Directional Compliance in Obstacle-Aided Navigation for Snake Robots. - Tianyu Wang 010; Julian Whitman; Matthew J. Travers; Howie Choset (ACC, 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)

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)

Autonomous Decentralized Shape-Based Navigation for Snake Robots in Dense Environments. - Guillaume Sartoretti; Tianyu Wang 010; Gabriel Chuang; Qingyang Li; Howie Choset (ICRA, 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)

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)

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)

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)

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)

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)

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)

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)

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)

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)

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)