Kod*lab Selected Publications

2010 2011 2012 2013
2000 2001 2002 2003 2004 2005 2006 2007 2008 2009
1990 1991 1992 1993 1994 1995 1996 1997 1998 1999
1982 1983 1984 1985 1986 1987 1988 1989
1977

2013

Robot Parkour: The Ground Reaction Complex & Dynamic Transitions
Aaron M. Johnson and D. E. Koditschek
Dynamic Walking, June, 2013. To Appear. Full PDF

Legged Self-Manipulation
Aaron M. Johnson and D. E. Koditschek
IEEE Access, Vol. 1, 2013. To Appear. Full PDF

Toward a Vocabulary of Legged Leaping
Aaron M. Johnson and D. E. Koditschek
Proceedings of the 2013 IEEE Intl. Conference on Robotics and Automation, May, 2013. Full PDF

2012

Parametric Jumping Dataset on the RHex Robot
Aaron M. Johnson and D. E. Koditschek
University of Pennsylvania Technical Report,2012. Full PDF

Multistable phase regulation for robust steady and transitional legged gaits
Galen Clark Haynes; AA Rizzi; D. E. Koditschek
International Journal of Robotics Research, vol. 31, no. 14, pp. 1712–1738, Dec. 2012. Full PDF

Toward a Terramechanics for Bio-Inspired Locomotion in Granular Environments
Chen Li; Yang Ding; Nick Gravish; Ryan D. Maladen; Andrew Masse; Paul B. Umbanhowar; Haldun Komsuoglu; D. E. Koditschek; and Daniel I. Goldman
Earth and Space 2012: pp. 264–273. Full PDF

Standing Self-Manipulation for a Legged Robot
Aaron M. Johnson, G. C. Haynes, and D. E. Koditschek
Proceedings of the 2012 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Full PDF

A bioinspired dynamical vertical climbing robot
Goran A Lynch, Jonathan E Clark, Pei-Chun Lin and D. E. Koditschek
The International Journal of Robotics, April, 2012, Full PDF

Tail Assisted Dynamic Self Righting
Aaron M. Johnson, Thomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, Robert J. Full and D. E. Koditschek
Proceedings of the International Conference on Climbing and Walking Robots, July, 2012. Full PDF

Power Modeling of the XRL Hexapedal Robot and its Application to Energy Efficient Motion Planning
C. Ordonez, N. Gupta, E. G. Collins, J. Clark, and Aaron M. Johnson
Proceedings of the International Conference on Climbing and Walking Robots, July, 2012. Full PDF

Laboratory on Legs: An Architecture for Adjustable Morphology with Legged Robots
G. C. Haynes, Jason Pusey, Ryan Knopf, Aaron M. Johnson, and D. E. Koditschek
Proceedings of the SPIE Defense, Security, and Sensing Conference, Unmanned Systems Technology XIV (8387), April 2012. Full PDF

Hierarchically Clustered Navigation of Distinct Euclidean Particles
Omur Arslan, Dan P. Guralnik, Yuliy M. Baryshnikov, and D. E. Koditschek
Proceedings of the Fiftieth Annual Allerton Conference on Communication, Control, and Computing, October 2012. Full PDF

2011

Autonomous Legged Hill and Stairwell Ascent
Aaron M. Johnson, Matthew T. Hale, G. C. Haynes, and D. E. Koditschek
IEEE International Symposium on Safety, Security, and Rescue Robotics, November 2011. Full PDF

Experimental Investigations into the Role of Passive Variable Compliant Legs for Dynamic Robotic Locomotion
Kevin C. Galloway, Jonathan E. Clark, Mark Yim, and D. E. Koditschek
IEEE International Conference on Robotics and Automation, May 2011. Full PDF

Motor Sizing for Legged Robots Using Dynamic Task Specification
Avik De, Goran Lynch, Aaron M. Johnson and D. E. Koditschek
IEEE International Conference on Technologies for Practical Robot Applications, April 2011. Full PDF

Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints
Nora Ayanian, Vijay Kumar and and D. E. Koditschek
Springer Tracts in Advanced Robotics, May 2011. Full PDF

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. Full PDF

Characterization of Dynamic Behaviors in a Hexapod Robot
Haldun Komsuoglu, Anirudha Majumdar, Yasemin Ozkan Aydin Daniel E. Koditschek
International Symposium on Experimental Robotics, December 2010 Full PDF

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. Full PDF

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

Sprawl angle in simplified models of vertical climbing: implications for robots and roaches
Goran A. Lynch, Lawrence Rome, Daniel E. Koditschek
International Conference on Applied Bionics and Biomechanics, October 2010 Full PDF

Modeling the Compliance of a Variable Stiffness C-Shaped Leg Using Castigliano’s Theorem
Yasemin Ö. Aydın, Kevin C. Galloway, Yigit Yazicioglu and D. E. Koditschek
ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2010), August 15–18, 2010, Montreal, Quebec, Canada.

2009

Towards Testable Neuromechanical Control Architectures for Running
Shai Revzen, D. E. Koditschek, and R. J. Full
Motor Control: A Multidisciplinary Perspective, 2009, pp. 25–55. Full PDF

A Self-Exciting Controller for High-Speed Vertical Running
Goran A. Lynch, Jonathan E. Clark, D. E. Koditschek
International Conference on Intelligent Robots and Systems, October 2009 Full PDF

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 Full PDF

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 Full PDF

Dynamic Legged Mobility---an Overview
H. Komsuoglu
Proceedings of International Joint Robotics Symposium and Competition, May 2009 Full PDF

March of the SandBots
D. E. Goldman, H. Komsuoglu, and D. E. Koditschek
IEEE Spectrum Magazine, April 2009 Full PDF

Sensitive Dependence of the Motion of a Legged Robot on Granular Media
C. Li, P. B. Umbanhowar, H. Komsuoglu, D. E. Koditschek, and D. I. Goldman
Proceedings of National Academy of Science (PNAS), February 2009 Full PDF

A distributed dynamical scheme for fastest mixing Markov chains
M. M. Zavlanos, D. E. Koditschek and G. J. Pappas
American Control Conference, 10–12 June 2009. Full PDF

Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion
K. C. Galloway, J. E. Clark and D. E. Koditschek
ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), August 30 - September 2, 2009, San Diego, California, USA. Full PDF

2008

Integrating a Hierarchy of Simulation Tools for Legged Robot Locomotion
A. Slatton, D. Cohen, Y. Ding, P. B. Umbanhowar, D. I. Goldman, G. C. Haynes, H. Komsuoglu, and D. E. Koditschek
Proceedings of Workshop on Robot Simulators, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008 Full PDF

A Physical Model for Dynamical Arthropod Running on Level Ground
H. Komsuoglu, K. Sohn, R. J. Full, and D. E. Koditschek
Proceedings of 11th International Symposium on Experimental Robotics, July 2008 Full PDF

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

2007

Heterogeneous Leg Stiffness and Roll in Dynamic Running
S. Burden, J. Clark, J. Weingarten, H. Komsuoglu, and D. E. Koditschek
Proceedings of IEEE Conference of Robotics and Automation, 2007

Design of a Bio-inspired Dynamical Vertical Climbing Robot
J. E. Clark, D. Goldman, P-C. Lin, G. Lynch, T. S. Chen, H. Komsuoglu, R. J.Full, and D. E. Koditschek
Proceedings of Robotics Science and Systems, 2007

Robotics as the Delivery Vehicle: A contexualized, social, self paced, engineering education for life-long learners
J. D. Weingarten, D. E. Koditschek, H. Komsuoglu, and C. Massey
Robotics Science and Systems Workshop on “Research in Robots for Education”, 2007

Distributed mechanical feedback in arthropods and robots simplifies control of rapid running on challenging terrain
J. C. Spagna, D. I. Goldman, P-C. Lin, D. E. Koditschek and R. J. Full
Bioinspiration & Biomimetics, Volume 2, 2007. Full PDF

Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems
G. A. D. Lopes and D. E. Koditschek
The International Journal of Robotics Research July 2007 vol. 26 no. 7 715–736. Full PDF

Design of a Multi-Directional Variable Stiffness Leg for Dynamic Running
K. C. Galloway, J. E. Clark and D. E. Koditschek
ASME Int. Mech. Eng. Congress and Exposition, 2007. Full PDF

2006

Sensor Data Fusion for Body State Estimation in a Hexapod Robot With Dynamical Gaits
P-C. Lin, H. Komsuoglu, and D. E. Koditschek
IEEE Transactions on Robotics, 2006

Navigation Functions for Dynamical, Nonholonomically Constrained Mechanical Systems?
Gabriel A. D. Lopes and D. E. Koditschek
Springer Advances in Robot Control (ISBN: 978–3−540–37346–9), 2006. Full PDF

2005

Sensor Data Fusion for Body State Estimation for a Hexapod Robot with Dynamical Gaits
P-C. Lin, H. Komsuoglu, and D. E. Koditschek
Proceedings of IEEE International Conference on Robotics and Automation, 2005

A Leg Configuration Measurement System for Full Body Posture Estimates in a Hexapod Robot
P-C. Lin, H. Komsuoglu, and D. E. Koditschek
IEEE Transactions on Robotics, 2005

2004

Toward a Formal Framework for Open-Loop Stabilization of Rhythmic Tasks
H. Komsuoglu
Ph.D. Thesis, University of Michigan, 2004

Legged Odometry from Body Pose in a Hexapod Robot
P-C. Lin, H. Komsuoglu, and D. E. Koditschek
Proceedings of 9th International Symposium on Experimental Robotics, 2004

Toward a 6 DOF Body State Estimator for a Hexapod Robot with Dynamical Gaits
P-C. Lin, H. Komsuoglu, and D. E. Koditschek
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004

Legged Odometry from Body Pose in a Hexapod Robot
P-C. Lin, H. Komsuoglu, and D. E. Koditschek
Springer Tracts in Advanced Robotics vol. 21: Experimental Robotics IX (ISBN: 978–3−540–28816–9), 2004

A Principled Approach to the Bio-inspired Design of Legged Locomotion Systems
D. E. Koditschek, R. J. Full, and M. Buehler
Proceedings of the SPIE Defense and Security Symposium, Unmanned Ground Vehicle Technology VI (OR54), 2004 Full PDF

Mechanical Aspects of Legged Locomotion Control
D. E. Koditschek, R. J. Full, and M. Buehler
Arthropod Structure and Development, 2004 Full PDF

Feedback-Based Event-Driven Parts Moving
C. S. Karagoz, H. I. Bozma, and D. E. Koditschek
IEEE Transactions on Robotics, 2004 Full PDF

Dynamics of Legged Locomotion: Models, Analyses, and Challenges
P. Holmes, R. J. Full, and D. E. Koditschek
SIAM Review, 2004 Full PDF

Stability Analysis of Clock-driven Rigid-Body SLIP Model for RHex
R. Altendorfer, D. E. Koditschek, and P. Holmes
The International Journal of Robotics Research, 2004 Full PDF

Stability Analysis of Legged Locomotion Models by Symmetry-Factored Return Maps
R. Altendorfer, D. E. Koditschek, and P. Holmes
The International Journal of Robotics Research, 2004 Full PDF

Automated Gait Adaptation for Legged Robots
Weingarten J., Groff R.E., Buehler M., and D. E. Koditschek
IEEE International Conference Robotics and Automation, 2004. Full PDF

Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot
Uluc Saranli, A.A. Rizzi, and D. E. Koditschek
The International Journal of Robotics Research, September 2004. Full PDF

Level Sets and Stable Manifold Approximations for Perceptually Driven Nonholonomically Constrained Navigation
Gabriel Lopes and D.E. Koditschek
“Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems”, 2004. Full PDF

A Framework for the Coordination of Legged Robot Gaits.
J.D. Weingarten, R.E. Groff, and D.E. Koditschek
IEEE Robotics, Automation and Mechatronics, Singapore, 2004. Full PDF

2003

A Leg Configuration Sensory System for Dynamical Body State Estimates in a Hexapod Robot
P-C. Lin, H. Komsuoglu, and D. E. Koditschek
Proceedings of International Conference on Robotics and Automation, 2003 Full PDF

A Local Convergence Proof for the Minvar Algorithm for Computing Continuous Piecewise Linear Approximations
R. E. Groff, P. P. Khargonekar, and D. E. Koditschek
SIAM Journal on Numerical Analysis, 2003 Full PDF

Passively stable conservative locomotion.
R. Altendorfer, R. M. Ghigliazza, P. Holmes and D. E. Koditschek
SIAM Journal on Applied Dynamical Systems, 2003 Full PDF

Hybrid Zero Dynamics of Planar Biped Walkers
E. Westervelt, J. Grizzle, D. E. Koditschek
IEEE Transactions on Automatic Control, 2003 Full PDF

Gait Generation and Optimization for Legged Robots
J. Weingarten, M. Buehler, R. Groff, and D. E. Koditschek
IEEE International Conference on Robotics and Automation, 2003 Full PDF

Template Based Control of Hexapedal Running
U. Saranli and D. E. Koditschek
IEEE International Conference on Robotics and Automation, 2003 Full PDF

Visual Registration and Navigation using Planar Features
G. A. D. Lopes and D. E. Koditschek
IEEE International Conference on Robotics and Automation, 2003 Full PDF

Can a simple neural oscillator generate rapid running in cockroaches
R.J. Full, T. Kubow, M. Garcia, W. Schwind, and D. E. Koditschek
Integrative and Comparative Biology Abstracts, pages 175, 2003

Towards a factored analysis of legged locomotion models.
R. Altendorfer, P. Holmes and D. E. Koditschek
Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, 2003 Full PDF

2002

Safe Cooperative Robot Dynamics on Graphs
R.W. Ghrist, and D. E. Koditschek
SIAM Journal on Control and Optimization, 2002 Full PDF

Quantifying dynamic stability and maneuverability in legged locomotion
R.J. Full, T. Kubow, J. Schmitt, P. Holmes and D. E. Koditschek
Integrative and Comparative Biology, 2002 Full PDF

Visual Servoing via Navigation Functions
Noah J. Cowan, Joel D. Weingarten, and D. E. Koditschek
IEEE Transactions on Robotics and Automation, 2002 Full PDF

Self-Stability Mechanisms for Sensor-Cheap Legged Locomotion.
R. Altendorfer, R. M. Ghigliazza, P. Holmes and D. E. Koditschek
Fourth World Congress of Biomechanics, 2002

Exploiting passive stability for hierarchical control.
R. Altendorfer, R. M. Ghigliazza, P. Holmes and D. E. Koditschek
Fifth International Conference on Climbing and Walking Robots, 2002 Full PDF

Zero Dynamics of Planar Biped Walkers with One Degree of Under Actuation.?
E. Westervelt, J. Grizzle, D. E. Koditschek
IFAC 2002, Barcelona, Spain, July 2002

Back Flips with a Hexapedal Robot.
Uluc Saranli, and Daniel E. Koditschek
Proceedings of the IEEE International Conference on Robotics and Automation, 2002 Full PDF

Phase Regulation of Decentralized Cyclic Robotic Systems
E. Klavins and D. E. Koditschek
International Journal of Robotics Research, 2002 Full PDF

EDAR - Mobile Robot for Parts Moving Based on a Game-theoretic Approach
H. I. Bozma, C. S. Karagoz, and D. E. Koditschek
IEEE Electronics Letters, 2002 Full PDF

2001

RHex: A Biologically Inspired Hexapod Runner
R. Altendorfer, N. Moore, H. Komsuoglu, H. B. Brown Jr., D. McMordie, U. Saranli, R. Full, and D. E. Koditschek
Autonomous Robots, 2001

Proprioception Based Behavioral Advances in a Hexapod Robot
H. Komsuoglu, D. McMordie, U. Saranli, N. Moore, M. Buehler, and D. E. Koditschek
Proceedings of International Conference on Robotics and Automation, 2001

Stability of Coupled Hybrid Oscillators
E. Klavins and D. E. Koditschek
Proceedings of International Conference on Robotics and Automation, 2001 Full PDF

Empirical Validation of a New Visual Servoing Strategy
Noah J. Cowan, Joel D. Weingarten, and D. E. Koditschek
Proceedings of the 2001 IEEE International Conference on Control Applications, 2001 Full PDF

RHex: A Simple and Highly Mobile Hexapod Robot.
U. Saranli, M. Buehler and D. E. Koditschek
International Journal of Robotics Research, 2001 Full PDF

Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies
H. I. Bozma and D. E. Koditschek
Robotica, 2001. Full PDF

Swing Amplitude Control of a Two-link Brachiating Robot using a Hybrid Controller
J. Nakanishi, T. Fukuda and D. E. Koditschek
Journal of the Robotics Society of Japan, 2001.

2000

Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot
R. Altendorfer, U. Saranli, H. Komsuoglu, D. E. Koditschek, H. B. Brown, Jr., M. Buehler, N. Moore, D. McMordie, and R. Full
Proceedings on International Symposium on Experimental Robotics, 2000

The Role of Reflexes Versus Central Pattern Generators in Dynamical Legged Locomotion
E. Klavins, H. Komsuoglu, R. J. Full, and D. E. Koditschek
Neurotechnology for Biomimetic Robots, 2000

Preliminary Analysis of a Biologically Inspired 1-DOF ‘Clock’ Stabilized Hopper
H. Komsuoglu, and D. E. Koditschek
Proceedings of World Multiconference on Systemics, Cybernetics and Informatics, 2000

A Formalism for the Composition of Concurrent Robot Behaviors
E. Klavins and D. E. Koditschek
Proceedings of International Conference on Robotics and Automation, 2000 Full PDF

Representation of Color Space Transformations for Effective Calibration and Control
Richard E. Groff, Daniel E. Koditschek, Pramod P. Khargonekar, and Tracy E. Thieret
Proceedings of International Conference on Digital Printing Technologies, 2000 Full PDF

Piecewise Linear Homeomorphisms: The Scalar Case
Richard E. Groff, Daniel E. Koditschek, and Pramod P. Khargonekar
Proceedings of the IEEE-INNS-ENNS International Joint Conference on Neural Networks, 2000 Full PDF

Dynamic locomotion with four and six-legged robots
M. Buehler, U. Saranli, D. Papadopoulos, and D. Koditschek
Proceedings of the International Symposium on Adaptive Motion of Animals and Machines, 2000 Full PDF

Robotics Research: The Ninth International Symposium
John M. Hollerbach and Daniel E. Koditschek
Proceedings of International Symposium of Robotics Research,2000

Approximating the stance map of a 2-DOF monoped runner
Schwind, WJ and Daniel E. Koditschek
Journal of Nonlinear Science, July 2000. Full PDF

Design, Modeling and Preliminary Control of a Compliant Hexapod Robot
U. Saranli, M. Buehler, and Daniel E. Koditschek
Proceedings of International Conference on Robotics and Automation, April 2000. Full PDF

Rigid Body Visual Servoing Using Navigation Functions
Noah J. Cowan, Gabriel A. D. Lopes, and Daniel E. Koditschek
Proceedings of IEEE Conference on Decision and Control, 2000. Full PDF

A Brachiating Robot Controller
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
IEEE Transactions on Robotics and Automation, April 2000. Full PDF

Toward the Regulation and Composition of Cyclic Behaviors
Eric Klavins and Daniel E. Koditschek and Robert Ghrist
Algorithmic Foundations of Robotics, 2001. Full PDF

Coordination and Control for Locomotion
Eric Klavins, Haldun Komsuoglu, R.J. Full, D.E. Koditschek
Neurotechnology for Biomimetic Robots, 2000.

1999

A Physically Motivated Further Note on the Mean Value Theorem for Integrals
William J. Schwind, Jun Ji, and Daniel E. Koditschek
American Mathematical Monthly, 106(6):559–564, , 1999

Brachiation on a Ladder with Irregular Intervals
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Proceedings of the IEEE International Conference on Robotics & Automation, 1999 Full PDF

A Hybrid Swing up Controller for a Two-link Brachiating Robot
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 1999 Full PDF

Study on the Control of Two-link Brachiating Robot -Experimental Implementation of a Target Dynamics Controller
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Journal of the Robotics Society of Japan, 17(1):110–117, 1999

Templates and Anchors: Neuromechanical Hypotheses of Legged Locomotion on Land
R.J. Full and D. E. Koditschek
The Journal of Experimental Biology, 1999 Full PDF

A Formalism for the Composition of Loosely Coupled Robot Behaviors
E. Klavins and D. E. Koditschek
University of Michigan Technical Report No. CSE-TR-412–99, 1999

Modeling and Control of Color Xerographic Processes
Richard E. Groff, Pramod P. Khargonekar, Daniel E. Koditschek, Tracy E. Thieret, and L.K. Mestha
Proceedings of the 38th Conference on Decision & Control, 1999 Full PDF

Neuromechanical hypotheses of legged locomotion on land
R.J. Full and D. E. Koditschek

Planar image based visual servoing as a navigation problem
Noah J. Cowan, and Daniel E. Koditschek
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999 Full PDF

Sequential Composition of Dynamically Dexterous Robot Behaviors
R. R. Burridge, A. A. Rizzi, and D. E. Koditschek
The International Journal of Robotics Research, 1999 Full PDF

1998

Toward the control of a multi-jointed, monoped runner
Uluc Saranli, William J. Schwind, and Daniel E. Koditschek
Proceedings of the IEEE International Conference on Robotics and Automation, 1998 Full PDF

Analytical Approach to Studies of Two-link Brachiating Robot Control
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Journal of the Robotics Society of Japan, 16(4):79–86, 1998

Experimental implementation of a “target dynamics” controller on a two-link brachiating robot
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Proceedings of the IEEE International Conference on Robotics & Automation, 1998 Full PDF

Directed Locomotion in Cockroaches: Biobots
Thomas E. Moore, Selden B. Crary, Daniel E. Koditschek, and Todd A. Conklin
Acta Entomologica Slovenica,6(2):71–78, 1998Full PDF

Invertible Piecewise Linear Approximations for Color Reproduction
Richard E. Groff, Daniel E. Koditschek, and Pramod P. Khargonekar
Proceedings of the IEEE International Conference on Control Applications, 1998 Full PDF

Toward Global Visual Servos and Estimators for Rigid Bodies
Noah J. Cowan, and Daniel E. Koditschek
Proceedings of the IEEE International Conference on Robotics and Automation, 1998 Full PDF

Safe Cooperative Robot Patterns via Dynamics on Graphs
Robert W. Ghrist, and D. E. Koditschek
International Symposium of Robotics Research, September 1998 Full PDF

1997

Characterization of Monoped Equilibrium Gaits
William J. Schwind, and Daniel E. Koditschek
Proceedings of the IEEE International Conference on Robotics and Automation, 1997 Full PDF

Preliminary Studies of a Second Generation Brachiation Robot Controller
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Proceedings of the IEEE International Conference on Robotics and Automation, 1997 Full PDF

Dynamical System Representation of Basic and Non-Linear in Parameters Oscillatory Motion Gestures
Charles J. Cohen, Lynn Conway, Daniel E. Koditschek, and Gerald P. Roston
Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics,’Computational Cybernetics and Simulation’ , 1997 Full PDF

Toward Obstacle Avoidance in Intermittent Dynamical Environments
Robert R. Burridge, Alfred A. Rizzi, and Daniel E. Koditschek
Proceedings of International Symposium on Experimental Robotics IV, 1997 Full PDF

Studies on the Control of Two-link Brachiating Robot (Application of Target Dynamics Method to the Swing Up Problem)
J. Nakanishi, T. Fukuda and D.E. Koditschek
“Annual Conf. of Society of Instrument and Control Engineers, 1997.

Forward Velocity Control of Two-link Brachiating Robot
J. Nakanishi, T. Fukuda and D.E. Koditschek
Annual Conf. of the Robotics Society of Japan, 1997.

1996

Toward A Control Oriented Model of Xerographic Marking Engines
L.K. Mestha, Y.R. Wang, S. Dianat, E. Jackson, T. Thieret, P.P Khargonekar, and Daniel E. Koditschek
Proceedings of the IEEE International Conference on Decision and Control, 1996 Full PDF

A Simplified Model Based Supercritical Power Plant Controller
Wataro Shinohara, and Daniel E. Koditschek
Proceedings of the IEEE International Conference on Decision and Control, 1996 Full PDF

An Active Visual Estimator for Dexterous Manipulation
Alfred A. Rizzi , and D. E. Koditschek
IEEE Transactions on Robotics and Automation, 1996

Dynamical System Representation of Basic and Non-Linear in Parameters Oscillatory Motion Gestures
Charles J. Cohen, Lynn Conway, Daniel E. Koditschek
Proceedings of the Second International Conference on Automatic Face and Gesture Recognition , 1997 Full PDF

Dynamical System Representation, Generation and Recognition of Basic Oscillatory Motion Gestures
Charles J. Cohen, Lynn Conway, Daniel E. Koditschek
Automatic Face and Gesture Recognition, 1996., Proceedings of the Second International Conference on, 1996. Full PDF

Obstacle Avoidance in Intermettent Dynamical Environments II: Discrete Sampling]]
R.R. Burridge, A. A. Rizzi, and Daniel E. Koditschek
IEEE Int. Conf on Int. Rob. and Syst., 1996.

1995

Controller Composition for Dynamically Dexterous Tasks
D. E. Koditschek
International Symposium on Robotics Research (invited), 1995.

The Geometry of a Robot Programming Language
D. E. Koditschek
The Algorithmic Foundations of Robotics, 1995

A “Robust” Convergent Visual Servoing System
D. Kim, A. A. Rizzi, G. D. Hager, and D. E. Koditschek
RSJ/IEEE International Conference on Intelligent Robots and Systems, 1995

Toward a Dynamical Pick and Place
Robert R. Burridge, Alfred A. Rizzi, and D. E. Koditschek
RSJ/IEEE International Conference on Intelligent Robots and Systems, 1995 Full PDF

Assembly as a Noncooperative Game of its Pieces: The Case of Endogenous Disk Assemblies
H. I. Bozma, C. S. Karagoz, and D. E. Koditschek
IEEE International Symposium on Assembly and Task Planning, 1995 Full PDF

Control of Forward Velocity for a Simplified Planar Hopping Robot
William J. Schwind, and D. E. Koditschek
Proceedings of the IEEE International Conference on Robotics and Automation, 1995 Full PDF

Global Asymptotic Stability of a Passive Juggler: A Parts Feeding Strategy
Peter J. Swanson, Robert R. Burridge, and D. E. Koditschek
Proceedings of the IEEE International Conference on Robotics and Automation, 1995 Full PDF

Global Asymptotic Stability of a Passive Juggling Strategy: A Possible Parts-Feeding Method
Peter J. Swanson, Robert R. Burridge, and D. E. Koditschek
Mathematical Problems in Engineering, 1995 Full PDF

Intelligent Control of a Boiler-Turbine Plant Based on Switching Control Scheme
Wataro Shinohara, and Daniel E. Koditschek
Proceedings of the IEEE International Conference on Decision and Control, 1995 Full PDF

1994

Further Progress in Robot Juggling: Solvable Mirror Laws
A. A. Rizzi and D. E. Koditschek
International Conference Robotics and Automation, 1994 Full PDF

An Approach to Autonomous Robot Assembly
D. E. Koditschek
Robotica, Volume 12, 1994 Full PDF

A Comparison of Regulation and Entrainment in Two Robot Juggling Strategies
D. E. Koditschek
International Symposium on Robotics Research, 1994

Planning and Control of Robotic Juggling and Catching Tasks
M. Buehler, D. E. Koditschek, and P. J. Kindlmann
International Journal of Robotics Research, Volume 13, 1994 Full PDF

1993

Comparative Experiments with a New Adaptive Controller for Robot Arms
Louis L. Whitcomb, Alfred A. Rizzi, and D. E. Koditschek
IEEE Transactions on Robotics and Automation, Volume 9, Feb 1993 Full PDF

Toward the Control of Attention in a Dynamically Dexterous Robot
A. A. Rizzi and D. E. Koditschek
IEEE International Conference on Intelligent Robots and Systems, July 1993 Full PDF

The Control of a Robot Juggler
A. A. Rizzi and D. E. Koditschek
International Symposium on Experimental Robotics, Oct 1993

Further Progress in Robot Juggling: The Spatial Two-Juggle
A. A. Rizzi and D. E. Koditschek
IEEE International Conference on Robotics and Automation, May 1993 Full PDF

A Dynamical Sensor for Robot Juggling
A. A. Rizzi and D. E. Koditschek
Visual Servoing:Real-Time Control of Robot Manipulators Based on Visual Sensory Feedback, 1993

Dynamically Dexterous Robotics
D. E. Koditschek
Robot Control, 1993

1992

Task Encoding: Toward a Scientific Paradigm for Robot Planning and Control
D. E. Koditschek
Journal of Robotics and Autonomous Systems, 1992 Full PDF

Exact Robot Navigation Using Artificial Potential Fields
Elon Rimon and D. E. Koditschek
IEEE Transactions on Robotics and Automation, October 1992 Full PDF

Hierarchical Feedback Controllers for Robotic Assembly
D. E. Koditschek
Seventh Yale Workshop on Learning and Adaptive Systems, May 1992

Distributed Real-Time Control of a Spatial Robot Juggler
Alfred A. Rizzi, Louis L. Whitcomb, and D. E. Koditschek
IEEE Computer, Volume 25, May 1992 Full PDF

Toward the Automatic Control of Robot Assembly Tasks via Potential Functions: The Case of 2-D Sphere Assemblies
Louis L. Whitcomb, D. E. Koditschek, and Joao B. D. Cabrera
IEEE International Conference on Robotics and Automation, May 1992 Full PDF

Progress in Spatial Robot Juggling
Alfred A. Rizzi and D. E. Koditschek
IEEE International Conference on Robotics and Automation, May 1992 Full PDF

Feedback Controllers for Automatic Assembly.
Louis L. Whitcomb and D. E. Koditschek
Romansy, Udine, Italy, 1992.

1991

Some Applications of Natural Motion Control
D. E. Koditschek
ASME Journal of Dynamic Systems, Measurement, and Control, December 1991 Full PDF

The Control of Natural Motion in Mechanical Systems
D. E. Koditschek
ASME Journal of Dynamic Systems, Measurement, and Control, December 1991 Full PDF

Analysis of a Simplified Hopping Robot
D. E. Koditschek and Martin Buehler
International Journal of Robotics Research, December 1991 Full PDF

Automatic Assembly Planning and Control via Potential Functions
Louis L. Whitcomb and D. E. Koditschek
IEEE/RSJ International Workshop on Intelligent Robots and Systems IROS91, November 1991 Full PDF

The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds
Elon Rimon and D. E. Koditschek
Transactions of the American Mathematical Society, September 1991 Full PDF

Robot Assembly: Another Source of Nonholonomic Control Problems
D. E. Koditschek
‘’American Control Conference’, June 1991

Preliminary Experiments in Spatial Robot Juggling
Alfred A. Rizzi and D. E. Koditschek
International Symposium on Experimental Robotics, June 1991

Comparative Experiments with a New Adaptive Controller for Robot Arms
Louis L. Whitcomb, Alfred A. Rizzi and D. E. Koditschek
IEEE International Conference on Robotics and Automation, April 1991 Full PDF

Preliminary Experiments in Robot Juggling: Transputer Based Real-Time Motion Control
Alfred Rizzi, Louis L. Whitcomb and D. E. Koditschek
“Proc. IEEE Int. Conf. Rob. and Aut. Video-Tape Session”, 1991.

Intelligent Control Systems Design
K.S. Narendra and D. E. Koditschek
Funded Proposal: National Science Foundation, 1991.

Stabilizing Feedback Controllers for Robot Assembly Tasks
D. E. Koditschek
Proc. IEEE Conf. on Decision and Control, 1991.

Hopping, Swatting, and Juggling
D. E. Koditschek
In O. Khatib, J. Craig, T. Lozano-Perez, editor, The Robotics Review, 1991.

1990

Robot Navigation Functions on Manifolds with Boundary
D. E. Koditschek and Elon Rimon
Advances in Applied Mathematics, December 1990 Full PDF

Transputers at Work: Real-Time Distributed Robot Control
Louis L. Whitcomb and D. E. Koditschek
North American Transputer Users Group Meeting, October 1990

Globally Stable Closed Loops Imply Autonomous Behavior
D. E. Koditschek
Proc. Fifth IEEE International Symposium on Intelligent Control, September 1990 Full PDF

Task Encoding for Autonomous Machines: the Assembly Problem
D. E. Koditschek
Sixth Yale Workshop on Adaptive and Learning Systems, August 1990

From stable to chaotic juggling: theory, simulation, and experiments.
M. Buehler and D. E. Koditschek
International Conference on Robotics and Automation, May 1990 Full PDF

Exact Robot Navigation in Geometrically Complicated but Topologically Simple Spaces
Elon Rimon and D. E. Koditschek
IEEE International Conference on Robotics and Automation, May 1990 Full PDF

Robot Control in a Message Passing Environment: Theoretical Questions and Preliminary Experiments
Louis L. Whitcomb and D. E. Koditschek
IEEE International Conference on Robotics and Automation, May 1990 Full PDF

Preliminary Experiments Toward a Torque Controlled Variable Reluctance Motor?
A.A. Rizzi, D. E. Koditschek, M. Buehler, and P. J. Kindlmann
Center for Systems Science, Yale University, March 1990 Full PDF

A Family of Robot Control Strategies for Intermittent Dynamical Environments
M. Buehler, D. E. Koditschek, and P. J. Kindlmann
IEEE Control Systems Magazine, February 1990 Full PDF

Planning and Control of Robotic Juggling Tasks
M. Buehler, D. E. Koditschek, and P. J. Kindlmann
Fifth International Symposium on Robotics Research, 1990

A Simple Juggling Robot: Theory and Experimentation.
M. Buehler, D. E. Koditschek, and P. J. Kindlmann
Experimental Robotics, 1990 Full PDF

1989

Transputer Computer Juggles Real-Time Robotics
F. Levin, M. Buehler, L. Whitcomb, and D.E. Koditschek.
“Electronic Systems Design,” 1989.

Natural Control in Manufacturing
D.E. Koditschek
“Proc. NSF Manufacturing Systems Research Conf., Berkeley, CA,” 1989.

Autonomous Mobile Robots Controlled by Navigation Functions.
D.E. Koditschek
“Proc. Second IEEE International Workshop on Intelligent Robots and Systems,” 1989. Full PDF

A New Distributed Real-Time Controller for Robotics Applications
M. Buehler, L. Whitcomb, F. Levin, and D.E. Koditschek
“Control Theory and Multibody Systems/ AMS Series in Contemporary Mathematics,” 1989. Full PDF

A Distributed Message Passing Computational and I/O Engine for Real Time Motion Control
M. Buehler, L. Whitcomb, F. Levin, and D.E. Koditschek
“Proc. American Control Conference, Pittsburgh, PA,” 1989.

Robot Planning and Control via Potential Functions
D.E. Koditschek
The Robotics Review, 1989.

The Application of Total Energy as a Lyapunov Function for Mechanical Control Systems
D.E. Koditschek
Control Theory and Multibody Systems, 1989.

Robot Adaptation via Strict Global Lyapunov Functions for Dissipative Mechanical Systems
D.E. Koditschek
Workshop on Nonlinear and Adaptive Robot Control, 1989.

The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Sphere Worlds
E. Rimon and D.E. Koditschek
IEEE International Conference on Robotics and Automation, 1989.

Application of a New Lyapunov Function to Global Robot Navigation
D. E. Koditschek
28th IEEE Conference on Decision and Control, 1989.

1988

A One Degree of Freedom Juggler in a Two Degree of Freedom Environment
M. Buehler, D. E. Koditschek, and P. J. Kindlmann
IEEE International Workshop on Intelligent Robots, October 1988 Full PDF

Robot Control Systems
D. E. Koditschek
International Encyclopedia of Robotics Applications and Automation, 1988

Robotics in an Intermittent Environment: a Prelude to Juggling
Martin Buehler, D. E. Koditschek and P. J. Kindlmann
Center for Systems Science, Yale University, 1988

Application of a New Lyapunov Function to Global Adaptive Attitude Tracking
D. E. Koditschek
IEEE Conference on Decision and Control, December 1988 Full PDF

Application of a New Lyapunov Function: Global Adaptive Inverse Dynamics for a Single Rigid Body
D. E. Koditschek
Center for Systems Science, Yale University, September 1988

Strict Global Lyapunov Functions for Mechanical Systems
D. E. Koditschek
American Control Conference, June 1988

Analysis of a Simplified Hopping Robot
Martin Buehler and D. E. Koditschek
IEEE International Conference on Robotics and Automation, April 1988 Full PDF

Analysis of a Simplified Hopping Robot
D. E. Koditschek and Martin Buehler
Center for Systems Science, Yale University, May 1988

Preliminary Experiments Real-Time Distributed Motion Control
Louis L. Whitcomb, M. Buehler, and D.E. Koditschek
“Proc. North American Transputer Users Group,” 1988.

Exact Robot Navigation Using Cost Functions: The Case of Distinct Spherical Boundaries in En
E. Rimon and D. E. Koditschek
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on, 1988 Full PDF

The Yale Real Time Distributed Control Node
F. Levin and M. Buehler, and D. E. Koditschek
Second Annual Workshop on Parallel Computing, 1988.

Navigation Functions for Robot Obstacle Avoidance
D. E. Koditschek and E. Rimon
Center for Systems Science, Yale University, 1988.

Embedded Reference Dynamics and Critical Damping of Dissipative Mechanical Systems
D. E. Koditschek
Mathematics of Control, Signals, and Systems, 1988.

Robots Touch Base
M. Buehler and F. Levin and G. Unno and D. E. Koditschek
Parallelogram, 1988.

1987

Robot Control Systems
D. E. Koditschek
Encyclopedia of Artificial Intelligence, 1987

A Prelude to Juggling
Martin Buehler and D. E. Koditschek
IEEE Conference on Decision and Control, December 1987

A Strict Global Lyapunov Function for Mechanical Systems.
D. E. Koditschek
Center for Systems Science, Yale University, November 1987

Adaptive Techniques for Mechanical Systems.
D. E. Koditschek
Yale Workshop on Applications of Adaptive Systems Theory, May 1987

Lyapunov Analysis of Robot Motion
D. E. Koditschek
Tutorial Workshop at the IEEE International Conference on Robotics and Automation, April 1987 Full PDF

Exact Robot Navigation by Means of Potential Functions: Some Topological Considerations
D. E. Koditschek
IEEE International Conference on Robotics and Automation, April 1987 Full PDF

A Prototype Processing Cell for Distributed Real Time Control
F. Levin, Martin Buehler, and D. E. Koditschek
Center for Systems Science, Yale University, March 1987

Quadratic Lyapunov Functions for Mechanical Systems.
D. E. Koditschek
Center for Systems Science, Yale University, March 1987

High Gain Feedback and Telerobotic Tracking
D. E. Koditschek
JPL Workshop on Space Telerobotics, January 1987 Full PDF

A Study of Two Robot Actuators
M. Buehler and P.J. Kindlmann and D. E. Koditschek
26th IEEE Conference on Decision and Control, 1987.

1986

Automatic Planning and Control of Robot Natural Motion Via Feedback
D. E. Koditschek
Adaptive and Learning Systems: Theory and Applications, 1986.

1985

The Controllability of Planar Bilinear Systems
D. E. Koditschek K.S. Narendra
IEEE Transaction on Automatic Control, 1985. Full PDF

Robot Kinematics and Coordinate Transformations
D. E. Koditschek
IEEE Proceedings 24th Conference on Decision and Control, 1985. Full PDF

Adaptive Strategies for the Control of Natural Motion
D.E. Koditschek
Decision and Control, 24th IEEE Conference on, 1985. Full PDF

1984

Limit Cycles of Planar Quadratic Systems
D.E. Koditschek
Journal of Differential Equations, 1984.

Natural Motion for Robot Arms
D.E. Koditschek
Decision and Control, The 23rd IEEE Conference on, 1984. Full PDF

Natural Control of Robot Arms
D.E. Koditschek
Center for Systems Science, 1984.

1983

Stabilizability of Second Order Bilinear Systems
D.E. Koditschek and K.S. Narendra
IEEE Transactions on Automatic Control, 1983. Full PDF

1982

The Stability of Second Order Quadratic Differential Equations
D.E. Koditschek and K.S. Narendra
IEEE Transactions on Automatic Control, 1982. Full PDF

1977

Fixed Structure Automata in a Multi-Teacher Environment
D.E. Koditschek and K.S. Narendra
IEEE Transactions on Systems, Man, and Cybernetics, 1977. Full PDF