• Biophysically inspired development of a sand-swimming robot 

      Maladen, Ryan D.; Ding, Yang; Umbanhowar, Paul B.; Kamor, Adam; Goldman, Daniel I. (Georgia Institute of TechnologyMIT Press, 2011)
      Previous study of a sand-swimming lizard, the sandfish, Scincus scincus, revealed that the animal swims within granular media at speeds up to 0:4 body-lengths/cycle using body undulation (approximately a single period ...
    • Comparative studies reveal principles of movement on and within granular media 

      Ding, Yang; Gravish, Nick; Li, Chen; Maladen, Ryan D.; Mazouchova, Nicole; Sharpe, Sarah S.; Umbanhowar, Paul B.; Goldman, Daniel I. (Georgia Institute of TechnologySpringer Verlag, 2010-06)
      Terrestrial locomotion can take place on complex substrates such as leaf litter, debris, and soil that flow or solidify in response to stress. While principles of movement in air and water are revealed through study of the ...
    • Design of a Bio-inspired Dynamical Vertical Climbing Robot 

      Clark, Jonathan E.; Goldman, Daniel I.; Lin, Pei-Chun; Lynch, Goran; Chen, Tao S.; Komsuoglu, Haldun; Full, Robert J.; Koditschek, Daniel E. (Georgia Institute of TechnologyMIT Press, 2008)
      This paper reviews a template for dynamical climbing originating in biology, explores its stability properties in a numerical model, and presents emperical data from a physical prototype as evidence of the feasibility of ...
    • 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 ...
    • The RiSE Climbing Robot: Body and Leg Design 

      Saunders, Aaron; Goldman, Daniel I.; Full, Robert J.; Buehler, Martin (Georgia Institute of TechnologySociety of Photo-optical Instrumentation Engineers (SPIE), 2006)
      The RiSE robot is a biologically inspired, six legged climbing robot, designed for general mobility in scansorial (vertical walls, horizontal ledges, ground level) environments. It exhibits ground reaction forces that are ...
    • Robotics in Scansorial Environments 

      Autumn, Kellar; Buehler, Martin; Cutkosky, Mark; Fearing, Ronald S.; Full, Robert J.; Goldman, Daniel I.; Groff, Richard; Provancher, William; Rizzi, Alfred E.; Saranli, Uluc; Saunders, Aaron; Koditschek, Daniel E. (Georgia Institute of TechnologySociety of Photo-optical Instrumentation Engineers (SPIE), 2005)
    • Systematic study of the performance of small robots on controlled laboratory substrates 

      Li, Chen; Hoover, Aaron M.; Birkmeyer, Paul; Umbanhowar, Paul B.; Fearing, Ronald S.; Goldman, Daniel I. (Georgia Institute of TechnologySociety of Photo-optical Instrumentation Engineers (SPIE), 2010-04)
      The design of robots able to locomote effectively over a diversity of terrain requires detailed ground interaction models; unfortunately such models are lacking due to the complicated response of real world substrates which ...
    • 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 ...
    • Walking and running on yielding and fluidizing ground 

      Qian, Feifei; Zhang, Tingnan; Li, Chen; Masarati, Pierangelo; Birkmeyer, Paul; Pullin, Andrew; Hoover, Aaron; Fearing, Ronald S.; Golman, Daniel I. (Georgia Institute of Technology, 2012-07)
      We study the detailed locomotor mechanics of a small, lightweight robot (DynaRoACH, 10 cm, 25 g) which can move on a granular substrate of closely packed 3 mm diameter glass particles at speeds up to 50 cm/s (5 body ...