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Galen Clark Haynes

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Publications

2010

On the Comparative Analysis of Locomotory Systems with Vertical Travel
G. C. Haynes and D. E. Koditschek
International Symposium on Experimental Robotics, December 2010.

X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks
Kevin C. Galloway, G. C. Haynes, B. Deniz Ilhan, Aaron M. Johnson, Ryan Knopf, Goran Lynch, Benjamin Plotnick, Mackenzie White, D. E. Koditschek
University of Pennsylvania Technical Report, 2010.

Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots
Aaron M. Johnson, G. Clark Haynes, D. E. Koditschek
IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2010.

2009

Gait Transitions for Quasi-Static Hexapedal Locomotion on Level Ground
G. C. Haynes, F. R. Cohen, D. E. Koditschek
International Symposium of Robotics Research. August 2009

Rapid Pole Climbing with a Quadrupedal Robot
G. C. Haynes, Alex Khripin, Goran Lynch, Jon Amory, Aaron Saunders, Alfred A. Rizzi, and D. E. Koditschek
IEEE International Conference on Robotics and Automation. May 2009

2008

Integrating a Hierarchy of Simulation Tools for Legged Robot Locomotion
Andrew Slatton , Daniel Cohen, Yang Ding, Paul B. Umbanhowar, Daniel I. Goldman, G. Clark Haynes, Haldun Komsuoglu, and D. E. Koditschek
Workshop on Robot Simulators, IEEE/RSJ International Conference on Intelligent Robots and Systems. September 2008

Gait Regulation Control Techniques for Robust Legged Locomotion
G. C. Haynes
Doctoral Dissertation, Tech. Report CMU-RI-TR-08–19, Carnegie Mellon University Robotics Institute. May 2008

Biologically Inspired Climbing with a Hexapedal Robot
M. A. Spenko, G. C. Haynes, J. A. Saunders, M. Cutkosky, A. Rizzi, R. J. Full, D. E. Koditschek
Journal of Field Robotics. Volume 25, Issue 4–5, 2008

2006

Gait Regulation and Feedback on a Robotic Climbing Hexapod
G. C. Haynes and A. A. Rizzi
Proceedings of Robotics: Science and Systems. August 2006

Gait Generation and Control in a Climbing Hexapod Robot
A. A. Rizzi, G. C. Haynes, D. E. Koditschek, and R. J. Full
SPIE Unmanned Systems Technology VIII. June 2006

Gaits and Gait Transitions for Legged Robots
G. C. Haynes and A. A. Rizzi
Proceedings of the 2006 IEEE International Conference on Robotics and Automation. May, 2006.


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