• The Effect of limb kinematics on the speed of a legged robot on granular media 

      Li, Chen; Umbanhowar, Paul B.; Komsuoglu, | Haldun; Goldman, Daniel I. (Georgia Institute of TechnologySociety for Experimental Mechanics, 2010-04-22)
      Achieving effective locomotion on diverse terrestrial substrates can require subtle changes of limb kinematics. Biologically inspired legged robots (physical models of organisms) have shown impressive mobility on hard ...
    • Integrating a Hierarchy of Simulation Tools for Legged Robot Locomotion 

      Slatton, Andrew; Cohen, Daniel; Ding, Yang; Umbanhowar, Paul B.; Goldman, Daniel I.; Haynes, G. Clark; Komsuoglu, Haldun; Koditschek, Daniel E. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-09)
      We are interested in the development of a variety of legged robot platforms intended for operation in unstructured outdoor terrain. In such settings, the traditions of rational engineering design, driven by analytically ...
    • A terradynamics of legged locomotion on granular media 

      Li, Chen; Zhang, Tingnan; Goldman, Daniel I. (Georgia Institute of TechnologyAmerican Association for the Advancement of Science, 2013-03-22)
      The theories of aero- and hydrodynamics predict animal movement and device design in air and water through the computation of lift, drag, and thrust forces. Although models of terrestrial legged locomotion have focused on ...
    • Toward a dynamic climbing robot 

      Clark, Jonathan E.; Goldman, Daniel I.; Chen, Tao S.; Full, Robert J.; Koditschek, Daniel E. (Georgia Institute of Technology, 2006)
      Simple mathematical models or ‘templates’ of locomotion have been effective tools in understanding how animals move and have inspired and guided the design of robots that emulate those behaviors. This paper describes a ...