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 2009

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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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Self-Stability Mechanisms for Sensor-Cheap Legged Locomotion, Daniel E. Koditschek, Richard Altendorfer, Raffaele M. Ghigliazza, and Philip Holmes

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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

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Toward the Regulation and Composition of Cyclic Behaviors, Eric Klavins, Daniel E. Koditschek, and Robert W. Ghrist

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Preliminary Analysis of a Biologically Inspired 1-DOF "Clock" Stabilized Hopper, Haldun Komsuoglu and Daniel E. Koditschek

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Proprioception Based Behavioral Advances in a Hexapod Robot, Haldun Komsuoglu, Dave McMordie, Uluc Saranli, Ned Moore, Martin Buehler, and Daniel E. Koditschek

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RHex: A Simple and Highly Mobile Hexapod Robot, Uluc Saranli, Martin Buehler, and Daniel E. Koditschek

Papers from 2000

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Dynamic locomotion with four and six-legged robots, Martin Buehler, Uluc Saranli, D. Papadopoulos, and Daniel E. Koditschek

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Rigid body visual servoing using navigation functions, Noah J. Cowan, Gabriel A. D. Lopes, and Daniel E. Koditschek

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Piecewise Linear Homeomorphisms: The Scalar Case, Richard E. Groff, Daniel E. Koditschek, and Pramod P. Khargonekar

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Representation of Color Space Transformations for Effective Calibration and Control, Richard E. Groff, Daniel E. Koditschek, Pramod P. Khargonekar, and Tracy E. Thieret

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Event Driven Parts Moving in 2D Endogenuous Environments, C. Serkan Karagoz, H. Isil Bozma, and Daniel E. Koditschek

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A formalism for the composition of concurrent robot behaviors, Eric Klavins and Daniel E. Koditschek

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A Brachiating Robot Controller, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek

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Design, modeling and preliminary control of a compliant hexapod robot, Uluc Saranli, Martin Buehler, and Daniel E. Koditschek

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Approximating the Stance Map of a 2 DOF Monoped Runner, William J. Schwind and Daniel E. Koditschek

Papers from 1999

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Sequential Composition of Dynamically Dexterous Robot Behaviors, R. R. Burridge, A. A. Rizzi, and Daniel E. Koditschek

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Planar image based visual servoing as a navigation problem, Noah J. Cowan and Daniel E. Koditschek

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Modeling and Control of Color Xerographic Processes, Richard Groff, Pramod Khargonekar, Daniel E. Koditschek, Tracy Thieret, and L. K. Mestha

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A Formalism for the Composition of Loosely Coupled Robot Behaviors, Eric Klavins and Daniel E. Koditschek

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TEMPLATES AND ANCHORS: NEUROMECHANICAL HYPOTHESES OF LEGGED LOCOMOTION ON LAND, Daniel E. Koditschek and Robert J. Full

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A Hybrid Swing up Controller for a Two-link Brachiating Robot, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek

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Brachiation on a Ladder with Irregular Intervals, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek

Papers from 1998

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Toward global visual servos and estimators for rigid bodies, Noah J. Cowan and Daniel E. Koditschek

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Safe Cooperative Robotic Patterns via Dynamics on Graphs, Robert W. Ghrist and Daniel E. Koditschek

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Invertible Piecewise Linear Approximations for Color Reproduction, Richard E. Groff, Daniel E. Koditschek, and Pramod P. Khargonekar

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Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek

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Toward the Control of a Multi-Jointed, Monoped Runner, Uluc Saranli, William J. Schwind, and Daniel E. Koditschek

Papers from 1997

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Dynamic System Representation of Basic and Non-Linear in Parameters Oscillatory Motion Gestures, Charles J. Cohen, Lynn Conway, Daniel E. Koditschek, and Gerald P. Roston

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Preliminary studies of a second generation brachiation robot controller, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek

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Characterization of Monoped Equilibrium Gaits, William J. Schwind and Daniel E. Koditschek

Papers from 1996

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Toward A Systems Theory for the Composition of Dynamically Dexterous Robot Behaviors, R. R. Burridge, A. A. Rizzi, and Daniel E. Koditschek

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Dynamical system representation, generation, and recognition of basic oscillatory motion gestures, Charles J. Cohen, Lynn Conway, and Daniel E. Koditschek

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Toward a Control Oriented Model of Xerographic Marking Engines, L. K. Mestha, Y. R. Wang, S. Dianat, E. Jackson, Tracy Thieret, Pramod P. Khargonekar, and Daniel E. Koditschek

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An Active Visual Estimator for Dexterous Manipulation, Alfred A. Rizzi and Daniel E. Koditschek

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A simplified model based supercritical power plant controller, Wataro Shinohara and Daniel E. Koditschek

Papers from 1995

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Assembly as a noncooperative game of its pieces: the case of endogeneous disk assemblies, H. Isil Bozma, Cem Serkan Karagöz, and Daniel E. Koditschek

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Toward Obstacle Avoidance in Intermittent Dynamical Environments, Robert R. Burridge, Alfred A. Rizzi, and Daniel E. Koditschek

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Toward a Dynamical Pick and Place, Robert R. Burridge, Alfred A. Rizzi, and Daniel E. Koditschek

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A “Robust” Convergent Visual Servoing System, D. Kim, A. A. Rizzi, G. D. Hager, and Daniel E. Koditschek

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The Geometry of a Robot Programming Language, Daniel E. Koditschek

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Control of forward velocity for a simplified planar hopping robot, William J. Schwind and Daniel E. Koditschek

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Intelligent control of a boiler-turbine plant based on switching control scheme, Wataro Shinohara and Daniel E. Koditschek

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Global asymptotic stability of a passive juggler: a parts feeding strategy, P. J. Swanson, Robert R. Burridge, and Daniel E. Koditschek

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Global asymptotic stability of a passive juggling strategy: A possible parts-feeding method, P. J. Swanson, Robert R. Burridge, and Daniel E. Koditschek

Papers from 1994

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Planning and Control of Robotic Juggling and Catching Tasks, M. Buehler, Daniel E. Koditschek, and P. J. Kindlmann

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An Approach to Autonomous Robot Assembly, Daniel E. Koditschek

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Further progress in robot juggling: solvable mirror laws, Alfred A. Rizzi and Daniel E. Koditschek

Papers from 1993

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A Comparison of Regulation and Entrainment in Two Robot Juggling Strategies, Daniel E. Koditschek

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Toward Sequential Parameter Estimation Techniques for Robot Self-Calibration, Daniel E. Koditschek

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A Dynamical Sensor for Robot Juggling, A. A. Rizzi and Daniel E. Koditschek

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Further progress in robot juggling: the spatial two-juggle, Alfred A. Rizzi and Daniel E. Koditschek

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Toward the control of attention in a dynamically dexterous robot, Alfred A. Rizzi and Daniel E. Koditschek

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Comparative Experiments with a New Adaptive Controller for Robot Arms, Louis L. Whitcomb, Daniel E. Koditschek, and Alfred A. Rizzi

Papers from 1992

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Hierarchical Feedback Controllers for Robotic Assembly, Daniel E. Koditschek

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Task Encoding: Toward a Scientific Paradigm for Robot Planning and Control, Daniel E. Koditschek