen; Ruijie Fu; Ross L. Hatton; Howie Choset (IROS, 2021)

Learning Spring Mass Locomotion: Guiding Policies With a Reduced-Order Model. - Kevin Green; Yesh Godse; Jeremy Dao; Ross L. Hatton; Alan Fern; Jonathan W. Hurst (IEEE Robotics Autom. Lett., 2021)

Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning. - Ryan Batke; Fangzhou Yu; Jeremy Dao; Jonathan W. Hurst; Ross L. Hatton; Alan Fern; Kevin Green (Humanoids, 2022)

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

Enhancing Maneuverability via Gait Design. - Siming Deng; Ross L. Hatton; Noah J. Cowan (ICRA, 2022)

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

Motion Planning for Agile Legged Locomotion using Failure Margin Constraints. - Kevin Green; John Warila; Ross L. Hatton; Jonathan W. Hurst (IROS, 2022)

Amoeba-inspired swimming through isoperimetric modulation of body shape. - Curtis Sparks; Nathan Justus; Ross L. Hatton; Nick Gravish (IROS, 2022)

Scales and Locomotion: Non-Reversible Longitudinal Drag. - Quinten Konyn; Ross L. Hatton (CoRR, 2022)

Curvilinear Kirigami Skins Let Soft Bending Actuators Slither Faster. - Callie Branyan; Ahmad Rafsanjani; Katia Bertoldi; Ross L. Hatton; Yigit Mengüç (Frontiers Robotics AI, 2022)

The Geometry of Optimal Gaits for Inertia-Dominated Kinematic Systems. - Ross L. Hatton; Zachary Brock; Shuoqi Chen; Howie Choset; Hossein Faraji; Ruijie Fu; Nathan Justus; Suresh Ramasamy (IEEE Trans. Robotics, 2022)

Geometric Gait Optimization for Inertia-Dominated Systems with Nonzero Net Momentum. - Yanhao Yang; Ross L. Hatton (IROS, 2023)

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)

HISSbot: Sidewinding with a Soft Snake Robot. - Farhan Rozaidi; Emma Waters; Olivia Dawes; Jennifer Yang; Joseph R. Davidson; Ross L. Hatton (RoboSoft, 2023)

Modular Sensor Integration into Soft Robots using Stretchable Wires for Nuclear Infrastructure Inspection and Radiation Spectroscopy. - Calder Wilson; Joseph Karam; Callen Votzke; Farhan Rozaidi; Camille J. Palmer; Ross L. Hatton; Matthew L. Johnston (RoboSoft, 2023)

Towards Geometric Motion Planning for High-Dimensional Systems: Gait-Based Coordinate Optimization and Local Metrics. - Yanhao Yang; Ross L. Hatton (CoRR, 2023)

Geometric analysis of gaits and optimal control for three-link kinematic swimmers. - Oren Wiezel; Suresh Ramasamy; Nathan Justus; Yizhar Or; Ross L. Hatton (Autom., 2023)

Geometric Mechanics of Contact-Switching Systems. - Hari Krishna Hari Prasad; Ross L. Hatton; Kaushik Jayaram (IEEE Robotics Autom. Lett., 2023)

Optimal Control Approach for Gait Transition with Riemannian Splines. - Jinwoo Choi; Ross L. Hatton (CDC, 2024)

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

On Developing and Performing with a 4-Foot SpiderHarp Instrument. - Chet Udell; Andrew Otto; Nathan Justus; Ross L. Hatton (Comput. Music. J., 2024)

Geometric Design and Gait Co-Optimization for Soft Continuum Robots Swimming at Low and High Reynolds Numbers. - Yanhao Yang; Ross L. Hatton (CoRR, 2024)

Geometric Optimal Control of Mechanical Systems with Gravitational and Resistive Force. - Jinwoo Choi; Alejandro Cabrera; Ross L. Hatton (CoRR, 2024)

Geometrically Modulable Gait Design for Quadrupeds. - Hari Krishna Hari Prasad; Ross L. Hatton; Kaushik Jayaram (IEEE Robotics Autom. Lett., 2024)

The Geometry of Optimal Gait Families for Steering Kinematic Locomoting Systems. - Jinwoo Choi; Siming Deng; Nathan Justus; Noah J. Cowan; Ross L. Hatton (CoRR, 2025)

Geometric Data-Driven Multi-Jet Locomotion Inspired by Salps. - Yanhao Yang; Nina L. Hecht; Yousef Salaman Maclara; Nathan Justus; Zachary A. Thomas; Farhan Rozaidi; Ross L. Hatton (CoRR, 2025)

Geometric Gait Optimization for Kinodynamic Systems Using a Lie Group Integrator. - Yanhao Yang; Ross L. Hatton (CoRR, 2025)