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
Papers from 2018
A hybrid dynamical extension of averaging and its application to the analysis of legged gait stability, Avik De, Samuel A. Burden, and Daniel E. Koditschek
Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting, Avik De and Daniel E. Koditschek
Nomadic Monument for Women in Robotics, Diedra Krieger, Gaby Alfaro, Joey Hartmann-Dow, and Sonia F. Roberts
Using the art practice of play to communicate legged robotics research concepts, Diedra Krieger and Sonia F. Roberts
Sensor-Based Reactive Symbolic Planning in Partially Known Environments, Vasileios Vasilopoulos, William Vega-Brown, Omur Arslan, Nicholas Roy, and Daniel E. Koditschek
Papers from 2017
Discriminative Measures for Comparison of Phylogenetic Trees, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek
Smooth Extensions of Feedback Motion Planners via Reference Governors, Omur Arslan and Daniel E. Koditschek
Modular Hopping and Running via Parallel Composition, Avik De
Towards Reactive Control of Transitional Legged Robot Maneuvers, Jeff Duperret
Empirical validation of a spined sagittal-plane quadrupedal model, Jeff Duperret and Daniel Koditschek
Technical Report on: Towards Reactive Control of Simplified Legged Robotics Maneuvers, Jeff Duperret and D. E. Koditschek
Detecting Poisoning Attacks on Hierarchical Malware Classification Systems, Dan P. Guralnik, Bill Moran, Ali Pezeshki, and Omur Arslan
Ground robotic measurement of aeolian processes, Feifei Qian, Douglas J. Jerolmack, Nicholas Lancaster, George Nikolich, Paul B. Reverdy, Sonia F. Roberts, Thomas F. Shipley, Robert Scott Van pelt, Ted M. Zobeck, and Daniel E. Koditschek
Spatial Sampling Strategies with Multiple Scientific Frames of Reference, Paul B. Reverdy, Thomas F. Shipley, and D. E. Koditschek
Quasi-Static and Dynamic Mismatch for Door Opening and Stair Climbing With a Legged Robot, T. Turner Topping, Gavin Kenneally, and Daniel Koditschek
Sensor-Based Legged Robot Homing Using Range-Only Target Localization, Vasileios Vasilopoulos, Omur Arslan, Avik De, and Daniel E. Koditschek
Papers from 2016
Clustering-Based Robot Navigation and Control, Omur Arslan
Coordinated Robot Navigation via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek
Clustering-Based Robot Navigation and Control, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek
Exact Robot Navigation Using Power Diagrams, Omur Arslan and Daniel E. Koditschek
On the Optimality of Napoleon Triangles, Omur Arslan and Daniel E. Koditschek
Voronoi-Based Coverage Control of Heterogeneous Disk-Shaped Robots, Omur Arslan and Daniel E. Koditschek
Core Actuation Promotes Self-Manipulability on a Direct-Drive Quadrupedal Robot, Jeff Duperret, Benjamin Kramer, and Daniel Koditschek
Universal Memory Architectures for Autonomous Machines, Dan P. Guralnik and Daniel E. Koditschek
A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems, Aaron M. Johnson, Sam Burden, and Daniel E. Koditschek
Design Principles for a Family of Direct-Drive Legged Robots, Gavin Kenneally, Avik De, and D. E. Koditschek
Technical Report on: Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation, Thomas Libby, Aaron Johnson, Evan Chang-Siu, R J. Full, and Daniel E. Koditschek
Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation, Thomas Libby, Aaron M Johnson, Evan Chang-Sui, R J. Full, and Daniel Koditschek
Mobile Robots as Remote Sensors for Spatial Point Process Models, Paul B. Reverdy and D. E. Koditschek
Towards Bipedal Behavior on a Quadrupedal Platform Using Optimal Control, Turner Topping, Vasileios Vasilopoulos, Avik De, and Daniel Koditschek
Papers from 2015
Coordinated Robot Navigation via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek
Tail-Assisted Rigid and Compliant Legged Leaping, Anna Brill, Avik De, Aaron Johnson, and Daniel Koditschek
Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped, Avik De and Daniel E. Koditschek
Parallel Composition of Templates for Tail-Energized Planar Hopping, Avik De and Daniel E. Koditschek
The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates, Avik De and Daniel E. Koditschek
An Empirical Investigation of Legged Transitional Maneuvers Leveraging Raibert’s Scissor Algorithm, Jeff Duperret and Daniel Koditschek
Leg Design for Energy Management in an Electromechanical Robot, Gavin Kenneally
A drift-diffusion model for robotic obstacle avoidance, Paul B. Reverdy, B. Deniz Ilhan, and Daniel E. Koditschek
Semi-autonomous exploration of multi-floor buildings with a legged robot, Garrett Wenger, Aaron Johnson, Camilo Jose Taylor, and Daniel E. Koditschek
Papers from 2014
Navigation of Distinct Euclidean Particles via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek
Anytime Hierarchical Clustering, Omur Arslan and Daniel E. Koditschek
A Recursive, Distributed Minimum Spanning Tree Algorithm for Mobile Ad Hoc Networks, Omur Arslan and Daniel E. Koditschek
Active Sensing for Dynamic, Non-holonomic, Robust Visual Servoing, Avik De, Karl S. Bayer, and Daniel E. Koditschek
Towards a Comparative Measure for Legged Agility, Jeffrey Duperret, Gavin Kenneally, Jason Pusey, and Daniel Koditschek
Coordinated Navigation of Multiple Independent Disk-Shaped Robots, C. Serkan Karagoz, H. Isil Bozma, and Daniel E. Koditschek
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
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
Toward Dynamical Sensor Management for Reactive Wall-following, Avik De and Daniel E. Koditschek
Convergence of Bayesian Histogram Filters for Location Estimation, Avik De, Alejandro Ribeiro, William Moran, and Daniel E. Koditschek
Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek
Legged Self-Manipulation, Aaron Johnson and Daniel E. Koditschek
Robot Parkour: The Ground Reaction Complex & Dynamic Transitions, Aaron M. Johnson
Toward a Vocabulary of Legged Leaping, Aaron M. Johnson and Daniel Koditschek
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
Hierarchically Clustered Navigation of Distinct Euclidean Partlces, Omur Arslan, Dan P. Guralnik, Yuliy M. Baryshnikov, and Daniel E. Koditschek
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
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
Standing Self-Manipulation for a Legged Robot, Aaron M. Johnson, G. Clark Haynes, and Daniel E. Koditschek
Parametric Jumping Dataset on the RHex Robot, Aaron M. Johnson and Daniel E. Koditschek
Tail Assisted Dynamic Self Righting, Aaron M. Johnson, Thomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, Robert J. Full, and Daniel E. Koditschek
Tail Assisted Dynamic Self Righting: Full Derivations, Aaron M. Johnson, Tomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, R J. Full, and Daniel E. Koditschek
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
A Bioinspired Dynamical Vertical Climbing Robot, Goran A. Lynch, Jonathan E. Clark, Pei-Chun Lei, and Daniel E. Koditschek
Dynamical Trajectory Replanning for Uncertain Environments, Shai Revzen, B. Deniz Ilhan, and Daniel E. Koditschek
Papers from 2011
Motor Sizing for Legged Robots Using Dynamic Task Specification, Avik De, Goran Lynch, Aaron Johnson, and Daniel E. Koditschek
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
Multistable Phase Regulation for Robust Steady and Transitional Legged Gaits, G. C. Haynes, Alfred A. Rizzi, and Daniel E. Koditschek
Autonomous Legged Hill and Stairwell Ascent, Aaron M. Johnson, Matthew T. Hale, G. C. Haynes, and Daniel E. Koditschek
Papers from 2010
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
On the Comparative Analysis of Locomotory Systems with Vertical Travel, G. C. Haynes and Daniel E. Koditschek
On the Comparative Analysis of Locomotory Systems with Vertical Travel, G.C. Haynes and Daniel E. Koditschek
Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots, Aaron M. Johnson, Galen Clark Haynes, and Daniel E. Koditschek
Characterization of Dynamic Behaviors in a Hexapod Robot, Haldun Komsuoglu, Anirudha Majumdar, Yasemin Aydin, and Daniel E. Koditschek
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
Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek
Gait Transitions for Quasi-Static Hexapedal Locomotion on Level Ground, Galen C. Haynes, Fred Cohen, and Daniel E. Koditschek
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
Dynamic Legged Mobility---an Overview, Haldun Komsuoglu
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
A Self-Exciting Controller for High-Speed Vertical Running, Goran A. Lynch, Jonathan E. Clark, and Daniel E. Koditschek
A Distributed Dynamical Scheme for Fastest Mixing Markov Chains, Michael M. Zavlanos, Daniel E. Koditschek, and George J. Pappas
Papers from 2008
A Physical Model for Dynamical Arthropod Running on Level Ground, Haldun Komsuoglu, Kiwon Sohn, Robert J. Full, and Daniel E. Koditschek
Towards Testable Neuromechanical Control of Architectures for Running, Shai Revzen, Daniel E. Koditschek, and R J. Full
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
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
Heterogeneous Leg Stiffness and Roll in Dynamic Running, Samuel Burden, Jonathan Clark, Joel Weingarten, Haldun Komsuoglu, and Daniel E. Koditschek
DESIGN OF A MULTI-DIRECTIONAL VARIABLE STIFFNESS LEG FOR DYNAMIC RUNNING, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek
Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems, Gabriel A.D. Lopes and Daniel E. Koditschek
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
Toward a Dynamic Vertical Climbing Robot, Jonathan E. Clark, Daniel I. Goldman, Tao S. Chen, Robert J. Full, and Daniel E. Koditschek
The Dynamics of Legged Locomotion: Models, Analyses, and Challenges, Philip Holmes, Robert J. Full, Daniel E. Koditschek, and John Guckenheimer
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
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
Stability Analysis of Legged Locomotion Models by Symmetry-Factored Return Maps, Richard Altendorfer, Daniel E. Koditschek, and Philip Holmes
Feedback-Based Event-Driven Parts Moving, Cem Serkan Karagöz, H. Isil Bozma, and Daniel E. Koditschek
Legged Odometry from Body Pose in a Hexapod Robot, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek
Toward a 6 DOF Body State Estimator for a Hexapod Robot with Dynamical Gaits, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek
Level Sets and Stable Manifold Approximations for Perceptually Driven Nonholonomically Constrained Navigation, Gabriel A. D. Lopes and Daniel E. Koditschek
Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot, Uluc Saranli, Alfred A. Rizzi, and Daniel E. Koditschek