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ORCIDDaniel E. Koditschek
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- affiliation: University of Pennsylvania, Philadelphia, USA
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2020 – today
- 2023
[j68]Jeffrey Duperret
, Daniel E. Koditschek:
Stability of a Groucho-Style Bounding Run in the Sagittal Plane. Robotics 12(4): 109 (2023)- [j67]Wei-Hsi Chen, Woohyeok Yang, Lucien Peach, Daniel E. Koditschek, Cynthia R. Sung:
Kinegami: Algorithmic Design of Compliant Kinematic Chains From Tubular Origami. IEEE Trans. Robotics 39(2): 1260-1280 (2023) - [c111]J. Diego Caporale, Zeyuan Feng, Shane Rozen-Levy, Aja Mia Carter, Daniel E. Koditschek:
Twisting Spine or Rigid Torso: Exploring Quadrupedal Morphology via Trajectory Optimization. ICRA 2023: 1177-1184 - [c110]Timothy Greco, Daniel E. Koditschek:
Anchoring Sagittal Plane Templates in a Spatial Quadruped. ICRA 2023: 12113-12119 - [i27]Abriana Stewart-Height, Daniel E. Koditschek:
Technical Report on: Tripedal Dynamic Gaits for a Quadruped Robot. CoRR abs/2303.02280 (2023) - 2022
- [j66]Avik De, T. Turner Topping, J. Diego Caporale, Daniel E. Koditschek:
Mode-Reactive Template-Based Control in Planar Legged Robots. IEEE Access 10: 16010-16027 (2022) - [j65]Young-Joo Lee, Shivangi Misra, Wei-Hsi Chen, Daniel E. Koditschek, Cynthia Sung, Shu Yang:
Tendon-Driven Auxetic Tubular Springs for Resilient Hopping Robots. Adv. Intell. Syst. 4(4) (2022) - [j64]Vasileios Vasilopoulos, Georgios Pavlakos, Karl Schmeckpeper, Kostas Daniilidis, Daniel E. Koditschek:
Reactive navigation in partially familiar planar environments using semantic perceptual feedback. Int. J. Robotics Res. 41(1): 85-126 (2022) - [c109]Vasileios Vasilopoulos, Sebastian Castro, William Vega-Brown, Daniel E. Koditschek, Nicholas Roy:
A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments. ICRA 2022: 7342-7348 - [i26]Vasileios Vasilopoulos, Sebastian Castro, William Vega-Brown, Daniel E. Koditschek, Nicholas Roy:
Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments. CoRR abs/2202.01385 (2022) - [i25]Timothy Greco, Daniel E. Koditschek:
Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped. CoRR abs/2209.15617 (2022) - 2021
- [j63]Daniel E. Koditschek:
What Is Robotics? Why Do We Need It and How Can We Get It? Annu. Rev. Control. Robotics Auton. Syst. 4: 1-33 (2021) - [j62]Sonia F. Roberts, Daniel E. Koditschek:
Virtual Energy Management for Physical Energy Savings in a Legged Robot Hopping on Granular Media. Frontiers Robotics AI 8: 740927 (2021) - [j61]Matthew D. Kvalheim, Paul Gustafson, Daniel E. Koditschek:
Conley's Fundamental Theorem for a Class of Hybrid Systems. SIAM J. Appl. Dyn. Syst. 20(2): 784-825 (2021) - [j60]Paul B. Reverdy, Vasileios Vasilopoulos, Daniel E. Koditschek:
Motivation Dynamics for Autonomous Composition of Navigation tasks. IEEE Trans. Robotics 37(4): 1239-1251 (2021) - [c108]Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas, Daniel E. Koditschek:
Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments. ICRA 2021: 6385-6392 - [i24]Matthew D. Kvalheim, Daniel E. Koditschek:
Necessary conditions for feedback stabilization and safety. CoRR abs/2106.00215 (2021) - [i23]Paul Gustafson, Jared Culbertson, Daniel E. Koditschek:
Hybrid dynamical type theories for navigation. CoRR abs/2108.07625 (2021) - [i22]Nicholas Roy, Ingmar Posner, Tim D. Barfoot, Philippe Beaudoin, Yoshua Bengio, Jeannette Bohg, Oliver Brock, Isabelle Depatie, Dieter Fox, Daniel E. Koditschek, Tomás Lozano-Pérez, Vikash Mansinghka, Christopher J. Pal, Blake A. Richards, Dorsa Sadigh, Stefan Schaal, Gaurav S. Sukhatme, Denis Thérien, Marc Toussaint, Michiel van de Panne:
From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence. CoRR abs/2110.15245 (2021) - 2020
- [j59]Sonia F. Roberts, Daniel E. Koditschek, Lisa J. Miracchi:
Examples of Gibsonian Affordances in Legged Robotics Research Using an Empirical, Generative Framework. Frontiers Neurorobotics 14: 12 (2020) - [j58]Feifei Qian, Daniel E. Koditschek:
An obstacle disturbance selection framework: emergent robot steady states under repeated collisions. Int. J. Robotics Res. 39(13) (2020) - [j57]Divya Ramesh, Anmol Kathail, Daniel E. Koditschek, Feifei Qian:
Modulation of Robot Orientation Via Leg-Obstacle Contact Positions. IEEE Robotics Autom. Lett. 5(2): 2054-2061 (2020) - [j56]Wei-Hsi Chen, Shivangi Misra, Yuchong Gao, Young-Joo Lee, Daniel E. Koditschek, Shu Yang, Cynthia R. Sung:
A Programmably Compliant Origami Mechanism for Dynamically Dexterous Robots. IEEE Robotics Autom. Lett. 5(2): 2131-2137 (2020) - [j55]Vasileios Vasilopoulos, Georgios Pavlakos, Sean L. Bowman, J. Diego Caporale, Kostas Daniilidis, George J. Pappas, Daniel E. Koditschek:
Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback. IEEE Robotics Autom. Lett. 5(3): 4455-4462 (2020) - [j54]B. Deniz Ilhan, Aaron M. Johnson, Daniel E. Koditschek:
Autonomous Stairwell Ascent. Robotica 38(1): 159-170 (2020) - [c107]Cristina Wilson, Feifei Qian, Doug Jerolmack, Thomas F. Shipley, Sonia F. Roberts, Jonathan Ham, Daniel E. Koditschek:
Data Foraging: Spatiotemporal Data Collection Decisions in Disciplinary Field Science. CogSci 2020 - [c106]J. Diego Caporale, Benjamin W. McInroe, Chenze Ning, Thomas Libby, Robert J. Full, Daniel E. Koditschek:
Coronal Plane Spine Twisting Composes Shape To Adjust the Energy Landscape for Grounded Reorientation. ICRA 2020: 8052-8058 - [c105]Wei-Hsi Chen, Shivangi Misra, J. Diego Caporale, Daniel E. Koditschek, Shu Yang, Cynthia R. Sung:
A Tendon-Driven Origami Hopper Triggered by Proprioceptive Contact Detection. RoboSoft 2020: 373-380 - [i21]Vasileios Vasilopoulos, Georgios Pavlakos, Karl Schmeckpeper, Kostas Daniilidis, Daniel E. Koditschek:
Reactive Navigation in Partially Familiar Planar Environments Using Semantic Perceptual Feedback. CoRR abs/2002.08946 (2020) - [i20]Vasileios Vasilopoulos, Georgios Pavlakos, Sean L. Bowman, J. Diego Caporale, Kostas Daniilidis, George J. Pappas, Daniel E. Koditschek:
Technical Report: Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback. CoRR abs/2002.12349 (2020) - [i19]Matthew D. Kvalheim, Paul Gustafson, Daniel E. Koditschek:
Conley's fundamental theorem for a class of hybrid systems. CoRR abs/2005.03217 (2020) - [i18]Shane Rozen-Levy, Daniel E. Koditschek:
Technical Report: A New Hopping Controller for Highly Dynamical Bipeds. CoRR abs/2011.00605 (2020) - [i17]Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas, Daniel E. Koditschek:
Technical Report: Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments. CoRR abs/2011.00642 (2020)
2010 – 2019
- 2019
- [j53]Ömür Arslan, Daniel E. Koditschek:
Sensor-based reactive navigation in unknown convex sphere worlds. Int. J. Robotics Res. 38(2-3) (2019) - [j52]Avik De, Abriana Stewart-Height, Daniel E. Koditschek:
Task-Based Control and Design of a BLDC Actuator for Robotics. IEEE Robotics Autom. Lett. 4(3): 2393-2400 (2019) - [c104]Sonia F. Roberts, Daniel E. Koditschek:
Mitigating energy loss in a robot hopping on a physically emulated dissipative substrate. ICRA 2019: 6763-6769 - [c103]T. Turner Topping, Vasileios Vasilopoulos, Avik De, Daniel E. Koditschek:
Composition of Templates for Transitional Pedipulation Behaviors. ISRR 2019: 626-641 - [i16]Wei-Hsi Chen, Shivangi Misra, Yuchong Gao, Young-Joo Lee, Daniel E. Koditschek, Shu Yang, Cynthia R. Sung:
A Tunably Compliant Origami Mechanism for Dynamically Dexterous Robots. CoRR abs/1910.13584 (2019) - [i15]Chen Li, Yang Ding, Nick Gravish, Ryan D. Maladen, Andrew Masse, Paul B. Umbanhowar, Haldun Komsuoglu, Daniel E. Koditschek, Daniel I. Goldman:
Towards a terramechanics for bio-inspired locomotion in granular environments. CoRR abs/1911.00075 (2019) - [i14]Jared Culbertson, Paul Gustafson, Daniel E. Koditschek, Peter F. Stiller:
Formal composition of hybrid systems. CoRR abs/1911.01267 (2019) - 2018
- [j51]Avik De, Samuel A. Burden, Daniel E. Koditschek:
A hybrid dynamical extension of averaging and its application to the analysis of legged gait stability. Int. J. Robotics Res. 37(2-3): 266-286 (2018) - [j50]Avik De, Daniel E. Koditschek:
Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting. Int. J. Robotics Res. 37(7): 743-778 (2018) - [j49]B. Deniz Ilhan, Aaron M. Johnson, Daniel E. Koditschek:
Autonomous legged hill ascent. J. Field Robotics 35(5): 802-832 (2018) - [j48]Paul Reverdy, Daniel E. Koditschek:
A Dynamical System for Prioritizing and Coordinating Motivations. SIAM J. Appl. Dyn. Syst. 17(2): 1683-1715 (2018) - [j47]Santiago Paternain, Daniel E. Koditschek, Alejandro Ribeiro:
Navigation Functions for Convex Potentials in a Space With Convex Obstacles. IEEE Trans. Autom. Control. 63(9): 2944-2959 (2018) - [c102]Ömür Arslan, Hancheng Min, Daniel E. Koditschek:
Voronoi-Based Coverage Control of Pan/Tilt/Zoom Camera Networks. ICRA 2018: 1-8 - [c101]Vasileios Vasilopoulos, William Vega-Brown, Ömür Arslan, Nicholas Roy, Daniel E. Koditschek:
Sensor-Based Reactive Symbolic Planning in Partially Known Environments. ICRA 2018: 1-5 - [c100]Vincent Pacelli, Ömür Arslan, Daniel E. Koditschek:
Integration of Local Geometry and Metric Information in Sampling-Based Motion Planning. ICRA 2018: 3061-3068 - [c99]Abdulaziz Shamsah, Avik De, Daniel E. Koditschek:
Analytically-Guided Design of a Tailed Bipedal Hopping Robot. IROS 2018: 2237-2244 - [c98]Vasileios Vasilopoulos, T. Turner Topping, William Vega-Brown, Nicholas Roy, Daniel E. Koditschek:
Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator. IROS 2018: 3298-3305 - [c97]Gavin D. Kenneally, Wei-Hsi Chen, Daniel E. Koditschek:
Actuator Transparency and the Energetic Cost of Proprioception. ISER 2018: 485-495 - [c96]Sonia F. Roberts, Daniel E. Koditschek:
Reactive velocity control reduces energetic cost of jumping with a virtual leg spring on simulated granular media. ROBIO 2018: 1397-1404 - [c95]Vasileios Vasilopoulos, Daniel E. Koditschek:
Reactive Navigation in Partially Known Non-convex Environments. WAFR 2018: 406-421 - [i13]Vasileios Vasilopoulos, Daniel E. Koditschek:
Technical Report: Reactive Navigation in Partially Known Non-Convex Environments. CoRR abs/1807.08432 (2018) - [i12]Dan P. Guralnik, Daniel E. Koditschek:
Iterated Belief Revision Under Resource Constraints: Logic as Geometry. CoRR abs/1812.08313 (2018) - 2017
- [j46]Simon Wilshin, G. Clark Haynes, Jack Porteous, Daniel E. Koditschek, Shai Revzen, Andrew J. Spence:
Morphology and the gradient of a symmetric potential predict gait transitions of dogs. Biol. Cybern. 111(3-4): 269-277 (2017) - [j45]Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek:
Discriminative measures for comparison of phylogenetic trees. Discret. Appl. Math. 217: 405-426 (2017) - [c94]Jeffrey Duperret, Daniel E. Koditschek:
Empirical validation of a spined sagittal-plane quadrupedal model. ICRA 2017: 1058-1064 - [c93]T. Turner Topping, Gavin D. Kenneally, Daniel E. Koditschek:
Quasi-static and dynamic mismatch for door opening and stair climbing with a legged robot. ICRA 2017: 1080-1087 - [c92]Ömür Arslan, Daniel E. Koditschek:
Smooth extensions of feedback motion planners via reference governors. ICRA 2017: 4414-4421 - [c91]Ömür Arslan, Vincent Pacelli, Daniel E. Koditschek:
Sensory steering for sampling-based motion planning. IROS 2017: 3708-3715 - [c90]Jeffrey Duperret, Daniel E. Koditschek:
Towards Reactive Control of Transitional Legged Robot Maneuvers. ISRR 2017: 145-162 - [c89]Vasileios Vasilopoulos, Ömür Arslan, Avik De, Daniel E. Koditschek:
Sensor-based legged robot homing using range-only target localization. ROBIO 2017: 2630-2637 - [i11]Vasileios Vasilopoulos, William Vega-Brown, Ömür Arslan, Nicholas Roy, Daniel E. Koditschek:
Sensor-Based Reactive Symbolic Planning in Partially Known Environments. CoRR abs/1709.05474 (2017) - 2016
- [j44]Aaron M. Johnson, Samuel A. Burden, Daniel E. Koditschek:
A hybrid systems model for simple manipulation and self-manipulation systems. Int. J. Robotics Res. 35(11): 1354-1392 (2016) - [j43]Ömür Arslan, Daniel E. Koditschek:
On the Optimality of Napoleon Triangles. J. Optim. Theory Appl. 170(1): 97-106 (2016) - [j42]Gavin D. Kenneally, Avik De, Daniel E. Koditschek:
Design Principles for a Family of Direct-Drive Legged Robots. IEEE Robotics Autom. Lett. 1(2): 900-907 (2016) - [j41]Samuel A. Burden, S. Shankar Sastry, Daniel E. Koditschek, Shai Revzen:
Event-Selected Vector Field Discontinuities Yield Piecewise-Differentiable Flows. SIAM J. Appl. Dyn. Syst. 15(2): 1227-1267 (2016) - [j40]Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek:
Coordinated Robot Navigation via Hierarchical Clustering. IEEE Trans. Robotics 32(2): 352-371 (2016) - [j39]Thomas Libby, Aaron M. Johnson, Evan Chang-Siu, Robert J. Full, Daniel E. Koditschek:
Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation. IEEE Trans. Robotics 32(6): 1380-1398 (2016) - [c88]Ömür Arslan, Daniel E. Koditschek:
Exact robot navigation using power diagrams. ICRA 2016: 1-8 - [c87]Ömür Arslan, Daniel E. Koditschek:
Voronoi-based coverage control of heterogeneous disk-shaped robots. ICRA 2016: 4259-4266 - [c86]Garrett Wenger, Avik De, Daniel E. Koditschek:
Frontal plane stabilization and hopping with a 2DOF tail. IROS 2016: 567-573 - [c85]Paul Reverdy, Daniel E. Koditschek:
Mobile robots as remote sensors for spatial point process models. IROS 2016: 2847-2852 - [c84]Jeffrey Duperret, Benjamin Kramer, Daniel E. Koditschek:
Core Actuation Promotes Self-manipulability on a Direct-Drive Quadrupedal Robot. ISER 2016: 147-159 - [c83]Ömür Arslan, Daniel E. Koditschek:
Sensor-Based Reactive Navigation in Unknown Convex Sphere Worlds. WAFR 2016: 160-175 - [i10]Avik De, Samuel A. Burden, Daniel E. Koditschek:
A Hybrid Dynamical Extension of Averaging. CoRR abs/1607.03795 (2016) - 2015
- [c82]Avik De, Daniel E. Koditschek:
Parallel composition of templates for tail-energized planar hopping. ICRA 2015: 4562-4569 - [c81]Gavin D. Kenneally, Daniel E. Koditschek:
Leg design for energy management in an electromechanical robot. IROS 2015: 5712-5718 - [c80]Paul Reverdy, B. Deniz Ilhan, Daniel E. Koditschek:
A drift-diffusion model for robotic obstacle avoidance. IROS 2015: 6113-6120 - [c79]Anna L. Brill, Avik De, Aaron M. Johnson, Daniel E. Koditschek:
Tail-assisted rigid and compliant legged leaping. IROS 2015: 6304-6311 - [c78]Avik De, Daniel E. Koditschek:
Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped. ISRR (2) 2015: 269-285 - [c77]Jeffrey M. Duperret, Daniel E. Koditschek:
An empirical investigation of legged transitional maneuvers leveraging Raibert's Scissor algorithm. ROBIO 2015: 2531-2538 - [i9]Aaron M. Johnson, Samuel A. Burden, Daniel E. Koditschek:
A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems. CoRR abs/1502.01538 (2015) - [i8]Avik De, Daniel E. Koditschek:
The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates. CoRR abs/1502.05347 (2015) - [i7]Dan P. Guralnik, Daniel E. Koditschek:
Universal Memory Architectures for Autonomous Machines. CoRR abs/1502.06132 (2015) - [i6]Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek:
Coordinated Robot Navigation via Hierarchical Clustering. CoRR abs/1507.01637 (2015) - [i5]Ömür Arslan, Daniel E. Koditschek:
Voronoi-Based Coverage Control of Heterogeneous Disk-Shaped Robots. CoRR abs/1509.03842 (2015) - [i4]Thomas Libby, Aaron M. Johnson, Evan Chang-Siu, Robert J. Full, Daniel E. Koditschek:
Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation. CoRR abs/1511.05958 (2015) - 2014
- [j38]C. Serkan Karagöz, H. Isil Bozma, Daniel E. Koditschek:
Coordinated Navigation of Multiple Independent Disk-Shaped Robots. IEEE Trans. Robotics 30(6): 1289-1304 (2014) - [c76]Avik De, Karl S. Bayer, Daniel E. Koditschek:
Active sensing for dynamic, non-holonomic, robust visual servoing. ICRA 2014: 6192-6198 - [c75]Jeffrey Duperret, Gavin D. Kenneally, J. L. Pusey, Daniel E. Koditschek:
Towards a Comparative Measure of Legged Agility. ISER 2014: 3-16 - [c74]Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek:
Navigation of Distinct Euclidean Particles via Hierarchical Clustering. WAFR 2014: 19-36 - [i3]Ömür Arslan, Daniel E. Koditschek:
Anytime Hierarchical Clustering. CoRR abs/1404.3439 (2014) - 2013
- [j37]Aaron M. Johnson, Daniel E. Koditschek:
Legged Self-Manipulation. IEEE Access 1: 310-334 (2013) - [c73]Avik De, Alejandro Ribeiro, William Moran, Daniel E. Koditschek:
Convergence of Bayesian histogram filters for location estimation. CDC 2013: 7047-7053 - [c72]Avik De, Daniel E. Koditschek:
Toward dynamical sensor management for reactive wall-following. ICRA 2013: 2400-2406 - [c71]Aaron M. Johnson, Daniel E. Koditschek:
Toward a vocabulary of legged leaping. ICRA 2013: 2568-2575 - [i2]Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek:
Discriminative Measures for Comparison of Phylogenetic Trees. CoRR abs/1310.5202 (2013) - 2012
- [j36]Goran A. Lynch, Jonathan E. Clark, Pei-Chun Lin, Daniel E. Koditschek:
A bioinspired dynamical vertical climbing robot. Int. J. Robotics Res. 31(8): 974-996 (2012) - [j35]G. Clark Haynes, Alfred A. Rizzi, Daniel E. Koditschek:
Multistable phase regulation for robust steady and transitional legged gaits. Int. J. Robotics Res. 31(14): 1712-1738 (2012) - [c70]Dan P. Guralnik, Daniel E. Koditschek:
Toward a memory model for autonomous topological mapping and navigation: The case of binary sensors and discrete actions. Allerton Conference 2012: 936-945 - [c69]Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek:
Hierarchically clustered navigation of distinct Euclidean particles. Allerton Conference 2012: 946-953 - [c68]Shai Revzen, B. Deniz Ilhan, Daniel E. Koditschek:
Dynamical trajectory replanning for uncertain environments. CDC 2012: 3476-3483 - [c67]Aaron M. Johnson, G. Clark Haynes, Daniel E. Koditschek:
Standing self-manipulation for a legged robot. IROS 2012: 272-279 - 2011
- [c66]Kevin C. Galloway, Jonathan E. Clark, Mark Yim, Daniel E. Koditschek:
Experimental investigations into the role of passive variable compliant legs for dynamic robotic locomotion. ICRA 2011: 1243-1249 - 2010
- [c65]Aaron M. Johnson, Galen Clark Haynes, Daniel E. Koditschek:
Disturbance detection, identification, and recovery by gait transition in legged robots. IROS 2010: 5347-5353 - [c64]Galen Clark Haynes, Daniel E. Koditschek:
On the Comparative Analysis of Locomotory Systems with Vertical Travel. ISER 2010: 389-399 - [c63]Haldun Komsuoglu, Anirudha Majumdar, Yasemin Ozkan Aydin, Daniel E. Koditschek:
Characterization of Dynamic Behaviors in a Hexapod Robot. ISER 2010: 667-684
2000 – 2009
- 2009
- [c62]Michael M. Zavlanos, Daniel E. Koditschek, George J. Pappas:
A distributed dynamical scheme for fastest mixing Markov chains. ACC 2009: 1436-1441 - [c61]G. Clark Haynes, Alex Khripin, Goran Lynch, Jonathan Amory, Aaron Saunders, Alfred A. Rizzi, Daniel E. Koditschek:
Rapid pole climbing with a quadrupedal robot. ICRA 2009: 2767-2772 - [c60]Goran A. Lynch, Jonathan E. Clark, Daniel E. Koditschek:
A self-exciting controller for high-speed vertical running. IROS 2009: 631-638 - [c59]Galen Clark Haynes, Fred R. Cohen, Daniel E. Koditschek:
Gait Transitions for Quasi-static Hexapedal Locomotion on Level Ground. ISRR 2009: 105-121 - [c58]Nora Ayanian, Vijay Kumar, Daniel E. Koditschek:
Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints. ISRR 2009: 625-642 - 2008
- [j34]Matthew Spenko, G. Clark Haynes, J. A. Saunders, Mark R. Cutkosky, Alfred A. Rizzi, Robert J. Full, Daniel E. Koditschek:
Biologically inspired climbing with a hexapedal robot. J. Field Robotics 25(4-5): 223-242 (2008) - [c57]Haldun Komsuoglu, Kiwon Sohn, Robert J. Full, Daniel E. Koditschek:
A Physical Model for Dynamical Arthropod Running on Level Ground. ISER 2008: 303-317 - 2007
- [j33]Gabriel A. D. Lopes, Daniel E. Koditschek:
Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems. Int. J. Robotics Res. 26(7): 715-736 (2007) - [c56]Samuel Burden, Jonathan E. Clark, Joel Weingarten, Haldun Komsuoglu, Daniel E. Koditschek:
Heterogeneous Leg Stiffness and Roll in Dynamic Running. ICRA 2007: 4645-4652 - [c55]Jonathan E. Clark, Daniel I. Goldman, Pei-Chun Lin, Goran Lynch, Tao Chen, Haldun Komsuoglu, Robert J. Full, Daniel E. Koditschek:
Design of a Bio-inspired Dynamical Vertical Climbing Robot. Robotics: Science and Systems 2007 - 2006
- [j32]Philip Holmes, Robert J. Full, Daniel E. Koditschek, John Guckenheimer:
The Dynamics of Legged Locomotion: Models, Analyses, and Challenges. SIAM Rev. 48(2): 207-304 (2006) - [j31]Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek:
Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits. IEEE Trans. Robotics 22(5): 932-943 (2006) - 2005
- [j30]Gabriel A. D. Lopes, Daniel E. Koditschek:
Level sets and stable manifold approximations for perceptually driven non-holonomically constrained navigation. Adv. Robotics 19(10): 1081-1095 (2005) - [j29]Raffaele M. Ghigliazza, Richard Altendorfer, Philip Holmes, Daniel E. Koditschek:
A Simply Stabilized Running Model. SIAM Rev. 47(3): 519-549 (2005) - [j28]Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek:
A leg configuration measurement system for full-body pose estimates in a hexapod robot. IEEE Trans. Robotics 21(3): 411-422 (2005) - [c54]Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek:
Sensor Data Fusion for Body State Estimation in a Hexapod Robot with Dynamical Gaits. ICRA 2005: 4733-4738 - 2004
- [j27]Uluc Saranli, Alfred A. Rizzi, Daniel E. Koditschek:
Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot. Int. J. Robotics Res. 23(9): 903-918 (2004) - [j26]Richard Altendorfer, Daniel E. Koditschek, Philip Holmes:
Stability Analysis of Legged Locomotion Models by Symmetry-Factored Return Maps. Int. J. Robotics Res. 23(10-11): 979-999 (2004) - [j25]Richard Altendorfer, Daniel E. Koditschek, Philip Holmes:
Stability Analysis of a Clock-Driven Rigid-Body SLIP Model for RHex. Int. J. Robotics Res. 23(10-11): 1001-1012 (2004) - [j24]C. Serkan Karagöz, H. Isil Bozma, Daniel E. Koditschek:
Feedback-based event-driven parts moving. IEEE Trans. Robotics 20(6): 1012-1018 (2004) - [c53]Joel Weingarten, Gabriel A. D. Lopes, Martin Buehler, Richard E. Groff, Daniel E. Koditschek:
Automated Gait Adaptation for Legged Robots. ICRA 2004: 2153-2158 - [c52]Gabriel A. D. Lopes, Daniel E. Koditschek:
Level sets and stable manifold approximations for perceptually driven nonholonomically constrained navigation. IROS 2004: 1481-1486 - [c51]Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek:
Toward a 6 DOF body state estimator for a hexapod robot with dynamical gaits. IROS 2004: 2265-2270 - [c50]Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek:
Legged Odometry from Body Pose in a Hexapod Robot. ISER 2004: 439-448 - [c49]Joel Weingarten, Richard E. Groff, Daniel E. Koditschek:
A framework for the coordination of legged robot gaits. RAM 2004: 679-686 - [c48]Uluc Saranli, Alfred A. Rizzi, Daniel E. Koditschek:
Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod. WAFR 2004: 409-424 - 2003
- [j23]Raffaele M. Ghigliazza, Richard Altendorfer, Philip Holmes, Daniel E. Koditschek:
A Simply Stabilized Running Model. SIAM J. Appl. Dyn. Syst. 2(2): 187-218 (2003) - [j22]Richard E. Groff, Pramod P. Khargonekar, Daniel E. Koditschek:
A Local Convergence Proof for the Minvar Algorithm for Computing Continuous Piecewise Linear Approximations. SIAM J. Numer. Anal. 41(3): 983-1007 (2003) - [j21]Eric R. Westervelt, Jessy W. Grizzle, Daniel E. Koditschek:
Hybrid zero dynamics of planar biped walkers. IEEE Trans. Autom. Control. 48(1): 42-56 (2003) - [c47]Richard Altendorfer, Daniel E. Koditschek, Philip Holmes:
Towards a Factored Analysis of Legged Locomotion Models. ICRA 2003: 37-44 - [c46]Uluc Saranli, Daniel E. Koditschek:
Template based control of hexapedal running. ICRA 2003: 1374-1379 - [c45]Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek:
A leg configuration sensory system for dynamical body state estimates in a hexapod robot. ICRA 2003: 1391-1396 - [c44]Gabriel A. D. Lopes, Daniel E. Koditschek:
Visual registration and navigation using planar features. ICRA 2003: 3935-3940 - 2002
- [j20]Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek:
Brachiation on a ladder with irregular intervals. Adv. Robotics 16(2): 147-160 (2002) - [j19]Eric Klavins, Daniel E. Koditschek:
Phase Regulation of Decentralized Cyclic Robotic Systems. Int. J. Robotics Res. 21(3): 257-276 (2002) - [j18]Robert Ghrist, Daniel E. Koditschek:
Safe Cooperative Robot Dynamics on Graphs. SIAM J. Control. Optim. 40(5): 1556-1575 (2002) - [j17]Noah J. Cowan, Joel Weingarten, Daniel E. Koditschek:
Visual servoing via navigation functions. IEEE Trans. Robotics Autom. 18(4): 521-533 (2002) - [c43]Uluc Saranli, Daniel E. Koditschek:
Back Flips with a Hexapedal Robot. ICRA 2002: 2209-2215 - 2001
- [j16]Richard Altendorfer, Ned Moore, Haldun Komsuoglu, Martin Buehler, H. Benjamin Brown Jr., Dave McMordie, Uluc Saranli, Robert J. Full, Daniel E. Koditschek:
RHex: A Biologically Inspired Hexapod Runner. Auton. Robots 11(3): 207-213 (2001) - [j15]Uluc Saranli, Martin Buehler, Daniel E. Koditschek:
RHex: A Simple and Highly Mobile Hexapod Robot. Int. J. Robotics Res. 20(7): 616-631 (2001) - [j14]John M. Hollerbach, Daniel E. Koditschek:
Editorial: Special Issue on the Ninth International Symposium of Robotics Research. Int. J. Robotics Res. 20(10): 779-780 (2001) - [j13]H. Isil Bozma, Daniel E. Koditschek:
Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies. Robotica 19(1): 93-108 (2001) - [c42]Haldun Komsuoglu, Dave McMordie, Uluc Saranli, Ned Moore, Martin Buehler, Daniel E. Koditschek:
Proprioception Based Behavioral Advances in a Hexapod Robot. ICRA 2001: 3650-3655 - [c41]Eric Klavins, Daniel E. Koditschek:
Stability of Coupled Hybrid Oscillators. ICRA 2001: 4200-4207 - 2000
- [j12]William J. Schwind, Daniel E. Koditschek:
Approximating the Stance Map of a 2-DOF Monoped Runner. J. Nonlinear Sci. 10(5): 533-568 (2000) - [j11]Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek:
A brachiating robot controller. IEEE Trans. Robotics Autom. 16(2): 109-123 (2000) - [c40]Noah J. Cowan, Gabriel A. D. Lopes, Daniel E. Koditschek:
Rigid body visual servoing using navigation functions. CDC 2000: 3920-3926 - [c39]C. Serkan Karagöz, H. Isil Bozma, Daniel E. Koditschek:
Event-Driven Parts' Moving in 2D Endogeneous Environments. ICRA 2000: 1076-1081 - [c38]Uluc Saranli, Martin Buehler, Daniel E. Koditschek:
Design, Modeling and Preliminary Control of a Compliant Hexapod Robot. ICRA 2000: 2589-2596 - [c37]Eric Klavins, Daniel E. Koditschek:
A Formalism for the Composition of Concurrent Robot Behaviors. ICRA 2000: 3395-3402 - [c36]Richard E. Groff, Daniel E. Koditschek, Pramod P. Khargonekar:
Piecewise Linear Homeomorphisms: The Scalar Case. IJCNN (3) 2000: 259-264 - [c35]Richard Altendorfer, Uluc Saranli, Haldun Komsuoglu, Daniel E. Koditschek, H. Benjamin Brown Jr., Martin Buehler, Ned Moore, Dave McMordie, Robert J. Full:
Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot. ISER 2000: 291-302 - [i1]Robert Ghrist, Daniel E. Koditschek:
Safe cooperative robot dynamics on graphs. CoRR cs.RO/0002014 (2000)
1990 – 1999
- 1999
- [j10]Robert R. Burridge, Alfred A. Rizzi, Daniel E. Koditschek:
Sequential Composition of Dynamically Dexterous Robot Behaviors. Int. J. Robotics Res. 18(6): 534-555 (1999) - [c34]Noah J. Cowan, Daniel E. Koditschek:
Planar Image Based Visual Servoing as a Navigation Problem. ICRA 1999: 611-617 - [c33]Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek:
Brachiation on a Ladder with Irregular Intervals. ICRA 1999: 2717-2722 - 1998
- [c32]Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek:
Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot. ICRA 1998: 787-792 - [c31]Noah J. Cowan, Daniel E. Koditschek:
Toward Global Visual Servos and Estimators for Rigid Bodies. ICRA 1998: 2658-2663 - [c30]Uluc Saranli, William J. Schwind, Daniel E. Koditschek:
Toward the Control of a Multi-Jointed, Monoped Runner. ICRA 1998: 2676-2682 - 1997
- [c29]William J. Schwind, Daniel E. Koditschek:
Characterization of monoped equilibrium gaits. ICRA 1997: 1986-1992 - [c28]Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek:
Preliminary studies of a second generation brachiation robot controller. ICRA 1997: 2050-2056 - 1996
- [j9]Alfred A. Rizzi, Daniel E. Koditschek:
An active visual estimator for dexterous manipulation. IEEE Trans. Robotics Autom. 12(5): 697-713 (1996) - [c27]Charles J. Cohen, Lynn Conway, Daniel E. Koditschek:
Dynamical system representation, generation, and recognition of basic oscillatory motion gestures. FG 1996: 60-65 - 1995
- [c26]William J. Schwind, Daniel E. Koditschek:
Control of Forward Velocity for a Simplyfied Planar Hopping Robot. ICRA 1995: 691-696 - [c25]Peter J. Swanson, Robert R. Burridge, Daniel E. Koditschek:
Global Asymptotic Stability of Passive Juggler: A Parts Feeding Strategy. ICRA 1995: 1983-1988 - [c24]Robert R. Burridge, Alfred A. Rizzi, Daniel E. Koditschek:
Toward a dynamical pick and place. IROS (2) 1995: 292-297 - [c23]D. Kim, Alfred A. Rizzi, Gregory D. Hager, Daniel E. Koditschek:
A "robust" convergent visual servoing system. IROS (1) 1995: 348-353 - [c22]Robert R. Burridge, Alfred A. Rizzi, Daniel E. Koditschek:
Toward Obstacle Avoidance in Intermittent Dynamical Environments. ISER 1995: 62-70 - 1994
- [j8]Martin Buehler, Daniel E. Koditschek, P. J. Kindlmann:
Planning and Control of Robotic Juggling and Catching Tasks. Int. J. Robotics Res. 13(2): 101-118 (1994) - [j7]Daniel E. Koditschek:
An approach to autonomous robot assembly. Robotica 12(2): 137-155 (1994) - [c21]Alfred A. Rizzi, Daniel E. Koditschek:
Further Progress in Robot Juggling: Solvable Mirror Laws. ICRA 1994: 2935-2940 - 1993
- [j6]Louis L. Whitcomb, Alfred A. Rizzi, Daniel E. Koditschek:
Comparative experiments with a new adaptive controller for robot arms. IEEE Trans. Robotics Autom. 9(1): 59-70 (1993) - [c20]Alfred A. Rizzi, Daniel E. Koditschek:
Further Progress in Robot Juggling: The Spatial Two-Juggle. ICRA (3) 1993: 919-924 - [c19]Alfred A. Rizzi, Daniel E. Koditschek:
Toward the control of attention in a dynamically dexterous robot. IROS 1993: 123-130 - [c18]Alfred A. Rizzi, Daniel E. Koditschek:
Dynamic Stereo Triangulation for Robot Juggling. ISER 1993: 282-294 - 1992
- [j5]Alfred A. Rizzi, Louis L. Whitcomb, Daniel E. Koditschek:
Distributed Real-Time Control of a Spatial Robot Juggler. Computer 25(5): 12-24 (1992) - [j4]Daniel E. Koditschek:
Task encoding: Toward a scientific paradigm for robot planning and control. Robotics Auton. Syst. 9(1-2): 5-39 (1992) - [j3]Elon Rimon, Daniel E. Koditschek:
Exact robot navigation using artificial potential functions. IEEE Trans. Robotics Autom. 8(5): 501-518 (1992) - [c17]Alfred A. Rizzi, Daniel E. Koditschek:
Progress in spatial robot juggling. ICRA 1992: 775-780 - [c16]Louis L. Whitcomb, Daniel E. Koditschek, João B. D. Cabrera:
Toward the automatic control of robot assembly tasks via potential functions: the case of 2-D sphere assemblies. ICRA 1992: 2186-2191 - 1991
- [j2]Daniel E. Koditschek, Martin Bühler:
Analysis of a Simplified Hopping Robot. Int. J. Robotics Res. 10(6): 587-605 (1991) - [c15]Louis L. Whitcomb, Alfred A. Rizzi, Daniel E. Koditschek:
Comparative experiments with a new adaptive controller for robot arms. ICRA 1991: 2-7 - [c14]Louis L. Whitcomb, Daniel E. Koditschek:
Automatic assembly planning and control via potential functions. IROS 1991: 17-23 - [c13]Alfred A. Rizzi, Daniel E. Koditschek:
Preliminary Experiments in Spatial Robot Juggling. ISER 1991: 282-298 - 1990
- [c12]Louis L. Whitcomb, Daniel E. Koditschek:
Robot control in a message passing environment: theoretical questions and preliminary experiments. ICRA 1990: 1198-1123 - [c11]Elon Rimon, Daniel E. Koditschek:
Exact robot navigation in geometrically complicated but topologically simple spaces. ICRA 1990: 1937-1942 - [c10]Martin Bühler, Daniel E. Koditschek:
From stable to chaotic juggling: theory, simulation, and experiments. ICRA 1990: 1976-1981
1980 – 1989
- 1989
- [c9]Martin Bühler, Louis L. Whitcomb, Forrest W. Levin, Daniel E. Koditschek:
A new distributed real-time controller for robotics applications. COMPCON 1989: 63-69 - [c8]Elon Rimon, Daniel E. Koditschek:
The construction of analytic diffeomorphisms for exact robot navigation on star worlds. ICRA 1989: 21-26 - [c7]Martin Bühler, Daniel E. Koditschek, P. J. Kindlmann:
A family of robot control strategies for intermittent dynamical environments. ICRA 1989: 1296-1301 - [c6]Daniel E. Koditschek:
Autonomous Mobile Robots Controlled by Navigation Functions. IROS 1989: 639-645 - [c5]Martin Buehler, Daniel E. Koditschek, P. J. Kindlmann:
A Simple Juggling Robot: Theory and Experimentation. ISER 1989: 35-73 - 1988
- [c4]Martin Bühler, Daniel E. Koditschek:
Analysis of a simplified hopping robot. ICRA 1988: 817-819 - [c3]Elon Rimon, Daniel E. Koditschek:
Exact robot navigation using cost functions: the case of distinct spherical boundaries in En. ICRA 1988: 1791-1796 - [c2]Martin Bühler, Daniel E. Koditschek, P. J. Kindlmann:
A One Degree of Freedom Juggler in a Two Degree of Freedom Environment. IROS 1988: 91-97 - 1987
- [c1]Daniel E. Koditschek:
Exact robot navigation by means of potential functions: Some topological considerations. ICRA 1987: 1-6
1970 – 1979
- 1977
- [j1]Daniel E. Koditschek, Kumpati S. Narendra:
Fixed Structure Automata in a Multi-Teacher Environment. IEEE Trans. Syst. Man Cybern. 7(8): 616-624 (1977)
Coauthor Index
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