We are interested in the application of dynamical systems theory to the invention and construction of intelligent machines and systems, with a particular focus on biologically inspired robotics. Many of us have worked in robotics with emphasis on dynamical dexterity and the management of kinetic energy in designing machines capable of performing useful work on their bodies and environments. Others of us have worked on more abstract problems of control and coordination with the object of developing new methods of design and analysis toward the construction of such machines.

For more information: Kod*Lab

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Papers from 2017

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Discriminative Measures for Comparison of Phylogenetic Trees, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek

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Detecting Poisoning Attacks on Hierarchical Malware Classification Systems, Dan P. Guralnik, Bill Moran, Ali Pezeshki, and Omur Arslan

Papers from 2016

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Clustering-Based Robot Navigation and Control, Omur Arslan

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Coordinated Robot Navigation via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek

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Clustering-Based Robot Navigation and Control, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek

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Exact Robot Navigation Using Power Diagrams, Omur Arslan and Daniel E. Koditschek

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On the Optimality of Napoleon Triangles, Omur Arslan and Daniel E. Koditschek

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Voronoi-Based Coverage Control of Heterogeneous Disk-Shaped Robots, Omur Arslan and Daniel E. Koditschek

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Core Actuation Promotes Self-Manipulability on a Direct-Drive Quadrupedal Robot, Jeff Duperret, Benjamin Kramer, and Daniel Koditschek

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Universal Memory Architectures for Autonomous Machines, Dan P. Guralnik and Daniel E. Koditschek

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A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems, Aaron M. Johnson, Sam Burden, and Daniel E. Koditschek

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Design Principles for a Family of Direct-Drive Legged Robots, Gavin Kenneally, Avik De, and D. E. Koditschek

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Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation, Thomas Libby, Aaron M Johnson, Evan Chang-Sui, R J. Full, and Daniel Koditschek

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Mobile Robots as Remote Sensors for Spatial Point Process Models, Paul B. Reverdy and D. E. Koditschek

Papers from 2015

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Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped, Avik De and Daniel E. Koditschek

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Parallel Composition of Templates for Tail-Energized Planar Hopping, Avik De and Daniel E. Koditschek

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The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates, Avik De and Daniel E. Koditschek

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An Empirical Investigation of Legged Transitional Maneuvers Leveraging Raibert’s Scissor Algorithm, Jeff Duperret and Daniel Koditschek

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A drift-diffusion model for robotic obstacle avoidance, Paul B. Reverdy, B. Deniz Ilhan, and Daniel E. Koditschek

Papers from 2014

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Navigation of Distinct Euclidean Particles via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek

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Anytime Hierarchical Clustering, Omur Arslan and Daniel E. Koditschek

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A Recursive, Distributed Minimum Spanning Tree Algorithm for Mobile Ad Hoc Networks, Omur Arslan and Daniel E. Koditschek

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Active Sensing for Dynamic, Non-holonomic, Robust Visual Servoing, Avik De, Karl S. Bayer, and Daniel E. Koditschek

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Towards a Comparative Measure for Legged Agility, Jeffrey Duperret, Gavin Kenneally, Jason Pusey, and Daniel Koditschek

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Coordinated Navigation of Multiple Independent Disk-Shaped Robots, C. Serkan Karagoz, H. Isil Bozma, and Daniel E. Koditschek

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Desert RHex Technical Report: Jornada and White Sands Trip, Sonia Roberts, Jeff Duperret, Aaron M. Johnson, Scott van Pelt, Ted Zobeck, Nick Lancaster, and Daniel E. Koditschek

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Towards a method for obstacle porosity classification, Sonia F. Roberts

Desert RHex Technical Report: Tengger Desert Trip, Sonia F. Roberts, Jeffrey M. Duperret, Xinwan Li, Hesheng Wang, and D. E. Koditschek

Papers from 2013

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Toward Dynamical Sensor Management for Reactive Wall-following, Avik De and Daniel E. Koditschek

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Convergence of Bayesian Histogram Filters for Location Estimation, Avik De, Alejandro Ribeiro, William Moran, and Daniel E. Koditschek

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Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek

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Legged Self-Manipulation, Aaron Johnson and Daniel E. Koditschek

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Robot Parkour: The Ground Reaction Complex & Dynamic Transitions, Aaron M. Johnson

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Toward a Vocabulary of Legged Leaping, Aaron M. Johnson

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Free-Standing Leaping Experiments with a Power-Autonomous, Elastic-Spined Quadruped, Jason L. Pusey, Jeffrey M. Duperret, G. Clark Haynes, Ryan Knopf, and Daniel E. Koditschek

Papers from 2012

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Hierarchically Clustered Navigation of Distinct Euclidean Partlces, Omur Arslan, Dan P. Guralnik, Yuliy M. Baryshnikov, and Daniel E. Koditschek

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Toward a Memory Model for Autonomous Topological Mapping and Navigation: the Case of Binary Sensors and Discrete Actions, Dan P. Guralnik and Daniel E. Koditschek

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Laboratory on Legs: An Architechture for Adjustable Morphology with Legged Robots, G. Clark Haynes, Jason Pusey, Ryan Knopf, Aaron M. Johnson, and Daniel E. Koditschek

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Standing Self-Manipulation for a Legged Robot, Aaron M. Johnson, G. Clark Haynes, and Daniel E. Koditschek

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Tail Assisted Dynamic Self Righting, Aaron M. Johnson, Thomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, Robert J. Full, and Daniel E. Koditschek

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Tail Assisted Dynamic Self Righting: Full Derivations, Aaron M. Johnson, Tomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, R J. Full, and Daniel E. Koditschek

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Towards a terramechanics for bio-in spired locomotion in granular environments, Chen Li, Yang Ding, Ryan D. Maladen, Andrew Masse, Paul B. Umbanhowar, Haldun Kimsuoglu, Daniel E. Koditschek, and Daniel I. Goldman

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A Bioinspired Dynamical Vertical Climbing Robot, Goran A. Lynch, Jonathan E. Clark, Pei-Chun Lei, and Daniel E. Koditschek

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Dynamical Trajectory Replanning for Uncertain Environments, Shai Revzen, B. Deniz Ilhan, and Daniel E. Koditschek

Papers from 2011

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Motor Sizing for Legged Robots Using Dynamic Task Specification, Avik De, Goran Lynch, Aaron Johnson, and Daniel E. Koditschek

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Experimental Investigations into the Role of Passive Variable Compliant Legs for Dynamic Robot Locomotion, Kevin C. Galloway, Jonathan E. Clark, Mark Yim, and Daniel E. Koditschek

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Multistable Phase Regulation for Robust Steady and Transitional Legged Gaits, G. C. Haynes, Alfred A. Rizzi, and Daniel E. Koditschek

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Autonomous Legged Hill and Stairwell Ascent, Aaron M. Johnson, Matthew T. Hale, G. C. Haynes, and Daniel E. Koditschek

Papers from 2010

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X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks, Kevin C. Galloway, Galen Clark Haynes, B. Deniz Ilhan, Aaron M. Johnson, Ryan Knopf, Goran A. Lynch, Benjamin N. Plotnick, Mackenzie White, and Daniel E. Koditschek

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On the Comparative Analysis of Locomotory Systems with Vertical Travel, G. C. Haynes and Daniel E. Koditschek

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Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots, Aaron M. Johnson, Galen Clark Haynes, and Daniel E. Koditschek

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Characterization of Dynamic Behaviors in a Hexapod Robot, Haldun Komsuoglu, Anirudha Majumdar, Yasemin Aydin, and Daniel E. Koditschek

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Sprawl Angle in Simplified Models of Vertical Climbing: Implications for Robots and Roaches, Goran A. Lynch, Lawrence Rome, and Daniel E. Koditschek

Papers from 2009

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Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek

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Gait Transitions for Quasi-Static Hexapedal Locomotion on Level Ground, Galen C. Haynes, Fred Cohen, and Daniel E. Koditschek

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Rapid Pole Climbing with a Quadrupedal Robot, G C. Haynes, Alex Khripin, Goran Lynch, Jon Amory, Aaron Saunders, Alfred A. Rizzi, and Daniel E. Koditschek

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Dynamic Legged Mobility---an Overview, Haldun Komsuoglu

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Sensitive dependence of the motion of a legged robot on granular media, Chen Li, P B. Umbanhowar, Haldun Komsuoglu, Daniel E. Koditschek, and Daniel Goldman

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A Self-Exciting Controller for High-Speed Vertical Running, Goran A. Lynch, Jonathan E. Clark, and Daniel E. Koditschek

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A Distributed Dynamical Scheme for Fastest Mixing Markov Chains, Michael M. Zavlanos, Daniel E. Koditschek, and George J. Pappas

Papers from 2008

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A Physical Model for Dynamical Arthropod Running on Level Ground, Haldun Komsuoglu, Kiwon Sohn, Robert J. Full, and Daniel E. Koditschek

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Towards Testable Neuromechanical Control of Architectures for Running, Shai Revzen, Daniel E. Koditschek, and R J. Full

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Integrating a Hierarchy of Simulation Tools for Legged Robot Locomotion, Andrew Slatton, Yang Ding, P B. Umbanhowar, Daniel Goldman, Galen C. Haynes, Haldun Komsuoglu, Daniel E. Koditschek, and Daniel Cohen

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Biologically Inspired Climbing with a Hexapedal Robot, M. J. Spenko, G. C. Haynes, J. A. Sanders, M. R. Cutkosky, Alfred A. Rizzi, R. J. Full, and Daniel E. Koditschek

Papers from 2007

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Heterogeneous Leg Stiffness and Roll in Dynamic Running, Samuel Burden, Jonathan Clark, Joel Weingarten, Haldun Komsuoglu, and Daniel E. Koditschek

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DESIGN OF A MULTI-DIRECTIONAL VARIABLE STIFFNESS LEG FOR DYNAMIC RUNNING, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek

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Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems, Gabriel A.D. Lopes and Daniel E. Koditschek

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Robotics as the Delivery Vehicle: A contexualized, social, self paced, engineering education for life-long learners, Joel D. Weingarten, Daniel E. Koditschek, Haldun Komsuoglu, and Chris Massey

Papers from 2006

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Toward a Dynamic Vertical Climbing Robot, Jonathan E. Clark, Daniel I. Goldman, Tao S. Chen, Robert J. Full, and Daniel E. Koditschek

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The Dynamics of Legged Locomotion: Models, Analyses, and Challenges, Philip Holmes, Robert J. Full, Daniel E. Koditschek, and John Guckenheimer

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Sensor Data Fusion for Body State Estimation in a Hexapod Robot With Dynamical Gaits, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek

Papers from 2005

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A Leg Configuration Measurement System for Full-Body Pose Estimates in a Hexapod Robot, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek

Papers from 2004

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Stability Analysis of Legged Locomotion Models by Symmetry-Factored Return Maps, Richard Altendorfer, Daniel E. Koditschek, and Philip Holmes

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Feedback-Based Event-Driven Parts Moving, Cem Serkan Karagöz, H. Isil Bozma, and Daniel E. Koditschek

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Legged Odometry from Body Pose in a Hexapod Robot, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek

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Toward a 6 DOF Body State Estimator for a Hexapod Robot with Dynamical Gaits, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek

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Level Sets and Stable Manifold Approximations for Perceptually Driven Nonholonomically Constrained Navigation, Gabriel A. D. Lopes and Daniel E. Koditschek

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Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot, Uluc Saranli, Alfred A. Rizzi, and Daniel E. Koditschek

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Multi-point Contact Models for Dynamic Self-Righting of a Hexapod Robot, U. Saranli, A. A. Rizzi, and Daniel E. Koditschek

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A Framework for the Coordination of Legged Robot Gaits, Joel D. Weingarten, Richard E. Groff, and Daniel E. Koditschek

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Automated Gait Adaptation for Legged Robots, Joel D. Weingarten, Gabriel A. D. Lopes, Martin Buehler, Richard E. Groff, and Daniel E. Koditschek

Papers from 2003

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Towards a factored analysis of legged locomotion models, Richard Altendorfer, Daniel E. Koditschek, and Philip Holmes

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A Simply Stabilized Running Model, R. M. Ghigliazza, Richard Altendorfer, Philip Holmes, and Daniel E. Koditschek

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A Local Convergence Proof for the Minvar Algorithm for Computing Continuous Piecewise Linear Approximations, Richard E. Groff, Pramod P. Khargonekar, and Daniel E. Koditschek

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A leg configuration sensory system for dynamical body state estimates in a hexapod robot, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek

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Visual Registration and Navigation using Planar Features, Gabriel A. D. Lopes and Daniel E. Koditschek

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Template Based Control of Hexapedal Running, Uluc Saranli and Daniel E. Koditschek

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Hybrid Zero Dynamics of Planar Biped Walkers, E. R. Westervelt, J. W. Grizzle, and Daniel E. Koditschek

Papers from 2002

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Exploiting Passive Stability for Hierarchical Control, R. Altendorfer, R. M. Ghigliazza, P. Holmes, and Daniel E. Koditschek

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Visual Servoing via Navigation Functions, Noah J. Cowan, Daniel E. Koditschek, and Joel D. Weingarten

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Safe Cooperative Robot Dynamics on Graphs, Robert W. Ghrist and Daniel E. Koditschek

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EDAR - mobile robot for parts moving based on a game-theoretic approach, Cem Serkan Karagöz, H. Isil Bozma, and Daniel E. Koditschek

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Phase Regulation of Decentralized Cyclic Robotic Systems, E. Klavins and Daniel E. Koditschek

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The Role of Reflexes Versus Central Pattern Generators, Eric Klavins, Haldun Komsuoglu, Robrt J. Full, and Daniel E. Koditschek

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Back Flips with a Hexapedal Robot, Uluc Saranli and Daniel E. Koditschek

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Zero Dynamics of Planar Biped Walkers with One Degree of Under Actuation, E.R. Westervelt, J.W. Grizzle, and Daniel E. Koditschek

Papers from 2001

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Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot, Richard Altendorfer, Uluc Saranli, Haldun Komsuoglu, Daniel E. Koditschek, H. Benjamin Brown Jr., Martin Buehler, Ned Moore, Dave McMordie, and Robert Full

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Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies, H. Isil Bozma and Daniel E. Koditschek

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Empirical validation of a new visual servoing strategy, Noah J. Cowan, Joel D. Weingarten, and Daniel E. Koditschek

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Stability of Coupled Hybrid Oscillators, Eric Klavins and Daniel E. Koditschek