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M.\",\"Buchan, A.\",\"Scheiner, J.\",\"Qureshi, A.\",\"Mar, C.\",\"Marinelli, E.\",\"Nidhiry, S.\",\"Coltin, B.\",\"Feng, S.\",\"Berkowitz, B.\",\"Alexander, D.\"],\"key\":\"poster:duvallet-mom-2007\",\"id\":\"poster:duvallet-mom-2007\",\"bibbaseid\":\"duvallet-woo-kong-johnson-buchan-scheiner-qureshi-mar-etal-controlofarobotcolony-2007\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Multi-robot Systems\",\"Control\"],\"metadata\":{\"authorlinks\":{\"johnson, a\":\"https://www.cmu.edu/me/robomechanicslab/publications.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"workshop poster\",\"author\":[{\"firstnames\":[\"Aaron\",\"M.\"],\"propositions\":[],\"lastnames\":[\"Johnson\"],\"suffixes\":[]}],\"title\":\"A friendly VoIP box\",\"booktitle\":\"Meeting of the Minds\",\"year\":\"2007\",\"month\":\"May\",\"keywords\":\"Robot Design\",\"address\":\"Carnegie Mellon University, Pittsburgh, PA\",\"bibtex\":\"@inproceedings{poster:johnson-mom-2007,\\n  author       = {Aaron M. Johnson},\\n  title        = {A friendly VoIP box},\\n  booktitle    = {Meeting of the Minds},\\n  year         = {2007},\\n  month        = {May},\\n  keywords     = {Robot Design},\\n  address      = {Carnegie Mellon University, Pittsburgh, PA},\\n  type         = {workshop poster}\\n}\\n\",\"author_short\":[\"Johnson, A. M.\"],\"key\":\"poster:johnson-mom-2007\",\"id\":\"poster:johnson-mom-2007\",\"bibbaseid\":\"johnson-afriendlyvoipbox-2007\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Robot Design\"],\"metadata\":{\"authorlinks\":{\"johnson, a\":\"https://www.cmu.edu/me/robomechanicslab/publications.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"workshop poster\",\"author\":[{\"firstnames\":[\"Felix\"],\"propositions\":[],\"lastnames\":[\"Duvallet\"],\"suffixes\":[]},{\"firstnames\":[\"Aaron\",\"M.\"],\"propositions\":[],\"lastnames\":[\"Johnson\"],\"suffixes\":[]},{\"firstnames\":[\"Ryan\"],\"propositions\":[],\"lastnames\":[\"Kellogg\"],\"suffixes\":[]},{\"firstnames\":[\"James\"],\"propositions\":[],\"lastnames\":[\"Kong\"],\"suffixes\":[]},{\"firstnames\":[\"Eugene\"],\"propositions\":[],\"lastnames\":[\"Marinelli\"],\"suffixes\":[]},{\"firstnames\":[\"Alexander\",\"May\"],\"propositions\":[\"an\",\"dSuresh\"],\"lastnames\":[\"Nidhiry\"],\"suffixes\":[]},{\"firstnames\":[\"Iain\"],\"propositions\":[],\"lastnames\":[\"Proctor\"],\"suffixes\":[]},{\"firstnames\":[\"Gregory\"],\"propositions\":[],\"lastnames\":[\"Tress\"],\"suffixes\":[]},{\"firstnames\":[\"Kevin\"],\"propositions\":[],\"lastnames\":[\"Woo\"],\"suffixes\":[]}],\"title\":\"A Robotic Platform for Exploring Emergent Behavior\",\"booktitle\":\"Meeting of the Minds\",\"year\":\"2006\",\"month\":\"May\",\"keywords\":\"Multi-robot Systems, Robot Design\",\"address\":\"Carnegie Mellon University, Pittsburgh, PA\",\"bibtex\":\"@inproceedings{poster:duvallet-mom-2006,\\n  author       = {Felix Duvallet and Aaron M. Johnson and Ryan Kellogg and James Kong and\\n                  Eugene Marinelli and Alexander May an dSuresh Nidhiry and Iain Proctor and\\n                  Gregory Tress and Kevin Woo},\\n  title        = {A Robotic Platform for Exploring Emergent Behavior},\\n  booktitle    = {Meeting of the Minds},\\n  year         = {2006},\\n  month        = {May},\\n  keywords     = {Multi-robot Systems, Robot Design},\\n  address      = {Carnegie Mellon University, Pittsburgh, PA},\\n  type         = {workshop poster}\\n}\\n\\n\",\"author_short\":[\"Duvallet, F.\",\"Johnson, A. M.\",\"Kellogg, R.\",\"Kong, J.\",\"Marinelli, E.\",\"an dSuresh Nidhiry, A. M.\",\"Proctor, I.\",\"Tress, G.\",\"Woo, K.\"],\"key\":\"poster:duvallet-mom-2006\",\"id\":\"poster:duvallet-mom-2006\",\"bibbaseid\":\"duvallet-johnson-kellogg-kong-marinelli-andsureshnidhiry-proctor-tress-etal-aroboticplatformforexploringemergentbehavior-2006\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Multi-robot Systems\",\"Robot Design\"],\"metadata\":{\"authorlinks\":{\"johnson, a\":\"https://www.cmu.edu/me/robomechanicslab/publications.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"workshop poster\",\"author\":[{\"firstnames\":[\"Allison\"],\"propositions\":[],\"lastnames\":[\"Naaktgeboren\"],\"suffixes\":[]},{\"firstnames\":[\"Jessica\"],\"propositions\":[],\"lastnames\":[\"Kang\"],\"suffixes\":[]},{\"firstnames\":[\"Steven\"],\"propositions\":[],\"lastnames\":[\"Shamlian\"],\"suffixes\":[]},{\"firstnames\":[\"Aaron\",\"M.\"],\"propositions\":[],\"lastnames\":[\"Johnson\"],\"suffixes\":[]},{\"firstnames\":[\"Ryan\"],\"propositions\":[],\"lastnames\":[\"Kellogg\"],\"suffixes\":[]},{\"firstnames\":[\"Iain\"],\"propositions\":[],\"lastnames\":[\"Proctor\"],\"suffixes\":[]},{\"firstnames\":[\"Kate\"],\"propositions\":[],\"lastnames\":[\"Killfoile\"],\"suffixes\":[]},{\"firstnames\":[\"Richard\"],\"propositions\":[],\"lastnames\":[\"Juchniewicz\"],\"suffixes\":[]},{\"firstnames\":[\"Prasanna\"],\"propositions\":[],\"lastnames\":[\"Velagapudi\"],\"suffixes\":[]},{\"firstnames\":[\"Suresh\"],\"propositions\":[],\"lastnames\":[\"Nidhiry\"],\"suffixes\":[]},{\"firstnames\":[\"Justine\"],\"propositions\":[],\"lastnames\":[\"Rembisz\"],\"suffixes\":[]},{\"firstnames\":[\"Sungjoon\"],\"propositions\":[],\"lastnames\":[\"Won\"],\"suffixes\":[]},{\"firstnames\":[\"Felix\"],\"propositions\":[],\"lastnames\":[\"Duvallet\"],\"suffixes\":[]},{\"firstnames\":[\"Christopher\"],\"propositions\":[],\"lastnames\":[\"Atwood\"],\"suffixes\":[]}],\"title\":\"Relative Localization in Colony Robots\",\"booktitle\":\"Meeting of the Minds\",\"year\":\"2005\",\"month\":\"May\",\"keywords\":\"Multi-robot Systems, Perception\",\"address\":\"Carnegie Mellon University, Pittsburgh, PA\",\"bibtex\":\"@inproceedings{poster:naaktgeboren-mom-2005,\\n  author       = {Allison Naaktgeboren and Jessica Kang and Steven Shamlian and Aaron M. Johnson and\\n                  Ryan Kellogg and Iain Proctor and Kate Killfoile and Richard Juchniewicz and \\n                  Prasanna Velagapudi and Suresh Nidhiry and Justine Rembisz and Sungjoon Won and\\n                  Felix Duvallet and Christopher Atwood},\\n  title        = {Relative Localization in Colony Robots},\\n  booktitle    = {Meeting of the Minds},\\n  year         = {2005},\\n  month        = {May},\\n  keywords     = {Multi-robot Systems, Perception},\\n  address      = {Carnegie Mellon University, Pittsburgh, PA},\\n  type         = {workshop poster}\\n}\\n\\n\",\"author_short\":[\"Naaktgeboren, A.\",\"Kang, J.\",\"Shamlian, S.\",\"Johnson, A. M.\",\"Kellogg, R.\",\"Proctor, I.\",\"Killfoile, K.\",\"Juchniewicz, R.\",\"Velagapudi, P.\",\"Nidhiry, S.\",\"Rembisz, J.\",\"Won, S.\",\"Duvallet, F.\",\"Atwood, C.\"],\"key\":\"poster:naaktgeboren-mom-2005\",\"id\":\"poster:naaktgeboren-mom-2005\",\"bibbaseid\":\"naaktgeboren-kang-shamlian-johnson-kellogg-proctor-killfoile-juchniewicz-etal-relativelocalizationincolonyrobots-2005\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Multi-robot Systems\",\"Perception\"],\"metadata\":{\"authorlinks\":{\"johnson, a\":\"https://www.cmu.edu/me/robomechanicslab/publications.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Chris\"],\"propositions\":[],\"lastnames\":[\"Atwood\"],\"suffixes\":[]},{\"firstnames\":[\"Felix\"],\"propositions\":[],\"lastnames\":[\"Duvallet\"],\"suffixes\":[]},{\"firstnames\":[\"Aaron\",\"M.\"],\"propositions\":[],\"lastnames\":[\"Johnson\"],\"suffixes\":[]},{\"firstnames\":[\"Richard\"],\"propositions\":[],\"lastnames\":[\"Juchniewicz\"],\"suffixes\":[]},{\"firstnames\":[\"Ryan\"],\"propositions\":[],\"lastnames\":[\"Kellogg\"],\"suffixes\":[]},{\"firstnames\":[\"Katherine\"],\"propositions\":[],\"lastnames\":[\"Killfoile\"],\"suffixes\":[]},{\"firstnames\":[\"Alison\"],\"propositions\":[],\"lastnames\":[\"Naaktgeboren\"],\"suffixes\":[]},{\"firstnames\":[\"Suresh\"],\"propositions\":[],\"lastnames\":[\"Nidhiry\"],\"suffixes\":[]},{\"firstnames\":[\"Iain\"],\"propositions\":[],\"lastnames\":[\"Proctor\"],\"suffixes\":[]},{\"firstnames\":[\"Justine\"],\"propositions\":[],\"lastnames\":[\"Rembisz\"],\"suffixes\":[]},{\"firstnames\":[\"Steven\"],\"propositions\":[],\"lastnames\":[\"Shamlian\"],\"suffixes\":[]},{\"firstnames\":[\"Prasanna\"],\"propositions\":[],\"lastnames\":[\"Velagapudi\"],\"suffixes\":[]}],\"title\":\"Relative Localization in Colony Robots\",\"booktitle\":\"Natl. Conference on Undergraduate Research\",\"year\":\"2005\",\"address\":\"Lexington, VA\",\"month\":\"April\",\"keywords\":\"Multi-robot Systems, Perception\",\"url_pdf\":\"http://kodlab.seas.upenn.edu/uploads/Aaron/colony_NCUR2005.pdf\",\"bibtex\":\"@inproceedings{paper:atwood-ncur-2005,\\n  author       = {Chris Atwood and Felix Duvallet and Aaron M. Johnson and Richard Juchniewicz and\\n                  Ryan Kellogg and Katherine Killfoile and Alison Naaktgeboren and Suresh Nidhiry and\\n                  Iain Proctor and Justine Rembisz and Steven Shamlian and Prasanna Velagapudi},\\n  title        = {Relative Localization in Colony Robots},\\n  booktitle    = {Natl. Conference on Undergraduate Research},\\n  year         = {2005},\\n  address      = {Lexington, VA},\\n  month        = {April},\\n  keywords     = {Multi-robot Systems, Perception},\\n  url_PDF      = {http://kodlab.seas.upenn.edu/uploads/Aaron/colony_NCUR2005.pdf}\\n}\\n\\n\",\"author_short\":[\"Atwood, C.\",\"Duvallet, F.\",\"Johnson, A. M.\",\"Juchniewicz, R.\",\"Kellogg, R.\",\"Killfoile, K.\",\"Naaktgeboren, A.\",\"Nidhiry, S.\",\"Proctor, I.\",\"Rembisz, J.\",\"Shamlian, S.\",\"Velagapudi, P.\"],\"key\":\"paper:atwood-ncur-2005\",\"id\":\"paper:atwood-ncur-2005\",\"bibbaseid\":\"atwood-duvallet-johnson-juchniewicz-kellogg-killfoile-naaktgeboren-nidhiry-etal-relativelocalizationincolonyrobots-2005\",\"role\":\"author\",\"urls\":{\" pdf\":\"http://kodlab.seas.upenn.edu/uploads/Aaron/colony_NCUR2005.pdf\"},\"keyword\":[\"Multi-robot Systems\",\"Perception\"],\"metadata\":{\"authorlinks\":{\"johnson, a\":\"https://www.cmu.edu/me/robomechanicslab/publications.html\"}},\"downloads\":6,\"html\":\"\"}],\n      metadata: {\"owner\":\"johnson, a\",\"authorlinks\":{\"johnson, a\":\"https://www.cmu.edu/me/robomechanicslab/publications.html\"}},\n      ownerID: \"twMiZgXuNHWyYX9um\"\n    };\n  </script>\n\n  <script type=\"text/javascript\">\n  var site$;\n  if (typeof $ != 'undefined') {\n    console.log('existing jquery: storing and then restoring');\n    site$ = $;\n    $ = null;\n  }\n  </script>\n\n  <script src=\"https://ajax.googleapis.com/ajax/libs/jquery/2.2.4/jquery.min.js\">\n  </script>\n  <script type=\"text/javascript\">\n  if (site$) {\n    console.log('existing jquery: avoiding conflict and restoring');\n    bb$ = $.noConflict(true);\n    $ = site$;\n  } else {\n    bb$ = $;\n  }\n  </script>\n\n  <script src=\"//bibbase.org/js/bibbase.min.js\"\n          type=\"text/javascript\">\n  </script>\n\n  <script type=\"text/javascript\"\n          src=\"https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML\">\n  </script>\n  <script type=\"text/x-mathjax-config\">\n    MathJax.Hub.Config({tex2jax: {inlineMath: [['$','$'], ['\\\\(','\\\\)']]},\n                        skipTags: [\"body\"],\n                        processClass: \"bibbase_paper\"});\n  </script>\n\n  <style>\n  @media print {\n    .dontprint {\n        display: none !important;\n    }\n\n  .bibbase_group {\n    background-color: #E0E0E0;\n    font-style: italic;\n    font-size: larger;\n    text-shadow: 0px 0px 3px #FFFFFF;\n    border-radius: 4px 4px 4px 4px;\n    -moz-border-radius: 4px 4px 4px 4px;\n    -webkit-border-radius: 4px;\n    padding: 5px 40px 5px;\n    margin-top: 10px;\n    margin-bottom: 5px;\n    cursor: pointer;\n  }\n\n  .bibbase_paper {\n    margin-bottom: 5px;\n  }\n\n  }\n  </style>\n\n  \n  <div style=\"float: right; margin-right: 10px; margin-top: 10px; text-align: right; font-size: 12px\">\n    generated by\n    <a href=\"//bibbase.org\"\n       onclick=\"trackOutboundLink('bibbase', 'logo clicked', window.location.href, '//bibbase.org'); return false;\">\n      <img src=\"//bibbase.org/img/logo.svg\"\n           style=\"vertical-align: middle; margin-left: 3px; height: 16px;\"/\n           alt=\"bibbase.org\"\n           title=\"BibBase – The easiest way to maintain your publications page.\"\n        ></a>\n    \n  </div>\n  \n\n  <div id=\"bibbase_header\" class=\"dontprint\" style=\"\">\n\n    <ul class=\"nav nav-pills\" style=\"margin: 0px;\">\n\n      <li class=\"dropdown\" id=\"groupby_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\">\n          Group by\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li class=\"groupby year\"><a onclick=\"groupby('year')\">\n            Year</a>\n        </li>\n        <li class=\"groupby author\"><a onclick=\"groupby('author_short')\">\n            Author</a>\n        </li>\n        <li class=\"groupby type\"><a onclick=\"groupby('type')\">\n            Type</a>\n        </li>\n        <li class=\"groupby keyword\"><a onclick=\"groupby('keyword')\">\n            Keyword</a>\n        </li>\n        <li class=\"groupby downloads\"><a onclick=\"groupby('downloads')\">\n            Downloads</a>\n        </li>\n      </ul>\n      </li>\n\n\n      <li class=\"dropdown\" id=\"menu_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\" alt=\"controls\">\n          <i class=\"fa fa-reorder\" alt=\"controls\"></i>\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li>\n          <a onclick=\"toggleAll()\">\n            <i class=\"fa fa-chevron-down fa-fw\"></i> Expand/Collapse All\n          </a>\n        </li>\n        <li>\n          <a download=\"johnson.bib\" href=\"data:text/bibtex;base64,@inproceedings{paper:wang-pay-2024,
  title         = {Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving},
  author        = {Wang, Sean J. and Zhu, Honghao and Johnson, Aaron M.},
  booktitle     = {IEEE Intl.\ Conference on Robotics and Automation},
  year          = {2024},
  note          = {To appear. Also available as arXiv:2310.08674 [cs.RO]},
  keywords      = {Learning, Modeling, Uncertainty},
  url_Info      = {https://arxiv.org/abs/2310.08674},
  url_PDF       = {https://arxiv.org/pdf/2310.08674.pdf}
}



@inproceedings{paper:zhu-convergent-2024,
  title         = {Convergent {iLQR} for Safe Trajectory Planning and Control of Legged Robots},
  author        = {Zhu, James and Payne, J. Joe and Johnson, Aaron M.},
  booktitle     = {IEEE Intl.\ Conference on Robotics and Automation},
  year          = {2024},
  note          = {To appear. Also available as arXiv:2304.00346 [cs.RO]},
  keywords      = {Hybrid Systems, Control, Contact, Optimization},
  url_Info      = {https://arxiv.org/abs/2304.00346},
  url_PDF       = {https://arxiv.org/pdf/2304.00346}
}



@inproceedings{paper:tajbakhsh-conflict-2024,
  title         = {Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning},
  author        = {Tajbakhsh, Ardalan and Biegler, Lorenz T and Johnson, Aaron M.},
  booktitle     = {IEEE Intl.\ Conference on Robotics and Automation},
  year          = {2024},
  note          = {To appear. Also available as arXiv:2303.01619 [cs.RO]},
  keywords      = {Control,Multi-robot Systems,Planning},
  url_Info      = {https://arxiv.org/abs/2303.01619},
  url_PDF       = {https://arxiv.org/pdf/2303.01619}
}



@inproceedings{paper:nadan-loris-2024,
  title         = {{LORIS}: {A} Lightweight Free-Climbing Robot for Extreme Terrain Exploration},
  author        = {Nadan, Paul and Backus, Spencer and Johnson, Aaron M.},
  booktitle     = {IEEE Intl.\ Conference on Robotics and Automation},
  year          = {2024},
  note          = {To appear},
  keywords      = {Robot Design, Space Robotics},
  url_PDF       = {https://www.ri.cmu.edu/app/uploads/2024/04/LORIS__A_Lightweight_Free_Climbing_Robot_for_Extreme_Terrain_Exploration.pdf},
  url_Video     = {https://youtu.be/GjRrLqlI0yM}
}



@phdthesis{Wang-2024,
  author   = {Sean J. Wang},
  title    = {A Practical Approach to Learning Dynamics for Rough Terrain Navigation},
  year     = {2024},
  month    = {February},
  school   = {Mechanical Engineering Department, Carnegie Mellon University},
  address  = {Pittsburgh, PA},
  keywords = {Learning, Modeling, Uncertainty,Control},
  url_PDF  = {http://www.andrew.cmu.edu/user/amj1/papers/Wang2024.pdf}
}




@article{paper:pavlov-terramechanics-2024,
  author        = {Catherine Pavlov and Aaron M. Johnson},
  title         = {A terramechanics model for high slip angle and skid with prediction of wheel-soil interaction geometry},
  journal       = {Journal of Terramechanics},
  volume        = {111},
  pages         = {9--19},
  year          = {2024},
  url_Info      = {https://www.sciencedirect.com/science/article/pii/S0022489823000691},
  url_DOI       = {https://doi.org/10.1016/j.jterra.2023.08.004},
  keywords      = {Modeling,Sand,Space Robotics,Terrain Manipulation}
}



@article{paper:norby-adaptive-2024,
  author        = {Joseph Norby and Ardalan Tajbakhsh and Yanhao Yang and Aaron M. Johnson},
  title         = {Adaptive Complexity Model Predictive Control},
  journal       = {IEEE Transactions on Robotics},
  year          = {2024},
  note          = {To appear. Also available as arXiv:2209.02849 [cs.RO]},
  keywords      = {Control, Optimization, Leaping},
  url_Info      = {https://arxiv.org/abs/2209.02849},
  url_PDF       = {https://arxiv.org/pdf/2209.02849}
}



@inproceedings{paper:kyle-simplest-2023,
  title         = {The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies },
  author        = {Kyle, James and Yim, Justin K. and Hart, Kendall and Bergbreiter, Sarah and Johnson, Aaron M.},
  booktitle     = {IEEE-RAS International Conference on Humanoid Robots},
  year          = {2023},
  keywords      = {Robot Design, Control},
  url_Info      = {https://arxiv.org/abs/2308.08401},
  url_PDF       = {https://arxiv.org/pdf/2308.08401},
  url_Video     = {https://www.youtube.com/watch?v=RLjmxp9vyTY},
  url_VideoAttachment     = {https://www.youtube.com/watch?v=5EwBtk0PADw}
}



@inproceedings{paper:tajbakhsh-mrs-2023,
  title         = {Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning},
  author        = {Tajbakhsh, Ardalan and Biegler, Lorenz T and Johnson, Aaron M.},
  booktitle     = {IEEE International Symposium on Multi-Robot and Multi-Agent Systems},
  year          = {2023},
  type          = {workshop poster},
  keywords      = {Control,Multi-robot Systems,Planning}
}



@article{paper:kong-saltation-2023,
  title         = {Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems},
  author        = {Kong, Nathan J. and Payne, J. Joe and Zhu, James and Johnson, Aaron M.},
  journal       = {arXiv:2306.06862 [cs.RO]},
  year          = {2023},
  note          = {Under review},
  keywords      = {Hybrid Systems, Control, Contact, Modeling, State Estimation},
  url_Info      = {https://arxiv.org/abs/2306.06862},
  url_PDF       = {https://arxiv.org/pdf/2306.06862}
}



@inproceedings{paper:zaro-collision-2023,
  title         = {Collision Detection for Multi-Robot Motion Planning with Efficient Quad-Tree Update and Skipping},
  author        = {Zaro, Abdel and Tajbakhsh, Ardalan and Johnson, Aaron M.},
  booktitle     = {arXiv:2307.07602 [cs.MA]},
  year          = {2023},
  note          = {Under review},
  keywords      = {Control,Multi-robot Systems,Planning},
  url_Info      = {https://arxiv.org/abs/2307.07602},
  url_PDF       = {https://arxiv.org/pdf/2307.07602.pdf}
}



@article{paper:kong-hybrid-2023,
  author        = {Nathan Kong and Chuanzheng Li and George Council and Aaron M. Johnson},
  title         = {Hybrid {iLQR} Model Predictive Control for Contact Implicit Stabilization on Legged Robots},
  journal       = {IEEE Transactions on Robotics},
  year          = {2023},
  volume        = {39},
  number        = {6},
  pages         = {4712--4727},
  keywords      = {Hybrid Systems, Control, Contact, Optimization},
  url_Publisher = {https://ieeexplore.ieee.org/document/10252162},
  url_PDF       = {https://arxiv.org/pdf/2207.04591},
  url_Video     = {https://youtu.be/zacEMkk37PA},
  url_DOI       = {https://doi.org/10.1109/TRO.2023.3308773}
}



@inproceedings{paper:yim-proprioception-2023,
  title         = {Proprioception and reaction for walking among entanglements},
  author        = {Yim, Justin K. and Ren, Jiming and Ologan, David and Garcia Gonzalez, Selvin and Johnson, Aaron M.},
  booktitle     = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year          = {2023},
  month         = {October},
  pages         = {2760--2767},
  keywords      = {Control,Proprioception,Perception,State Estimation,Contact},
  url_Info      = {https://ieeexplore.ieee.org/document/10341986},
  url_PDF       = {https://arxiv.org/pdf/2304.02129},
  url_Video     = {https://www.youtube.com/watch?v=aM3qdtm1Ets},
  url_DOI       = {https://doi.org/10.1109/IROS55552.2023.10341986}
}




@inproceedings{paper:yang-proprioception-2023,
  title         = {Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots},
  author        = {Yang, Yanhao and Norby, Joseph and Yim, Justin K. and Johnson, Aaron M.},
  booktitle     = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year          = {2023},
  month         = {October},
  pages         = {735--742},
  keywords      = {Control,Leaping,Proprioception,Tails},
  url_Info      = {https://ieeexplore.ieee.org/document/10342384},
  url_PDF       = {https://arxiv.org/pdf/2303.04781},
  url_Video     = {https://www.youtube.com/watch?v=ywXJ6kiuKyA},
  url_Presentation = {https://youtu.be/1J9D1Pz4d9o},
  url_DOI       = {https://doi.org/10.1109/IROS55552.2023.10342384}
}



@inproceedings{paper:turski-staged-2023,
  title         = {Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization},
  author        = {Turski, Michael R. and Norby, Joseph and Johnson, Aaron M.},
  booktitle     = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year          = {2023},
  month         = {October},
  pages         = {2376-2383},
  keywords      = {Optimization, Control, Contact},
  url_Info      = {https://ieeexplore.ieee.org/document/10342296},
  url_PDF       = {https://arxiv.org/pdf/2304.04923},
  url_Video     = {https://youtu.be/2OZm7MQAZ28},
  url_DOI       = {https://doi.org/10.1109/IROS55552.2023.10342296}
}



@inproceedings{abs:ologan-iros-2023,
  author        = {David Ologan and Ardalan Tajbakhsh and Justin K. Yim and Yanhao Yang and Joseph Norby and Jiming Ren and Selvin Orlando Garcia Gonzalez and Aaron M. Johnson},
  title         = {{Quad-SDK} Update: Estimation, Underbrush, and Other Improvements},
  booktitle     = {IROS Late Breaking Results},
  year          = {2023},
  month         = {October},
  type          = {workshop poster},
  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/QuadSDK_IROS23_Update.pdf},
  keywords      = {Control, Planning,Proprioception,State Estimation,Contact}
}



@inproceedings{abs:yim-iros-2023,
  author        = {Yim, Justin K. and Kyle, James and Hart, Kendall and Bergbreiter, Sarah and Johnson, Aaron M. },
  title         = {Small, stable, steerable bipedal walkers with one and two actuators},
  booktitle     = {IROS Demonstration Session},
  year          = {2023},
  month         = {October},
  type          = {workshop abstract},
  keywords      = {Robot Design, Control}
}



@inproceedings{paper:zhu-grounding-2023,
  title         = {Grounding Robot Navigation in Self-Defense Law},
  author        = {Zhu, James and Shrivastava, Anoushka and Johnson, Aaron M.},
  booktitle     = {IEEE International Conference on Robot and Human Interactive Communication},
  year          = {2023},
  month         = {August},
  pages         = {2470--2477},
  keywords      = {Philosophy, HRI},
  url_Info      = {https://ieeexplore.ieee.org/document/10309428},
  url_PDF       = {https://arxiv.org/pdf/2304.00347},
  url_DOI       = {https://doi.org/10.1109/RO-MAN57019.2023.10309428}
}



@inproceedings{abs:payne-dw-2023,
  author        = {J. Joe Payne and Aaron M. Johnson},
  title         = {Multiple Model State Estimation for Hybrid Dynamical Systems},
  booktitle     = {Dynamic Walking},
  year          = {2023},
  month         = {June},
  type          = {workshop poster},
  keywords      = {Proprioception,Perception,State Estimation,Contact}
}



@inproceedings{abs:johnson-dw-2023,
  author        = {Yim, Justin K. and Ren, Jiming and Ologan, David and Garcia Gonzalez, Selvin and Aaron M. Johnson},
  title         = {Locomotion Through Vegetation with Legged Robots},
  booktitle     = {Dynamic Walking},
  year          = {2023},
  month         = {June},
  type          = {workshop abstract},
  keywords      = {Control,Proprioception,Perception,State Estimation,Contact}
}



@inproceedings{abs:lowry-battelle-2023,
  author        = {Gregory V. Lowry and Aaron M. Johnson and Hairong Wang and Sean Wang and Shane Deng and Thomas Hoelen and Natasha Sihota},
  title         = {Autonomous Characterization of Chloride and Total Petroleum Hydrocarbons in Contaminated Soils Using Ground-Based Robotic Platforms},
  booktitle     = {Battelle International Symposium on Bioremediation and Sustainable Environmental Technologies},
  year          = {2023},
  month         = {May},
  type          = {workshop abstract},
  keywords      = {Environmental Monitoring},
  url_PDF       = {https://www.battelle.org/docs/default-source/hidden/2023-bio-symp-abstracts/347.pdf}
}




@phdthesis{Pavlov-2023,
  author   = {Catherine Pavlov},
  title    = {Off-Nominal Rover Driving: Terrain Manipulation and Degraded Mobility Compensation},
  year     = {2023},
  month    = {February},
  school   = {Mechanical Engineering Department, Carnegie Mellon University},
  address  = {Pittsburgh, PA},
  keywords = {Control,Modeling,Optimization,Sand,Space Robotics,Terrain Manipulation},
  url_PDF  = {http://www.andrew.cmu.edu/user/amj1/papers/Pavlov2023.pdf},
  url_Video = {https://www.youtube.com/watch?v=bF0AZiiSgVg}
}



@article{paper:bhatia-reacting-2022,
  author        = {Ankit Bhatia and Matthew T. Mason and Aaron M. Johnson},
  title         = {Reacting to Contact: Transparency and Collision Reflex in Actuation},
  journal       = {arXiv:2212.03469 [cs.RO]},
  year          = {2022},
  note          = {Under review},
  keywords      = {Contact,Control,Manipulation,Perception,Proprioception,Robot Design,Uncertainty},
  url_Info      = {https://arxiv.org/abs/2212.03469},
  url_PDF       = {https://arxiv.org/pdf/2212.03469}
}




@inproceedings{abs:payne-state-2022,
  author        = {J. Joe Payne and Nathan J. Kong and Aaron M. Johnson},
  title         = {State Estimation for Hybrid Systems: {S}altation Based Methods},
  booktitle     = {IROS Workshop on Agile Robotics},
  year          = {2022},
  month         = {October},
  type          = {workshop abstract},
  keywords      = {Hybrid Systems, State Estimation, Uncertainty, Contact},
  url_Info      = {https://wp.nyu.edu/workshopiros2022agilerobotics/},
  url_PDF       = {https://www.dropbox.com/s/wu3jmwheh0erixo/Agile_Robotics_2022_paper_7758.pdf?dl=0}
}



@article{paper:nava-portable-2023,
  author        = {Valeria Nava and Natasha Sihota and Thomas P. Hoelen and Aaron M. Johnson and Gregory Lowry},
  title         = {Portable {X}-ray fluorescence for autonomous in-situ characterization of chloride in oil and gas waste},
  journal       = {Environmental Pollution},
  year          = {2023},
  pages         = {120558},
  volume        = {316},
  part          = {2},
  keywords      = {Environmental Monitoring},
  url_DOI       = {https://doi.org/10.1016/j.envpol.2022.120558}
}



@article{paper:matthies-editorial-2022,
  author        = {Larry Matthies and Aaron M. Johnson and Monroe Kennedy and Cynthia Matuszek and Dilip G. Patel},
  title         = {Editorial: {S}pecial Issue on {R}obotics {C}ollaborative {T}echnology {A}lliance ({RCTA}) Program},
  journal       = {Field Robotics},
  year          = {2022},
  month         = {September},
  volume        = {2},
  pages         = {1943--1946},
  url_Info      = {https://www.journalfieldrobotics.org/Field_Robotics/SI_RCTA.html},
  url_PDF       = {https://www.journalfieldrobotics.org/Field_Robotics/SI_RCTA_files/Vol2_61_FR-Editorial-RCTA.pdf},
  url_DOI       = {https://doi.org/10.55417/fr.2022061}
}



@phdthesis{Kong-2022,
  author   = {Nathan J. Kong},
  title    = {Increasing Reliability of Legged Robots in the Presence of Uncertainty},
  year     = {2022},
  month    = {August},
  school   = {Mechanical Engineering Department, Carnegie Mellon University},
  address  = {Pittsburgh, PA},
  keywords = {Hybrid Systems, Control, Contact, Optimization, Planning, State Estimation, Uncertainty, Hill Climbing},
  url_PDF  = {http://www.andrew.cmu.edu/user/amj1/papers/Kong2022.pdf},
  url_Video = {https://www.youtube.com/watch?v=lPzBe-pfdXY},
  url_ProQuest = {https://www.proquest.com/docview/2719490550/5F257C350C32417APQ/}
}



@phdthesis{Norby-2022,
  author   = {Joseph Norby},
  title    = {Enabling Autonomous Legged Robot Agility},
  year     = {2022},
  month    = {August},
  school   = {Mechanical Engineering Department, Carnegie Mellon University},
  address  = {Pittsburgh, PA},
  keywords = {Control, Optimization, Leaping, Planning, Tails},
  url_PDF  = {http://www.andrew.cmu.edu/user/amj1/papers/Norby2022.pdf},
  url_ProQuest = {https://www.proquest.com/docview/2719482026/9D3D96AF11484B24PQ/}
}





@inproceedings{paper:payne-uncertainty-2022,
  author       = {J. Joe Payne and Nathan J. Kong and Aaron M. Johnson},
  title        = {The Uncertainty Aware {Salted} {Kalman} {Filter}: {State} Estimation for Hybrid Systems with Uncertain Guards},
  booktitle    = {IEEE/RSJ Intl.\ Conference on Intelligent Robots and Systems},
  year         = {2022},
  month        = {October},
  pages        = {8821--8828},
  keywords     = {Hybrid Systems, State Estimation, Uncertainty, Contact},
  url_Publisher= {https://ieeexplore.ieee.org/document/9981218},
  url_PDF      = {https://arxiv.org/pdf/2202.12729.pdf},
  url_Video    = {https://www.youtube.com/watch?v=8HJ2zbg3W3Q}
}



@inproceedings{paper:nadan-microspine-2022,
  author       = {Paul Nadan and Dinesh Patel and Catherine Pavlov and Spencer Backus and Aaron M. Johnson},
  title        = {Microspine Design for Additive Manufacturing},
  booktitle    = {IEEE/RSJ Intl.\ Conference on Intelligent Robots and Systems},
  year         = {2022},
  month        = {October},
  pages        = {5640--5647},
  keywords     = {Robot Design, Space Robotics},
  url_Publisher= {https://ieeexplore.ieee.org/document/9981634},
  url_Info     = {https://www.ri.cmu.edu/publications/microspine-design-for-additive-manufacturing/},
  url_PDF      = {https://www.ri.cmu.edu/wp-content/uploads/2022/07/Microspine_Design_for_Additive_Manufacturing.pdf},
  url_Video    = {https://www.youtube.com/watch?v=XGfsZuqb3PI}
}



@techreport{tr:he-2022,
  author       = {Hannah He and Joe Norby and Sean Wang and Natasha Sihota and Thomas P. Hoelen and Gregory V. Lowry and Aaron M. Johnson},
  title        = {Environmental Sampling with the Boustrophedon Decomposition Algorithm},
  institution  = {{arXiv}},
  year         = {2022},
  number       = {{arXiv:2207.06209 [cs.RO]}},
  keywords     = {Environmental Monitoring, Planning},
  url_Info     = {https://arxiv.org/abs/2207.06209},
  url_PDF      = {https://arxiv.org/pdf/2207.06209}
}



@inproceedings{abs:zhu-hybrid-2022,
  author        = {James Zhu and Nathan J. Kong and George Council and Aaron M. Johnson},
  title         = {Hybrid {Event} {Shaping} to stabilize periodic hybrid orbits},
  booktitle     = {RSS Workshop on the Science of Bumping Into Things},
  year          = {2022},
  month         = {July},
  type          = {workshop abstract},
  keywords      = {Hybrid Systems, Control, Optimization, Planning, Contact},
  url_Info      = {https://aaronjoh.github.io/bumping_into_things/},
  url_PDF       = {https://aaronjoh.github.io/bumping_into_things/RSS_Workshop___Hybrid_Event_Shaping.pdf}
}



@inproceedings{abs:zhu-convergent-2022,
  author        = {James Zhu and Aaron M. Johnson},
  title         = {Convergent {iLQR} for Underactuated Hybrid Dynamical Systems},
  booktitle     = {RSS Workshop on Risk Aware Decision Making},
  year          = {2022},
  month         = {June},
  type          = {workshop abstract},
  keywords      = {Hybrid Systems, Control, Optimization, Planning, Contact},
  url_Video     = {https://www.youtube.com/watch?v=u14fghhCpTU&t=366s}
}



@inproceedings{abs:yim-walking-2022,
  author        = {Justin Yim and James Kyle and Aaron M. Johnson},
  title         = {Walking and turning with few actuators},
  booktitle     = {Dynamic Walking},
  year          = {2022},
  month         = {June},
  type          = {workshop poster},
  keywords      = {Robot Design, Control},
  url_Video     = {https://mediaspace.wisc.edu/media/DW22_Yim%2C+Justin+-+June+14th+2022%2C+3A24A36+pm/1_o8qe5c46}
}



@inproceedings{abs:payne-kalman-2022,
  author        = {J. Joe Payne and Nathan J. Kong and Aaron M. Johnson},
  title         = {Kalman Filtering for Hybrid Systems},
  booktitle     = {Dynamic Walking},
  year          = {2022},
  month         = {June},
  type          = {workshop poster},
  keywords      = {Hybrid Systems, State Estimation, Uncertainty, Contact},
  url_Video     = {https://mediaspace.wisc.edu/media/DW22_Payne%2C%20J.%20Joe%20-%20June%2015th%202022%2C%209%3A32%3A43%20pm/1_ps8wgu5u}
}



@inproceedings{abs:zhu-unifying-2022,
  author        = {James Zhu and Aaron M. Johnson},
  title         = {Unifying swing leg retraction, {R}aibert heuristic, and paddle juggling with hybrid event shaping},
  booktitle     = {Dynamic Walking},
  year          = {2022},
  month         = {June},
  type          = {workshop poster},
  keywords      = {Hybrid Systems, Control, Optimization, Planning, Contact},
  url_Video1    = {https://mediaspace.wisc.edu/media/DW22_Joyhnson%2C+Aaron+%281%29+-+June+13th+%28Screen%29/1_dj001uhy},
  url_Video2    = {https://mediaspace.wisc.edu/media/DW22_Johnson%2C+Aaron%281%29+-+June+13th+%28Camera%29/1_x32mfbsr},
  url_video3    = {https://mediaspace.wisc.edu/media/DW22_Johnson%2C+Aaron-+June+13th+2022%2C+10A11A21+am/1_30ss865f}
}



@inproceedings{abs:norby-quad-sdk-2022,
  author        = {Joseph Norby and Yanhao Yang and Ardalan Tajbakhsh and Jiming Ren and Justin K. Yim and Alexandra Stutt and Qishun Yu and Nikolai Flowers and Aaron M. Johnson},
  title         = {Quad-{SDK}: Full Stack Software Framework for Agile Quadrupedal Locomotion},
  booktitle     = {ICRA Workshop on Legged Robots},
  year          = {2022},
  month         = {May},
  type          = {workshop abstract},
  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/Quad_SDK_ICRA_Abstract.pdf},
  url_Video     = {https://www.youtube.com/watch?v=kSXKjTxKpuA},
  url_Code      = {https://github.com/robomechanics/quad-sdk},
  url_Workshop  = {https://leggedrobots.org/lrws_2022/index.html},
  keywords      = {Control,Planning,Leaping}
}



@inproceedings{abs:yang-proprioception-2022,
  author        = {Yanhao Yang and Joseph Norby and Justin K. Yim and Aaron M. Johnson},
  title         = {Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots},
  booktitle     = {ICRA Workshop on Legged Robots},
  year          = {2022},
  month         = {May},
  type          = {workshop abstract},
  url_Info      = {https://leggedrobots.org/index.html},
  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/Proprioception_and_Tail_Control_ICRA_WS.pdf},
  url_Video     = {https://youtu.be/uH6T1ETzjhM},
  keywords      = {Control,Leaping,Proprioception,Tails}
}




@inproceedings{abs:zhu-ethics-2022,
  author        = {James Zhu and Aaron M. Johnson},
  title         = {By Air or by Land: How Locomotion Methods Dictate Drone Ethics},
  booktitle     = {ICRA Workshop on Addressing Ethical and Technical Challenges in the Development, Use and Governance of Lethal Autonomous Weapons Systems},
  year          = {2022},
  month         = {May},
  type          = {workshop poster},
  url_Info      = {https://www.grasp.upenn.edu/LAWS_ICRA2022/},
  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/How_Locomotion_Methods_Dictate_Drone_Ethics.pdf},
  keywords      = {Philosophy}
}



@inproceedings{paper:zhu-hybrid-2022,
  author       = {James Zhu and Nathan J. Kong and George Council and Aaron M. Johnson},
  title        = {Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits},
  booktitle    = {IEEE Intl.\ Conference on Robotics and Automation},
  month        = {May},
  year         = {2022},
  pages        = {6600--6606},
  address      = {Philadelphia, PA},
  keywords     = {Hybrid Systems, Control, Optimization, Planning, Contact},
  url_PDF      = {https://arxiv.org/pdf/2110.01123.pdf},
  url_Video    = {https://www.youtube.com/watch?v=EqIjG2cCX5w},
  url_Presentation = {https://www.youtube.com/watch?v=oLRKRzsb5uo},
  url_DOI      = {https://doi.org/10.1109/ICRA46639.2022.9811782}
}



@inproceedings{paper:islam-scalable-2022,
  author        = {Sharfin Islam and Kamal Carter and Justin Yim and James Kyle and Sarah Bergbreiter and Aaron M. Johnson},
  title         = {Scalable Minimally Actuated Leg Extension Bipedal Walker Based on {3D} Passive Dynamics},
  booktitle     = {IEEE Intl.\ Conference on Robotics and Automation},
  month         = {May},
  year          = {2022},
  pages         = {207--213},
  address       = {Philadelphia, PA},
  keywords      = {Robot Design, Control},
  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/ICRA2022_3D_Walker_Paper.pdf},
  url_Video     = {https://youtu.be/kECAdJEaJlk},
  url_DOI       = {https://doi.org/10.1109/ICRA46639.2022.9812053}
}



@inproceedings{paper:kumar-periodic-2022,
  author        = {Hans Kumar and J. Joe Payne and Matthew Travers and Aaron M. Johnson and Howie Choset},
  title         = {Periodic {SLAM}: {U}sing Cyclic Constraints to Improve the Performance of Visual-Inertial {SLAM} on Legged Robots},
  booktitle     = {IEEE Intl.\ Conference on Robotics and Automation},
  month         = {May},
  year          = {2022},
  pages         = {9477--9483},
  address       = {Philadelphia, PA},
  keywords      = {Perception, State Estimation},
  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/ICRA2022_Periodic_SLAM_Paper.pdf},
  url_DOI       = {https://doi.org/10.1109/ICRA46639.2022.9811634}
}



@inproceedings{paper:triest-tartandrive-2022,
  author        = {Samuel Triest and Matthew Sivaprakasam and Sean J. Wang and Wenshan Wang and Aaron M. Johnson and Sebastian Scherer},
  title         = {{TartanDrive}: {A} Large-Scale Dataset for Learning Off-Road Dynamics Models},
  booktitle     = {IEEE Intl.\ Conference on Robotics and Automation},
  month         = {May},
  year          = {2022},
  pages         = {2546--2552},
  address       = {Philadelphia, PA},
  keywords      = {Learning, Modeling, Hill Climbing},
  url_PDF       = {https://arxiv.org/pdf/2205.01791},
  url_Video     = {https://www.youtube.com/watch?v=wgAD7T6dKEE},
  url_Dataset   = {https://github.com/castacks/tartan_drive},
  url_DOI       = {https://doi.org/10.1109/ICRA46639.2022.9811648}
}



@inproceedings{abs:johnson-kodfest-2022,
  author        = {Aaron M. Johnson},
  title         = {Wandering Through the Desert: How Kod*lab Launched My Career},
  booktitle     = {Kod*fest: A Festschrift in Honor of Professor Daniel E. Koditschek},
  year          = {2022},
  month         = {May},
  type          = {workshop abstract},
  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/KodFest_2022_Johnson.pdf}
}



@phdthesis{Bhatia-2022-131694,
  author   = {Ankit Bhatia},
  title    = {Direct-Drive Hands: Making Robot Hands Transparent and Reactive to Contacts},
  year     = {2022},
  month    = {May},
  school   = {Robotics Institute, Carnegie Mellon University},
  address  = {Pittsburgh, PA},
  number   = {CMU-RI-TR-22-16},
  keywords = {Contact,Control,Manipulation,Perception,Proprioception,Robot Design,Uncertainty},
  url_Info = {https://www.ri.cmu.edu/publications/direct-drive-hands-making-robot-hands-transparent-and-reactive-to-contacts/},
  url_PDF  = {https://www.ri.cmu.edu/wp-content/uploads/2022/05/ankitb_thesis_final.pdf}
}



@inproceedings{abs:pavlov-LSIC-2022,
  author        = {Catherine A. Pavlov and Arno Rogg and Aaron M. Johnson},
  title         = {Assessing Impact of Joint Actuator Failure on Lunar Rover Mobility},
  booktitle     = {Lunar Surface Innovation Consortium Spring Meeting},
  year          = {2022},
  month         = {May},
  page          = {45},
  type          = {workshop abstract},
  url_PDF       = {https://lsic.jhuapl.edu/uploadedDocs/meetings/docs/1336-2022%2005%20LSIC%20Spring%20Meeting_Program%20Book.pdf},
  url_Poster    = {https://ntrs.nasa.gov/citations/20220005373},
  keywords      = {Terrain Manipulation, Sand, Space Robotics}
}



@article{paper:shield-contact-2022,
  author        = {Stacey Leigh Shield and Aaron M. Johnson and Amir Patel},
  title         = {Contact-Implicit Direct Collocation with a Discontinuous Velocity State},
  journal       = {IEEE Robotics and Automation Letters},
  year          = {2022},
  volume        = {7},
  number        = {2},
  pages         = {5779--5786},
  keywords      = {Optimization, Control, Contact},
  url_Publisher = {https://ieeexplore.ieee.org/abstract/document/9739950},
  url_DOI       = {https://doi.org/10.1109/LRA.2022.3160077}
}



@inproceedings{paper:kong-ilqr-2021,
  author       = {Nathan J. Kong and George Council and Aaron M. Johnson},
  title        = {{iLQR}  for  Piecewise-Smooth  Hybrid  Dynamical  Systems},
  booktitle    = {IEEE Conference on Decision and Control},
  year         = {2021},
  month        = {December},
  pages        = {5374--5381},
  keywords     = {Hybrid Systems, Control, Optimization, Planning, Contact},
  url_Publisher= {https://ieeexplore.ieee.org/document/9683506},
  url_PDF      = {https://arxiv.org/pdf/2103.14584.pdf},
  url_Video    = {https://www.youtube.com/watch?v=_rcM68X6gOE},
  url_DOI      = {https://doi.org/10.1109/CDC45484.2021.9683506}
}



@inproceedings{paper:wang2021rough,
  title     = {Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning},
  author    = {Sean J. Wang and Samuel Triest and Wenshan Wang and Sebastian Scherer and Aaron M. Johnson},
  booktitle = {Conference on Robot Learning},
  series    = {Proceedings of Machine Learning Research},
  pages     = {224--233},
  volume    = {164},
  year      = {2021},
  month     = {November},
  keywords  = {Learning, Modeling, Uncertainty},
  url_Publisher  = {https://proceedings.mlr.press/v164/wang22c.html},
  url_PDF   = {https://proceedings.mlr.press/v164/wang22c/wang22c.pdf},
  url_Poster = {https://openreview.net/attachment?id=Wt3GLZYFvEQ&name=poster},
  url_Video = {https://www.youtube.com/watch?v=Zthy1dZGLHk}
}



@inproceedings{abs:yang-rssws-2021,
  author = {Yanhao Yang and Joseph Norby and Justin K. Yim and Aaron M. Johnson},
  title = {Improving Tail Compatibility Through Sequential Distributed Model Predictive Control},
  booktitle = {RSS Workshop on Software Tools for Real-Time Optimal Control},
  year = {2021},
  month = {July},
  type  = {workshop abstract},
  keywords = {Control, Tails, Optimization},
  url_Info = {https://mpcworkshop.org/},
  url_PDF  = {https://drive.google.com/file/d/1znLvlbNYpMr8u6HqINxlvMcQ4xHFdA_t/view}
}



@inproceedings{paper:kumar-periodic-2021,
  author        = {Hans Kumar and J. Joe Payne and Matthew Travers and Aaron M. Johnson and Howie Choset},
  title         = {Periodic {SLAM}: Using Cyclic Constraints to Improve the Performance of Visual-Inertial {SLAM} on Legged Robots},
  booktitle     = {ICRA Workshop on Visual-Inertial Navigation Systems},
  month         = {May},
  year          = {2021},
  type          = {workshop abstract},
  keywords      = {Perception, State Estimation},
  url_PDF       = {https://udel.edu/~ghuang/icra21-vins-workshop/papers/04-Kumar_PeriodicSLAM.pdf},
  url_Info      = {https://udel.edu/~ghuang/icra21-vins-workshop/index.html}
}



@article{paper:kong-skf-2021,
  author       = {Nathan J. Kong and J. Joe Payne and George Council and Aaron M. Johnson},
  title        = {The {Salted} {Kalman} {Filter}:  {Kalman} Filtering on Hybrid Dynamical Systems},
  journal      = {Automatica},
  year         = {2021},
  volume       = {131},
  pages        = {109752},
  keywords     = {Hybrid Systems, State Estimation, Uncertainty, Contact},
  url_Publisher     = {https://www.sciencedirect.com/science/article/pii/S0005109821002727},
  url_DOI      = {https://doi.org/10.1016/j.automatica.2021.109752},
  url_arxiv    = {https://arxiv.org/abs/2007.12233},
  url_PDF      = {https://www.sciencedirect.com/science/article/pii/S0005109821002727/pdfft?md5=4bbaaa437df2d1f651affbded8b1115a&pid=1-s2.0-S0005109821002727-main.pdf}
}




@inproceedings{paper:wang-domain-2021,
  author        = {Sean J. Wang and Aaron M. Johnson},
  title         = {Domain Adaptation Using System Invariant Dynamics Models},
  booktitle     = {Learning for Dynamics and Control Conference},
  month         = {May},
  year          = {2021},
  pages         = {1130--1141},
  volume        = {144},
  series        = {Proceedings of Machine Learning Research},
  url_Publisher      = {http://proceedings.mlr.press/v144/wang21c.html},
  url_PDF       = {http://proceedings.mlr.press/v144/wang21c/wang21c.pdf},
  url_Video     = {https://www.youtube.com/watch?v=EWIoX15Hlzs&list=PLe110ctXgBd1K8YNnfXIRHOIvg6q2xFkm&index=4},
  keywords      = {Learning, Modeling}  
}



@inproceedings{abs:yim-dw-2021,
  author = {Justin K. Yim and Kamal Carter and Sharfin Islam and Sarah Bergbreiter and Aaron M. Johnson},
  title = {{3D} Passive Dynamics-inspired Walking Actuated by Open Loop Leg Extension},
  booktitle = {Dynamic Walking},
  year = {2021},
  month = {May},
  type  = {workshop abstract},
  keywords = {Robot Design, Control},
  url_Info = {https://www.dynamicwalking2021.org/episode-1-biomechanics},
  url_PDF  = {https://www.dynamicwalking2021.org/s/Justin-Yim-Yim_Justin_DW2021.pdf}
}



@techreport{tr:mars-ice-2021,
  author       = {{Mars Ice Core Working Group}},
  title        = {First Ice Cores from {Mars}},
  institution  = {NASA Whitepaper. co-chairs: M.R. Albert and M. Koutnik},
  year         = {2021},
  keywords     = {Environmental Monitoring, Space Robotics},
  url_PDF      = {https://www.nasa.gov/sites/default/files/atoms/files/mars_ice_core_working_group_report_final_feb2021.pdf}
}



@article{paper:norby-aerodynamic-2021,
  title     = {Enabling dynamic behaviors with aerodynamic drag in lightweight tails},
  author    = {Joseph C. Norby and Jun Yang Li and Cameron C. Selby and Amir Patel and Aaron M. Johnson},
  year      = {2021},
  journal   = {IEEE Transactions on Robotics},
  volume    = {37},
  number    = {4},
  pages     = {1144--1153},
  keywords  = {Tails, Leaping},
  url_PDF   = {http://www.andrew.cmu.edu/user/amj1/papers/TRO2021_Aerodynamic_Tails.pdf},
  url_Publisher  = {https://ieeexplore.ieee.org/document/9316238},
  url_DOI   = {https://doi.org/10.1109/TRO.2020.3045644}
}



@inproceedings{abs:norby-aps-2021,
  title     = {Leveraging Aerodynamic Drag for Tails in Legged Robot Locomotion},
  author    = {Joseph C. Norby and Jun Yang Li and Cameron C. Selby and Amir Patel and Aaron M. Johnson},
  year      = {2021},
  booktitle   = {American Physical Society (APS) March Meeting},
  keywords  = {Tails, Leaping},
  type      = {workshop abstract},
  url_Publisher  = {http://meetings.aps.org/Meeting/MAR21/Session/F14.3}
}



@inproceedings{abs:wang-agu-2020,
  author = {Sean J. Wang and Valeria Nava and Nicholas Jones and Gregory Lowry and Aaron M. Johnson},
  title = {Ground-based Robots for Soil Collection and Analysis},
  booktitle = {American Geophysical Union (AGU) Fall Meeting},
  year = {2020},
  month = {December},
  type  = {workshop poster},
  keywords = {Robot Design, Terrain Manipulation, Environmental Monitoring},
  url_Poster = {https://agu.confex.com/agu/fm20/webprogram/Paper735031.html}
}



@inproceedings{paper:wang-contact-2020,
  author        = {Sean J. Wang and Ankit Bhatia and Matthew T. Mason and Aaron M. Johnson},
  title         = {Contact Localization using Velocity Constraints},
  booktitle     = {IEEE/RSJ Intl.\ Conference on Intelligent Robots and Systems},
  month         = {October},
  year          = {2020},
  pages         = {7351--7358},
  address       = {Las Vegas, NV},
  keywords      = {Contact, Proprioception, State Estimation},
  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/IROS2020_Contact_Localization.pdf},
  url_Video     = {https://www.youtube.com/watch?v=zN183Fkj3-Q},
  url_Publisher = {https://ieeexplore.ieee.org/abstract/document/9341751}
}



@inproceedings{paper:norby-fast-2020,
  author        = {Joseph Norby and Aaron M. Johnson},
  title         = {Fast Global Motion Planning for Dynamic Legged Robots},
  booktitle     = {IEEE/RSJ Intl.\ Conference on Intelligent Robots and Systems},
  month         = {October},
  year          = {2020},
  pages         = {3829--3836},
  address       = {Las Vegas, NV},
  keywords      = {Planning, Leaping},
  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/IROS2020_Fast_Global_Motion_Planning.pdf},
  url_Video     = {https://www.youtube.com/watch?v=B1u4hTuSS8g},
  url_Publisher = {https://ieeexplore.ieee.org/document/9341438}
}



@inproceedings{abs:pavlov-isairas-2020,
  author = {Catherine Pavlov and Aaron M. Johnson},
  title = {Field Experiments in Nonprehensile Terrain Manipulation with Planetary Exploration Rovers},
  booktitle = {International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)},
  year = {2020},
  month = {October},
  type  = {workshop poster},
  keywords = {Terrain Manipulation, Sand, Space Robotics},
  url_Poster = {https://www.hou.usra.edu/meetings/isairas2020/eposter/4038.pdf},
  url_Video = {https://www.youtube.com/watch?v=jlq6pzfWUE8}
}




@techreport{tr:sadalgekar2020riss,
   author = {Gargi Sadalgekar and Sean Wang and Aaron M. Johnson},
   title = {Path Optimization for Autonomous Rough Terrain Traversal},
   institution = {CMU Robotics Institute Summer Scholars Working Papers Journal},
   year = {2020},
   volume= {8},
   pages = {195--199},
   keywords  = {Optimization, Planning},
   url_PDF = {https://riss.ri.cmu.edu/wp-content/uploads/2020/10/2020-CMU-RoboticsInstituteSummerScholarsWorkingPapersJournal.pdf},
   url_Video = {https://youtu.be/bcPi7WQNAHg},
   url_Poster = {https://drive.google.com/file/d/1eooMmC3MOeZ43dzBuocTQuG-g7LZH4Uy/view?usp=sharing}
}



@inproceedings{abs:estansi-rss-2020,
  author = {Nathan Estansi and Ankit Bhatia and Aaron M. Johnson},
  title = {Stator Temperature Estimation in Permanent Magnet Synchronous Motors for Low Speed direct-drive Systems},
  booktitle = {Robotics: Science and Systems Workshop on ``Reacting to Contact''},
  year = {2020},
  month = {July},
  type  = {workshop poster},
  keywords = {Proprioception, State Estimation},
  url_PDF = {https://ankitbhatia.github.io/reacting_contact_workshop/files/nathan_estansi.pdf},
  url_Video = {https://www.youtube.com/watch?v=Ges-fKB_mOY}
}



@inproceedings{abs:tajbakhsh-dw-2020,
  author = {Ardalan Tajbakhsh and Nikolai Flowers and Aaron M. Johnson},
  title = {State Estimation for Legged Robots in Unstructured Terrains},
  booktitle = {Dynamic Walking},
  year = {2020},
  month = {May},
  type  = {workshop abstract},
  keywords = {Proprioception, State Estimation, Control, Contact},
  url_PDF = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/746-1131-1-RV.pdf},
  url_Poster = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/746-1131-1-RVP.pdf}
}



@inproceedings{abs:carter-dw-2020,
  author = {Kamal Carter and Sharfin Islam and Ryan St. Pierre and Sarah Bergbreiter and Aaron M. Johnson},
  title = {Design and Control of a Mesoscale Hip Actuated Powered Walker},
  booktitle = {Dynamic Walking},
  year = {2020},
  month = {May},
  type  = {workshop abstract},
  keywords = {Robot Design, Control},
  url_PDF = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/754-1145-1-RV.pdf},
  url_Poster = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/754-1145-1-RVP.pdf}
}



@inproceedings{abs:islam-dw-2020,
  author = {Sharfin Islam and Kamal Carter and Ryan St. Pierre and Sarah Bergbreiter and Aaron M. Johnson},
  title = {Integrating Passive Dynamic Wobbling with Leg Extension to Produce Stable Gaits in a Two-Actuator Bipedal Robot},
  booktitle = {Dynamic Walking},
  year = {2020},
  month = {May},
  type  = {workshop abstract},
  keywords = {Robot Design, Control},
  url_PDF = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/614-977-1-RV.pdf},
  url_Poster = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/614-977-1-RVP.pdf}
}



@inproceedings{abs:wallace-dw-2020,
  author = {Renee Jessica Wallace and Catherine Pavlov and Aaron Johnson},
  title = {Design of Microspine-Enhanced Spring Legs for Robotic Running and Climbing},
  booktitle = {Dynamic Walking},
  year = {2020},
  month = {May},
  type  = {workshop abstract},
  keywords = {Robot Design},
  url_PDF = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/659-974-1-RV.pdf},
  url_Poster = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/659-974-1-RVP.png}
}



@inproceedings{abs:wang-dw-2020,
  author = {Sean J. Wang and Ankit Bhatia and Matt T. Mason and Aaron M. Johnson},
  title = {Contact Localization for Transparent Robots using Velocity Constraints},
  booktitle = {Dynamic Walking},
  year = {2020},
  month = {May},
  type  = {workshop abstract},
  keywords = {Proprioception, Contact},
  url_PDF = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/735-1113-1-RV.pdf},
  url_Poster = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/735-1113-1-RVP.pdf}
}



@inproceedings{abs:turski-dw-2020,
  author = {Michael R. Turski and Joseph Norby and Aaron M. Johnson},
  title = {Contact-Implicit vs. Hybrid Trajectory Optimization: Performance Comparison},
  booktitle = {Dynamic Walking},
  year = {2020},
  month = {May},
  type  = {workshop abstract},
  keywords = {Optimization, Control, Contact},
  url_PDF = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/776-1184-1-RV.pdf},
  url_Poster = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/776-1184-1-RVP.png}
}



@inproceedings{abs:lu-dw-2020,
  author = {Edward Lu and Nathan J. Kong and J. Joseph Payne and Aaron M. Johnson},
  title = {Generating a Dynamic Controller for a Flamingo Inspired Robot using Deep Reinforcement Learning},
  booktitle = {Dynamic Walking},
  year = {2020},
  month = {May},
  type  = {workshop abstract},
  keywords = {Learning, Optimization, Control},
  url_PDF = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/760-1153-1-RV.pdf},
  url_Poster = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/760-1153-1-RVP.pdf}
}



@techreport{tr:yang-2019,
  author       = {Yang, Shuo and Gu, Zhaoyuan and Ge, Ruohai and Johnson, Aaron M and Travers, Matthew and Choset, Howie},
  title        = {Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller},
  institution  = {{arXiv}},
  year         = {2019},
  number       = {{arXiv:1911.05168 [eess.SY]}},
  keywords     = {Robot Design, Control, Optimization},
  url_Info     = {https://arxiv.org/abs/1911.05168},
  url_PDF      = {https://arxiv.org/pdf/1911.05168}
}



@techreport{tr:martone-2019,
  author       = {Martone, Matt and Pavlov, Catherine and Zeloof, Adam and Bahl, Vivaan and Johnson, Aaron M},
  title        = {Enhancing the Vertical Mobility of a Robot Hexapod Using Microspines},
  institution  = {{arXiv}},
  year         = {2019},
  number       = {{arXiv:1906.04811 [cs.RO]}},
  keywords     = {Robot Design, Tails},
  url_Info     = {https://arxiv.org/abs/1906.04811},
  url_PDF      = {https://arxiv.org/pdf/1906.04811}
}



@inproceedings{paper:kong-convergent-2019,
  author        = {Nathan Kong and Aaron M. Johnson},
  title         = {Optimally convergent trajectories for navigation},
  booktitle     = {International Symposium on Robotics Research},
  year          = {2019},
  month         = {October},
  keywords      = {Uncertainty, Control, Hill Climbing, Optimization},
  url_Publisher = {https://link.springer.com/chapter/10.1007/978-3-030-95459-8_5},
  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/ISRR_Convergent_Planning_for_Hill_Navigation.pdf}
}



@inproceedings{paper:bhatia-ddhand-2019,
  author        = {Ankit Bhatia and Aaron M. Johnson and Matthew T. Mason},
  title         = {Direct Drive Hands: Force-Motion Transparency in Gripper Design},
  booktitle     = {Robotics: Science and Systems},
  month         = {June},
  year          = {2019},
  address       = {Messe Freiburg, Germany},
  url_Publisher = {http://www.roboticsproceedings.org/rss15/p53.html},
  url_PDF       = {http://www.roboticsproceedings.org/rss15/p53.pdf},
  url_Video     = {https://www.youtube.com/watch?v=xnHtb0XP3U4},
  keywords      = {Manipulation, Robot Design, Proprioception, Control}
}




@techreport{tr:kim-2019,
  author       = {Wooshik Kim and Catherine Pavlov and Aaron M. Johnson},
  title        = {Developing a Simple Model for Sand-Tool Interaction and Autonomously Shaping Sand},
  institution  = {{arXiv}},
  year         = {2019},
  number       = {{arXiv:1908.02745 [cs.RO]}},
  keywords     = {Terrain Manipulation, Sand, Modeling, Learning, Space Robotics},
  url_Info     = {https://arxiv.org/abs/1908.02745},
  url_PDF      = {https://arxiv.org/pdf/1908.02745}
}



@techreport{tr:wang2019riss,
   author = {Letong Wang and Sean Wang and Aaron M. Johnson},
   title = {Traversability  Analysis  for Highly  Maneuverable  Wheeled  Robots},
   institution = {CMU Robotics Institute Summer Scholars Working Papers Journal},
   year = {2019},
   volume= {7},
   pages = {188--193},
   keywords  = {Perception, Environmental Monitoring},
   url_PDF = {https://riss.ri.cmu.edu/wp-content/uploads/2019/11/2019-riss-final-journal-aA.pdf},
   url_Poster = {https://riss.ri.cmu.edu/wp-content/uploads/2019/08/2019-RISS-poster-WANG-Letong-JOHNSON.pdf}
}



@inproceedings{abs:norby-dw-2019,
  author = {Joseph Norby and Aaron M. Johnson},
  title = {Tail Actuation Improves Quadrupedal Robot Acceleration},
  booktitle = {Dynamic Walking},
  year = {2019},
  month = {June},
  address= {Canmore, Canada},
  type  = {workshop abstract},
  keywords = {Tails, Optimization, Leaping}
}



@inproceedings{abs:payne-dw-2019,
  author = {John Joseph Payne and Nathan J. Kong and Aaron M. Johnson},
  title = {Flamingobot: a Flamingo Inspired Minimal Energy Standing Biped Robot},
  booktitle = {Dynamic Walking},
  year = {2019},
  month = {June},
  address= {Canmore, Canada},
  type  = {workshop abstract},
  keywords = {Robot Design},
  url_Video = {https://www.youtube.com/watch?v=vHWiVu242vc}
}



@article{paper:ilhan_stair_2020,
  title     = {Autonomous Stairwell Ascent},
  author    = {B. Deniz Ilhan and Aaron M. Johnson and D. E. Koditschek},
  year      = {2020},
  journal   = {Robotica},
  volume    = {38},
  number    = {1},
  pages     = {159--170},
  keywords  = {Stair Climbing, Control, Perception},
  url_DOI   = {https://doi.org/10.1017/S0263574719000535}
}



@inproceedings{paper:pavlov-soil-2019,
  author        = {Catherine Pavlov and Aaron M. Johnson},
  title         = {Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover},
  booktitle     = {IEEE Intl.\ Conference on Robotics and Automation},
  month         = {May},
  year          = {2019},
  address       = {Montreal, Canada},
  pages         = {4760--4766},
  _doi          = {10.1109/ICRA.2019.8793645},
  keywords      = {Terrain Manipulation, Sand, Modeling, Space Robotics},
  url_Publisher = {https://ieeexplore.ieee.org/document/8793645},
  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/ICRA2019_Wheel.pdf},
  url_Video     = {https://www.youtube.com/watch?v=SJXjnnBbAkA}
}



@article{paper:patel-contact-2019,
  author       = {Amir Patel and Stacey Shield and Saif Kazi and Aaron M. Johnson and Lorenz T. Biegler},
  title        = {Contact-Implicit Trajectory Optimization using Orthogonal Collocation},
  journal      = {IEEE Robotics and Automation Letters},
  year         = {2019},
  volume       = {4},
  number       = {2},
  pages        = {2242--2249},
  _doi         = {10.1109/LRA.2019.2900840},
  _arXiv       = {{arXiv:1809.06436 [cs.RO]}},
  url_Publisher = {https://ieeexplore.ieee.org/document/8648229},
  _url_arXiv     = {https://arxiv.org/abs/1809.06436},
  url_PDF      = {https://arxiv.org/pdf/1809.06436},
  url_Video    = {https://www.youtube.com/watch?v=nkynGuqKWUY},
  keywords     = {Optimization, Control, Contact}
}



@inproceedings{abs:selby-aerodynamic-2018,
  author = {Cameron Selby and Amir Patel and Peter Li and Aaron M. Johnson},
  title = {Bio-inspired High Aerodynamic Tail for Robot Reorientation and Stabilization},
  booktitle = {ASME International Mechanical Engineering Congress and Exposition},
  year = {2018},
  month = {November},
  address= {Pittsburgh, PA},
  pages = {IMECE2018-89710},
  type  = {workshop poster},
  keywords     = {Tails},
  url_Info = {https://www.asme.org/events/imece/program#/track/detail/830}
}



@inproceedings{abs:kim-model-2018,
  author = {Wooshik Kim and Aaron M. Johnson},
  title = {Simple Model for Tool Interaction on a Continuously Deformable Environment},
  booktitle = {ASME International Mechanical Engineering Congress and Exposition},
  year = {2018},
  month = {November},
  address= {Pittsburgh, PA},
  pages = {IMECE2018-89452},
  type  = {workshop poster},
  keywords = {Terrain Manipulation, Sand, Modeling, Space Robotics},
  url_Info = {https://www.asme.org/events/imece/program#/track/detail/836}
}



@techreport{tr:ren2018riss,
   author = {Zhiyi Ren and Aaron Johnson},
   title = {Toward Robust Stair Climbing of the Quadruped using Proprioceptive Sensing},
   institution = {CMU Robotics Institute Summer Scholars Working Papers Journal},
   year = {2018},
   volume= {6},
   pages = {112--118},
   keywords  = {Stair Climbing, Proprioception},
   url_PDF = {https://riss.ri.cmu.edu/wp-content/uploads/2018/11/RISS_Journal_Nov26-r.pdf},
   url_Poster = {https://riss.ri.cmu.edu/wp-content/uploads/2018/11/2018-RISS-Poster-Ren-Zhiyi.pdf.pdf}
}




@inproceedings{abs:pavlov-wheel-2018,
  author = {Catherine Pavlov and Aaron M. Johnson},
  title = {Wheel-Based Trenching: Terramechanics of Nonprehensile Manipulation for Planetary Rovers},
  booktitle = {Robotics: Science and Systems Workshop on ``Autonomous Space Robotics''},
  year = {2018},
  month = {June},
  address= {Pittsburgh, PA},
  type  = {workshop abstract},
  keywords = {Terrain Manipulation, Sand, Modeling, Space Robotics},
  url_PDF = {http://www.spacerobotics.xyz/papers/pavlov.pdf},
  url_Info = {http://www.spacerobotics.xyz/}
}



@inproceedings{abs:norby-tailed-2018,
  author = {Joseph Norby and Aaron M. Johnson},
  title = {Towards Energy Optimal Design and Control of Tailed Legged Robot Locomotion},
  booktitle = {Robotics: Science and Systems Workshop on ``Unusual Appendages''},
  year = {2018},
  month = {June},
  address= {Pittsburgh, PA},
  type  = {workshop abstract},
  keywords = {Tails, Optimization},
  url_PDF = {https://www.cmu.edu/me/robomechanicslab/ws/papers/Norby-RSSTails2018.pdf},
  url_Info = {https://www.cmu.edu/me/robomechanicslab/ws/rss2018.html}
}




@inproceedings{abs:patel-tailed-2018,
  author = {Amir Patel and Philipp Suhrcke and Adam Zeloof and Peter Li and Cameron Selby and Aaron Johnson},
  title = {Tail Aerodynamics in Cheetahs and Robots},
  booktitle = {Robotics: Science and Systems Workshop on ``Unusual Appendages''},
  year = {2018},
  month = {June},
  address= {Pittsburgh, PA},
  type  = {workshop abstract},
  keywords = {Tails},
  url_PDF = {https://www.cmu.edu/me/robomechanicslab/ws/papers/Patel-RSSTails2018.pdf},
  url_Info = {https://www.cmu.edu/me/robomechanicslab/ws/rss2018.html}
}



@inproceedings{abs:barragan-minirhex-2018,
  author = {Monica Barragan and Nikolai Flowers and Aaron M. Johnson},
  title = {{MiniRHex}: A Small, Open-source, Fully Programmable Walking Hexapod},
  booktitle = {Robotics: Science and Systems Workshop on ``Design and Control of Small Legged Robots''},
  year = {2018},
  month = {June},
  address= {Pittsburgh, PA},
  type  = {workshop abstract},
  keywords = {Robot Design},
  url_PDF = {http://www.andrew.cmu.edu/user/amj1/papers/RSS2018ws_MiniRHex.pdf},
  url_Project = {https://github.com/robomechanics/MiniRHex},
  url_Info = {http://intra.ece.ucr.edu/~kkarydis/rss18/}
}



@inproceedings{abs:pavlov-trenching-2018,
  author = {Catherine Pavlov and Aaron M. Johnson},
  title = {Wheel-Based Trenching: Terramechanics of Nonprehensile Manipulation on Planetary Rovers},
  booktitle = {Robotics: Science and Systems Workshop on ``Women In Robotics''},
  year = {2018},
  month = {June},
  address= {Pittsburgh, PA},
  type  = {workshop poster},
  keywords = {Terrain Manipulation, Sand, Modeling, Space Robotics},
  url_Info = {https://sites.google.com/view/rss2018women/}
}



@inproceedings{abs:johnson-hoof-2018,
  author = {Aaron M. Johnson and Natha Singhasaneh and Praxis Bays},
  title = {Bioinspired Hoof Design},
  booktitle = {Dynamic Walking},
  year = {2018},
  month = {May},
  address= {Pensacola, FL},
  type  = {workshop abstract},
  keywords = {Robot Design},
  url_PDF = {http://www.andrew.cmu.edu/user/amj1/papers/DW2018_Hoof.pdf},
  url_Video = {https://youtu.be/g5Kcm8aP79o},
  url_Info = {http://robots.ihmc.us/dwc2018-proceedings}
}




@inproceedings{abs:norby-towards-2018,
  author = {Joseph Norby and Aaron M. Johnson},
  title = {Towards Energy Optimal Design and Control for Inertial Reorientation Device},
  booktitle = {Dynamic Walking},
  year = {2018},
  month = {May},
  address= {Pensacola, FL},
  type  = {workshop abstract},
  keywords = {Tails, Optimization},
  url_Video = {https://youtu.be/f0NtJcmhLnI},
  url_Info = {http://robots.ihmc.us/dwc2018-proceedings}
}




@inproceedings{abs:patel-wheels-2018,
  author = {Amir Patel and Aaron M. Johnson},
  title = {Wheels versus Ankles: Rapid Acceleration of a Hybrid Wheeled-Biped Robot},
  booktitle = {Dynamic Walking},
  year = {2018},
  month = {May},
  address= {Pensacola, FL},
  type  = {workshop abstract},
  keywords = {Optimization, Control, Robot Design},
  url_Video = {https://youtu.be/dxX_AIlcRyw},
  url_Info = {http://robots.ihmc.us/dwc2018-proceedings}
}



@inproceedings{abs:flowers-minirhex-2018,
  author = {Nikolai Flowers and Monica Barragan and Aaron M. Johnson},
  title = {{MiniRHex}: An Open-source Walking Hexapod},
  booktitle = {Dynamic Walking},
  year = {2018},
  month = {May},
  address= {Pensacola, FL},
  type  = {workshop abstract},
  keywords = {Robot Design},
  url_PDF = {http://robots.ihmc.us/s/flowers_ABSTRACT.pdf},
  url_Video = {https://youtu.be/ZjvrX6ugl_8},
  url_Project = {https://github.com/robomechanics/MiniRHex},
  url_Info = {http://robots.ihmc.us/dwc2018-proceedings}
}



@article{paper:ilhan_hill_2018,
  title     = {Autonomous Legged Hill Ascent},
  author    = {B. Deniz Ilhan and Aaron M. Johnson and D. E. Koditschek},
  year      = {2018},
  journal   = {Journal of Field Robotics},
  volume    = {35},
  number    = {5},
  month     = {August},
  keywords  = {Hill Climbing, Control},
  pages     = {802--832},
  url_Publisher = {https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21779}
}




@techreport{tr:lee-2017,
  author       = {Gilwoo Lee and Zita Marinho and Aaron M. Johnson and Geoffrey J. Gordon and Siddhartha S. Srinivasa and Matthew T. Mason},
  title        = {Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems},
  institution  = {{arXiv}},
  year         = {2017},
  number       = {{arXiv:1710.00440 [cs.RO]}},
  keywords     = {Hybrid Systems, Uncertainty, Planning, Learning},
  url_Info     = {https://arxiv.org/abs/1710.00440},
  url_PDF      = {https://arxiv.org/pdf/1710.00440}
}




@article{paper:zhou_planning_2017,
  title     = {A Probabilistic Planning Framework for Planar Grasping Under Uncertainty},
  author    = {Jiaji Zhou and Robert Paolini and Aaron M. Johnson and James Bagnell and Matthew T. Mason},
  year      = {2017},
  journal   = {IEEE Robotics and Automation Letters},
  month     = {October},
  volume    = {2},
  number    = {4},
  pages     = {2111--2118},
  keywords  = {Manipulation, Planning, Uncertainty, Proprioception},
  url_Info  = {http://ri.cmu.edu/publications/a-probabilistic-planning-framework-for-planar-grasping-under-uncertainty/},
  url_Publisher = {http://ieeexplore.ieee.org/document/7961218/},
  url_PDF   = {http://ri.cmu.edu/wp-content/uploads/2017/06/main_revised_v2.pdf},
  url_Video = {https://www.youtube.com/watch?v=G8q8HmD36xw}
}



@inproceedings{abs:johnson-extension-2017,
  author = {Aaron M. Johnson},
  title = {Three Uses for Springs in Extension in Legged Locomotion},
  booktitle = {Dynamic Walking},
  year = {2017},
  month = {June},
  address= {Mariehamn, Finland},
  type  = {workshop abstract},
  keywords = {Robot Design},
  url_PDF = {http://www.andrew.cmu.edu/user/amj1/papers/DW2017.pdf}
}



@inproceedings{paper:srinivasa_iser_2016,
  author={Srinivasa, Siddhartha S.
    and Johnson, Aaron M.
    and Lee, Gilwoo
    and Koval, Michael C.
    and Choudhury, Shushman
    and King, Jennifer E.
    and Dellin, Christopher M.
    and Harding, Matthew
    and Butterworth, David T.
    and Velagapudi, Prasanna
    and Thackston, Allison},
    editor={Kuli{\'{c}}, Dana
    and Nakamura, Yoshihiko
    and Khatib, Oussama
    and Venture, Gentiane},
  title={A System for Multi-step Mobile Manipulation: Architecture, Algorithms, and Experiments},
  booktitle={International Symposium on Experimental Robotics},
  year={2016},
  month = {October},
  address= {Tokyo, Japan},
  publisher={Springer Proceedings in Advanced Robotics},
  pages={254--265},
  volume={1},
  keywords = {Manipulation, Planning},
  _doi={10.1007/978-3-319-50115-4_23},
  url_DOI={http://dx.doi.org/10.1007/978-3-319-50115-4_23},
  url_PDF = {http://www.andrew.cmu.edu/user/amj1/papers/ISER2016.pdf}
}




@techreport{tr:rcta-2016,
   author = {Marshal Childers and Craig Lennon and Barry Bodt and Jason Pusey and
       Susan Hill and Rick Camden and Jean Oh and Robert Dean and Terence Keegan
       and Chip Diberardino and Sisir Karumanchi and Bertrand Douillard and Nikhil 
       Gupta and Camilo Ordonez and Jacob Shill and Emmanuel Collins and Jonathan 
       Clark and Daniel Barber and Jeff Duperret and Garrett Wenger and Menglong 
       Zhu and Sangdon Park and Daniel Koditschek and Aaron Johnson and Arne Suppe
       and Luis Navarro-Serment},
   title = {{US} {Army} {Research} {Laboratory} ({ARL}) Robotics Collaborative Technology Alliance 2014 Capstone Experiment},
   institution = {{US} Army Research Laboratory},
   month = {July},
   year = {2016},
   number= {ARL-TR-7729},
   keywords = {Stair Climbing, Perception},
   url_Info = {https://www.arl.army.mil/www/default.cfm?technical_report=7724}
}



@inproceedings{paper:hou_wafr_2016,
   author = {Yifan Hou and Zhenzhong Jia and Aaron M. Johnson and Matthew Mason},
   title = {Robust Planar Dynamic Pivoting by Regulating Inertial and Gripping Forces},
   booktitle = {Workshop on the Algorithmic Foundations of Robotics},
   year = {2016},
   month = {December},
   pages = {464--479},
   address= {San Francisco, CA},
   keywords = {Manipulation, Control, Contact},
   url_Info = {https://www.ri.cmu.edu/publications/robust-planar-dynamic-pivoting-by-regulating-inertial-and-grip-forces-2/},
   url_PDF = {http://ri.cmu.edu/wp-content/uploads/2016/12/WAFR_FinalVersion.pdf},
   url_Video = {https://www.youtube.com/watch?v=a50qqSN4Vso},
   url_Publisher = {https://link.springer.com/chapter/10.1007/978-3-030-43089-4_30}
}



@inproceedings{abs:johnson-mr-2016,
   author = {Aaron M. Johnson and Thomas Libby},
   title = {Morphological reduction on the SLIP template},
   booktitle = {Dynamic Walking},
   year = {2016},
   month = {June},
   address= {Holly, MI},
  type  = {workshop abstract},
  keywords = {Robot Design, Modeling},
  url_PDF = {http://www.andrew.cmu.edu/user/amj1/papers/DW2016.pdf}
}



@article{paper:johnson_convergent_2016,
  title     = {Convergent Planning},
  author    = {Aaron M. Johnson and Jennifer E. King and Siddhartha Srinivasa},
  year      = {2016},
  month     = {July},
  volume    = {1},
  number    = {2},
  pages     = {1044--1051},
  journal   = {IEEE Robotics and Automation Letters},
  keywords  = {Manipulation, Uncertainty, Planning, Hill Climbing},
  url_Publisher = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7409985},
  url_Video = {https://www.youtube.com/watch?v=bC1ATPrPPJc},
  url_PDF   = {http://www.andrew.cmu.edu/user/amj1/papers/ConvergentPlanning.pdf}
}




@inproceedings{paper:de_leaping_2015,
  author        = {Anna L. Brill and Avik De and Aaron M. Johnson and D. E. Koditschek},
  title         = {Tail-Assisted Rigid and Compliant Legged Leaping},
  booktitle     = {IEEE/RSJ Intl.\ Conference on Intelligent Robots and Systems},
  _month        = {September},
  year          = {2015},
  address       = {Hamburg, Germany},
  pages         = {6304--6311},
  keywords      = {Tails, Leaping, Contact, Topology},
  url_Publisher = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7354277},
  url_PDF       = {http://kodlab.seas.upenn.edu/uploads/Avik/jerboa_leaping_preprint.pdf}
}



@article{paper:libby_tail_2016,
  title     = {Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation},
  author    = {Thomas Libby and Aaron M. Johnson and Evan Chang-Siu and Robert J. Full and D. E. Koditschek},
  year      = {2016},
  journal   = {IEEE Transactions on Robotics},
  volume    = {32},
  number    = {6},
  pages     = {1380--1398},
  _note     = {\emph{Available as an arXiv Preprint arXiv:1511.05958 [cs.RO]}},
  keywords  = {Tails, Robot Design, Control},
  url_Publisher = {http://ieeexplore.ieee.org/document/7562541/},
  url_Info  = {https://repository.upenn.edu/ese_papers/752/},
  url_PDF   = {https://repository.upenn.edu/cgi/viewcontent.cgi?article=1808&context=ese_papers},
  url_Tech_Report = {http://kodlab.seas.upenn.edu/uploads/Aaron/tails_tr.pdf}
}




@article{paper:johnson_hs_2016,
  author        = {Aaron M. Johnson and Samuel E. Burden and D. E. Koditschek},
  title         = {A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems},
  year          = {2016},
  month         = {September},
  volume        = {35}, 
  number        = {11}, 
  pages         = {1354--1392}, 
  journal       = {International Journal of Robotics Research},
  keywords      = {Hybrid Systems, Contact, Self-Manipulation, Modeling},
  url_Publisher = {http://ijr.sagepub.com/content/35/11/1354.abstract},
  url_PDF       = {http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson-HybridSystems2015.pdf}
}



@inproceedings{abs:libby-design-2015,
  author = {Thomas Libby and Aaron M. Johnson and Robert J. Full and D. E. Koditschek},
  title = {Design and Comparative Morphology for Inertial Reorientation},
  booktitle = {Robotics: Science and Systems Workshop on ``Robotic Uses for Tails''},
  year = {2015},
  month = {July},
  address= {Rome, Italy},
  keywords = {Tails, Robot Design},
  type  = {workshop abstract}
}



@inproceedings{abs:libby-comparative-2015,
  author = {Thomas Libby and Aaron M. Johnson and Robert J. Full and D. E. Koditschek},
  title = { Comparative Morphology of Inertial Reorientation},
  booktitle = {IEEE International Conference on Robotics and Automation Workshop on ``Robotics-Inspired Biology''},
  year = {2015},
  month = {May},
  address= {Seattle, WA},
  keywords = {Tails, Robot Design},
  type  = {workshop abstract}
}



@inproceedings{abs:libby-scaling-2015,
  author = {Thomas Libby and Aaron M. Johnson and Robert J. Full},
  title = {Scaling of Effectiveness for Inertial Reorientation},
  booktitle = {Society for Integrative and Comparative Biology Annual Meeting},
  year = {2015},
  month = {January},
  address= {West Palm Beach, FL},
  keywords = {Tails, Robot Design},
  type  = {workshop abstract}
}



@inproceedings{paper:stairs_spie_2015,
  author = {Garrett J. Wenger and Aaron M. Johnson and Camillo J. Taylor and Daniel E. Koditschek},
  title = {Semi-autonomous exploration of multi-floor buildings with a legged robot},
  publisher = {SPIE},
  year = {2015},
  month = {April},
  booktitle = {Unmanned Systems Technology XVII},
  address = {Baltimore, MD},
  volume = {9468},
  pages = {94680B-8},
  _doi = {10.1117/12.2179941},
  keywords = {Stair Climbing, Perception},
  url_Publisher = { http://dx.doi.org/10.1117/12.2179941},
  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Main/spie_stairclimbing_2015.pdf}
}



@techreport{tr:desert-2014,
  author       = {Sonia Roberts and Jeff Duperret and Aaron M. Johnson and Scott {van} Pelt and Ted Zobeck and Nick Lancaster and D. E. Koditschek},
  title        = {Desert {RHex} Technical Report: {Jornada} and {White} {Sands} Trip},
  institution  = {University of Pennsylvania},
  year         = {2014},
  address      = {Philadelphia, PA},
  keywords     = {Robot Design, Sand, Proprioception,Environmental Monitoring},
  url_Info     = {https://repository.upenn.edu/ese_reports/12/},
  url_PDF      = {http://kodlab.seas.upenn.edu/uploads/Roberts/techreport_jornada_whitesands.pdf},
  url_Video    = {https://www.youtube.com/watch?v=YsYY_4QlTBk}
}



@inproceedings{abs:johnson-nerc-2014,
  author = {Aaron M. Johnson and D. E. Koditschek},
  title = {Cellular Decomposition and Classification of a Hybrid System},
  booktitle = {Northeast Robotics Colloquium},
  year = {2014},
  month = {October},
  address= {Providence, RI},
  type  = {workshop poster},
  keywords = {Hybrid Systems, Contact, Modeling, Topology},
  url_PDF = {http://www.andrew.cmu.edu/user/amj1/papers/NERC2014.pdf},
  url_Poster = {http://www.andrew.cmu.edu/user/amj1/papers/nerc2014-Poster.pdf}
}



@inproceedings{ws:johnson-gait-2014,
  author = {Aaron M. Johnson},
  title = {Gait Design Using Self-Manipulation},
  booktitle = {Robotics: Science and Systems Workshop on ``Dynamic Locomotion''},
  year = {2014},
  month = {July},
  address= {Berkeley, CA},
  type  = {workshop abstract},
  keywords = {Control, Self-Manipulation},
  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Aaron/Pronk_RSS2014.pdf},
  url_Video = {https://www.youtube.com/watch?v=rDwV2RWq0LY}
}



@inproceedings{paper:de_dw_2014,
  title      = {Planar Hopping with a Leg and a Tail},
  booktitle  = {Dynamic Walking},
  year       = {2014},
  author     = {Avik De and Aaron M. Johnson and D. E. Koditschek},
  month      = {June},
  address    = {Zurich, Switzerland} ,
  type       = {workshop abstract},
  keywords   = {Tails, Robot Design, Control},
  url_PDF    = {http://kodlab.seas.upenn.edu/uploads/Avik/dw2014final.pdf},
  url_Poster = {http://kodlab.seas.upenn.edu/uploads/Avik/dw2014_poster.pdf}
}



@inproceedings{paper:johnson_ethics_2014,
  author = {Aaron M. Johnson and Sidney Axinn},
  title = {Acting vs. Being Moral: {The} Limits of Technological Moral Actors},
  booktitle = {IEEE Intl.\ Symposium on Ethics in Engineering, Science, and Technology},
  month = {May},
  year = {2014},
  address = {Chicago, IL},
  keywords = {Philosophy},
  url_Publisher = {http://ieeexplore.ieee.org/document/6893396/},
  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Aaron/acting_moral.pdf}
}



@phdthesis{thesis:johnson-2014,
   author = {Aaron M. Johnson},
   title = {Self-Manipulation and Dynamic Transitions for a Legged Robot},
   school = {Electrical \& Systems Engineering, University of Pennsylvania},
   year = {2014},
   address= {Philadelphia, PA},
   keywords = {Self-Manipulation, Hybrid Systems, Contact, Leaping, Modeling},
   url_Info = {https://repository.upenn.edu/edissertations/1322/},
   url_PDF = {http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonAaronThesis.pdf}
}



@article{paper:johnson_jme_2013,
  author = {Aaron M. Johnson and Sidney Axinn},
  title = {The Morality of Autonomous Robots},
  journal = {Journal of Military Ethics},
  volume = {12},
  number = {2},
  pages = {129--141},
  year = {2013},
  _doi = {10.1080/15027570.2013.818399},
  keywords = {Philosophy},
  url_Publisher = {http://www.tandfonline.com/doi/abs/10.1080/15027570.2013.818399},
  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Aaron/JME2013.pdf}
}



@inproceedings{paper:johnson_dw_2013,
  title     = {Robot Parkour: {The} Ground Reaction Complex \& Dynamic Transitions},
  booktitle = {Dynamic Walking},
  year      = {2013},
  author    = {Aaron M. Johnson and D. E. Koditschek},
  month     = {June},
  address   = {Pittsburgh, PA},
  type      = {workshop abstract},
  keywords  = {Contact, Leaping, Topology},
  url_PDF   = {http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson-dw13.pdf},
  url_Video = {https://www.youtube.com/watch?v=ntlI-pDUxPE}
}



@article{paper:johnson_selfmanip_2013,
  title     = {Legged Self-Manipulation},
  author    = {Aaron M. Johnson and D. E. Koditschek},
  journal   = {IEEE Access},
  year      = {2013},
  month     = {May},
  volume    = {1},
  _doi      = {10.1109/ACCESS.2013.2263192},
  pages     = {310--334},
  keywords  = {Self-Manipulation, Contact, Modeling, Control},
  url_Info  = {http://www.andrew.cmu.edu/user/amj1/LeggedSelfManipulation},
  url_Publisher = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6516555},
  url_PDF   = {http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson_Legged_Self-Manipulation.pdf},
  url_Errata = {http://www.andrew.cmu.edu/user/amj1/LeggedSelfManipulation/Legged_Self_Manipulation_Errata.pdf},
  url_Video = {https://www.youtube.com/watch?v=ON5B4ILcF-8}
}



@inproceedings{paper:johnson-icra-2013,
  author        = {Aaron M. Johnson and D. E. Koditschek},
  title         = {Toward a Vocabulary of Legged Leaping},
  booktitle     = {IEEE Intl.\ Conference on Robotics and Automation},
  month         = {May},
  year          = {2013},
  pages         = {2553--2560},
  _doi          = {10.1109/ICRA.2013.6630928},
  address       = {Karlsruhe, Germany},
  keywords      = {Leaping, Modeling, Topology, Contact, Hybrid Systems},
  url_Publisher = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6630928},
  url_PDF       = {http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonLeaping.pdf},
  url_Video     = {https://www.youtube.com/watch?v=kV9J-oayCBU}
}



@inproceedings{paper:terrain_spie_2013,
  author = {Camilo Ordonez and Jacob Shill and Aaron M. Johnson and Jonathan Clark and Emmanuel Collins},
  title = {Terrain Identification for {RHex}-type Robots},
  publisher = {SPIE},
  year = {2013},
  booktitle = {Unmanned Systems Technology XV},
  volume = {8741},
  number = {1},
  address = {Baltimore, MD},
  pages = {87410Q},
  _doi = {10.1117/12.2016169},
  keywords = {Proprioception, Learning},
  url_Publisher = {http://proceedings.spiedigitallibrary.org/proceeding.aspx?articleid=1689675},
  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Aaron/terrain-id-SPIE2013.pdf}
}



@techreport{tr:jumpdataset,
  author       = {Aaron M. Johnson and D. E. Koditschek},
  title        = {Parametric jumping dataset on the {RHex} Robot},
  institution  = {University of Pennsylvania},
  year         = {2012},
  address      = {Philadelphia, PA},
  keywords     = {Leaping},
  url_Info     = {https://repository.upenn.edu/ese_reports/20/},
  url_PDF      = {http://kodlab.seas.upenn.edu/uploads/Aaron/leap_tr.pdf}
}



@inproceedings{paper:johnson-iros-2012,
  author        = {Aaron M. Johnson and G. Clark Haynes and D. E. Koditschek},
  title         = {Standing Self-Manipulation for a Legged Robot},
  booktitle     = {IEEE/RSJ Intl.\ Conference on Intelligent Robots and Systems},
  month         = {October},
  year          = {2012},
  address       = {Algarve, Portugal},
  _doi          = {10.1109/IROS.2012.6386214}, 
  pages         = {272--279},
  keywords      = {Self-Manipulation, Contact, Modeling, Control},
  url_Publisher = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6386214},
  url_PDF       = {http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonIROS12-1.pdf},
  url_Video     = {https://www.youtube.com/watch?v=JyeDmQhwfgQ}
}



@inproceedings{paper:johnson_clawar_2012,
  Author = {Aaron M. Johnson and Thomas Libby and Evan Chang-Siu and Masayoshi Tomizuka and Robert J. Full and D. E. Koditschek},
  booktitle = {Intl.\ Conference on Climbing and Walking Robots},
  title = {Tail Assisted Dynamic Self Righting},
  month = {July},
  address = {Baltimore, MD},
  year = {2012},
  pages = {611--620},
  keywords = {Tails, Robot Design, Control},
  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Aaron/tails_final.pdf},
  url_Video = {https://www.youtube.com/watch?v=6-h1dAt_JJk},
  url_Tech_Report = {http://kodlab.seas.upenn.edu/uploads/Aaron/Tails_tr.pdf}
}



@inproceedings{paper:ordonez_clawar_2012,
  Author = {Camilo Ordonez and N. Gupta and E. G. Collins and J. Clark and Aaron M. Johnson},
  booktitle = {Intl.\ Conference on Climbing and Walking Robots},
  title = {Power Modeling of the {XRL} Hexapedal Robot and its Application to Energy Efficient Motion Planning},
  year = {2012},
  month = {July},
  address = {Baltimore, MD},
  pages = {689--696},
  keywords = {Planning, Modeling},
  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Aaron/ordonez12.pdf}
}



@inproceedings{paper:xrhex_canid_spie_2012,
  author = {G. Clark Haynes and Jason Pusey and Ryan Knopf and Aaron M. Johnson and D. E. Koditschek},
  title = {Laboratory on legs: {An} architecture for adjustable morphology with legged robots},
  publisher = {SPIE},
  year = {2012},
  booktitle = {Unmanned Systems Technology XIV},
  volume = {8387},
  number = {1},
  pages = {83870W},
  location = {Baltimore, MD},
  _doi = {10.1117/12.920678},
  keywords = {Robot Design},
  url_Publisher = {http://spie.org/x648.html?product_id=920678},
  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Main/spie12.pdf}
}



@inproceedings{paper:johnson_2011_ssrr,
  title     = {Autonomous Legged Hill and Stairwell Ascent},
  booktitle = {IEEE Intl.\ Workshop on Safety, Security, \& Rescue Robotics},
  year      = {2011},
  month     = {November},
  author    = {Aaron M. Johnson and Matthew T. Hale and G. C. Haynes and D. E. Koditschek},
  pages     = {134--142},
  _doi      = {10.1109/SSRR.2011.6106785},
  address   = {Kyoto, Japan},
  keywords  = {Hill Climbing, Stair Climbing, Control, Proprioception, Perception},
  url_Publisher = {https://ieeexplore.ieee.org/document/6106785/},
  url_PDF   = {http://kodlab.seas.upenn.edu/uploads/Aaron/ssrr11.pdf}
}



@inproceedings{paper:johnson_morality_2011,
  author = {Aaron M. Johnson and Sidney Axinn},
  title = {The Morality of Autonomous Robots},
  booktitle = {Florida Philosophy Association Annual Meeting},
  year = {2011},
  month = {November},
  address = {Ft. Lauderdale, FL},
  keywords = {Philosophy},
  type = {workshop abstract}
}



@techreport{tr:johnson_tr_2011,
   author = {Aaron M. Johnson and Cornell {Wright III} and Matthew Tesch and Kevin Lipkin and Howie Choset},
   title = {A Novel Architecture for Modular Snake Robots},
   booktitle = {},
   institution = {Robotics Institute},
   month = {August},
   year = {2011},
   number = {CMU-RI-TR-11-29},
   address = {Pittsburgh, PA},
   keywords = {Robot Design},
   url_Info = {http://ri.cmu.edu/publications/a-novel-architecture-for-modular-snake-robots/},
   url_PDF = {http://www.ri.cmu.edu/pub_files/2011/8/journal08.pdf}
}



@inproceedings{paper:de-tepra-2011,
  author        = {Avik De and Goran Lynch and Aaron M. Johnson and D. E. Koditschek},
  title         = {Motor Sizing for Legged Robots Using Dynamic Task Specification},
  booktitle     = {IEEE Intl.\ Conference on Technologies for Practical Robot Applications},
  year          = {2011},
  address       = {Boston, MA},
  month         = {April},
  pages         = {64--69}, 
  _doi          = {10.1109/TEPRA.2011.5753483},
  keywords      = {Robot Design, Optimization},
  url_Publisher = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5753483},
  url_PDF       = {http://kodlab.seas.upenn.edu/uploads/Avik/tepra11-online.pdf}
}



@techreport{tr:kod-xrhex-2010,
  author       = {Kevin C. Galloway and G. C. Haynes and B. Deniz Ilhan and 
                  Aaron M. Johnson and Ryan Knopf and Goran Lynch and 
                  Benjamin Plotnick and Mackenzie White and D. E. Koditschek},
  title        = {X-{RHex}: {A} Highly Mobile Hexapedal Robot for Sensorimotor Tasks},
  institution  = {University of Pennsylvania},
  year         = {2010},
  address      = {Philadelphia, PA},
  keywords     = {Robot Design},
  url_Info     = {https://repository.upenn.edu/ese_reports/8/},
  url_PDF      = {http://kodlab.seas.upenn.edu/uploads/Main/xrhextechreport.pdf},
  url_Video    = {https://www.youtube.com/watch?v=VL0aiQAm4RU}
}



@inproceedings{paper:johnson2010disturbance,
  author        = {Aaron M. Johnson and G. Clark Haynes and D. E. Koditschek},
  title         = {Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots},
  booktitle     = {IEEE/RSJ Intl.\ Conference on Intelligent Robots and Systems},
  month         = {October},
  year          = {2010},
  address       = {Taipei, Taiwan},
  _doi          = {10.1109/IROS.2010.5651061}, 
  pages         = {5347--5353},
  keywords      = {Proprioception, Contact},
  url_Publisher = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5651061},
  url_PDF       = {http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonAaronDisturbanceIROS2010.pdf},
  url_Video     = {https://www.youtube.com/watch?v=8lvh0pfCoLI}
}



@inproceedings{paper:Wright-IROS-2007,
  author        = {Cornell G. Wright and Aaron M. Johnson and Aaron Peck and Zachary McCord and 
                  Allison Naaktgeboren and Philip Gianfortoni and Manuel Gonzalez-Rivero and 
                  Ross Hatton and Howie Choset},
  title         = {Design of a Modular Snake Robot},
  booktitle     = {IEEE/RSJ Intl.\ Conference on Intelligent Robots and Systems},
  year          = {2007},
  address       = {San Diego, CA},
  month         = {October},
  pages         = {2609--2614},
  _doi          = {10.1109/IROS.2007.4399617},
  keywords      = {Robot Design},
  url_Publisher = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4399617},
  url_PDF       = {http://www.cs.cmu.edu/~biorobotics/papers/IROS07_Wright_1345.pdf},
  url_Video     = {https://www.youtube.com/watch?v=T62E-_pQt3c}
}



@inproceedings{poster:woo-mom-2008,
  author       = {Kevin Woo and Eugene Marinelli and James Kong and Aaron M. Johnson and
                  Austin Buchan and Brian Coltin and Justin Scheiner and Siyuan Feng and
                  Christopher Mar and Bradford Neuman},
  title        = {Investigating Power Management in a Robot Colony},
  booktitle    = {Meeting of the Minds},
  year         = {2008},
  month        = {May},
  keywords     = {Multi-robot Systems},
  address      = {Carnegie Mellon University, Pittsburgh, PA},
  type         = {workshop poster}
}



@inproceedings{poster:johnson-mom-2008,
  author       = {Aaron M. Johnson and Tsuhan Chen},
  title        = {Vision-Based Relative SLAM},
  booktitle    = {Meeting of the Minds},
  year         = {2008},
  month        = {May},
  keywords     = {Multi-robot Systems, Perception},
  address      = {Carnegie Mellon University, Pittsburgh, PA},
  type         = {workshop poster}
}



@inproceedings{poster:duvallet-mom-2007,
  author       = {Felix Duvallet and Kevin Woo and James Kong and Aaron M. Johnson and 
                  Austin Buchan and Justin Scheiner and Aneeb Qureshi and Christopher Mar and
                  Eugene Marinelli and Suresh Nidhiry and Brian Coltin and Siyuan Feng and
                  Ben Berkowitz and Duncan Alexander},
  title        = {Control of a Robot Colony},
  booktitle    = {Meeting of the Minds},
  year         = {2007},
  month        = {May},
  keywords     = {Multi-robot Systems, Control},
  address      = {Carnegie Mellon University, Pittsburgh, PA},
  type         = {workshop poster}
}



@inproceedings{poster:johnson-mom-2007,
  author       = {Aaron M. Johnson},
  title        = {A friendly VoIP box},
  booktitle    = {Meeting of the Minds},
  year         = {2007},
  month        = {May},
  keywords     = {Robot Design},
  address      = {Carnegie Mellon University, Pittsburgh, PA},
  type         = {workshop poster}
}


@inproceedings{poster:duvallet-mom-2006,
  author       = {Felix Duvallet and Aaron M. Johnson and Ryan Kellogg and James Kong and
                  Eugene Marinelli and Alexander May an dSuresh Nidhiry and Iain Proctor and
                  Gregory Tress and Kevin Woo},
  title        = {A Robotic Platform for Exploring Emergent Behavior},
  booktitle    = {Meeting of the Minds},
  year         = {2006},
  month        = {May},
  keywords     = {Multi-robot Systems, Robot Design},
  address      = {Carnegie Mellon University, Pittsburgh, PA},
  type         = {workshop poster}
}



@inproceedings{poster:naaktgeboren-mom-2005,
  author       = {Allison Naaktgeboren and Jessica Kang and Steven Shamlian and Aaron M. Johnson and
                  Ryan Kellogg and Iain Proctor and Kate Killfoile and Richard Juchniewicz and 
                  Prasanna Velagapudi and Suresh Nidhiry and Justine Rembisz and Sungjoon Won and
                  Felix Duvallet and Christopher Atwood},
  title        = {Relative Localization in Colony Robots},
  booktitle    = {Meeting of the Minds},
  year         = {2005},
  month        = {May},
  keywords     = {Multi-robot Systems, Perception},
  address      = {Carnegie Mellon University, Pittsburgh, PA},
  type         = {workshop poster}
}



@inproceedings{paper:atwood-ncur-2005,
  author       = {Chris Atwood and Felix Duvallet and Aaron M. Johnson and Richard Juchniewicz and
                  Ryan Kellogg and Katherine Killfoile and Alison Naaktgeboren and Suresh Nidhiry and
                  Iain Proctor and Justine Rembisz and Steven Shamlian and Prasanna Velagapudi},
  title        = {Relative Localization in Colony Robots},
  booktitle    = {Natl. Conference on Undergraduate Research},
  year         = {2005},
  address      = {Lexington, VA},
  month        = {April},
  keywords     = {Multi-robot Systems, Perception},
  url_PDF      = {http://kodlab.seas.upenn.edu/uploads/Aaron/colony_NCUR2005.pdf}
}

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In order to keep using Mendeley with BibBase past April\n        14th, you need to:\n        <ol>\n          <li>renew the authorization for BibBase on Mendeley, and</li>\n          <li>update the BibBase URL\n            in your page the same way you did when you initially set up\n            this page.\n          </li>\n        </ol>\n      </p>\n\n      <p>\n        <a href=\"http://bibbase.org/cgi-bin/mendeley2/get.py\">\n          <i class=\"fa fa-angle-double-right\"></i>\n          Fix it now</a>\n      </p>\n    </div>\n\n  </div>\n\n\n  <div id=\"bibbase_body\">\n    \n  \n  <div class=\"bibbase_group_whole\" id=\"group_2024\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2024')\"\n      onkeypress=\"toggleGroup('group_2024')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2024</span>\n      <span class=\"bibbase_group_count\">\n        \n        (7)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"wang-zhu-johnson-payattentiontohowyoudrivesafeandadaptivemodelbasedreinforcementlearningforoffroaddriving-2024\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Sean J. Wang;  Honghao Zhu;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/pdf/2310.08674.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-zhu-johnson-payattentiontohowyoudrivesafeandadaptivemodelbasedreinforcementlearningforoffroaddriving-2024', 'https://arxiv.org/pdf/2310.08674.pdf', event);\">\n    Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE Intl.\\ Conference on Robotics and Automation</i>,  2024. \n  <span class=\"note\">To appear. Also available as arXiv:2310.08674 [cs.RO]</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/2310.08674\"\n     onclick=\"log_download('wang-zhu-johnson-payattentiontohowyoudrivesafeandadaptivemodelbasedreinforcementlearningforoffroaddriving-2024', 'https://arxiv.org/abs/2310.08674', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2310.08674.pdf\"\n     onclick=\"log_download('wang-zhu-johnson-payattentiontohowyoudrivesafeandadaptivemodelbasedreinforcementlearningforoffroaddriving-2024', 'https://arxiv.org/pdf/2310.08674.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-zhu-johnson-payattentiontohowyoudrivesafeandadaptivemodelbasedreinforcementlearningforoffroaddriving-2024\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-zhu-johnson-payattentiontohowyoudrivesafeandadaptivemodelbasedreinforcementlearningforoffroaddriving-2024')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:wang-pay-2024,\n  title         = {Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving},\n  author        = {Wang, Sean J. and Zhu, Honghao and Johnson, Aaron M.},\n  booktitle     = {IEEE Intl.\\ Conference on Robotics and Automation},\n  year          = {2024},\n  note          = {To appear. Also available as arXiv:2310.08674 [cs.RO]},\n  keywords      = {Learning, Modeling, Uncertainty},\n  url_Info      = {https://arxiv.org/abs/2310.08674},\n  url_PDF       = {https://arxiv.org/pdf/2310.08674.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhu-payne-johnson-convergentilqrforsafetrajectoryplanningandcontrolofleggedrobots-2024\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   James Zhu;  J. Joe Payne;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/abs/2304.00346\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhu-payne-johnson-convergentilqrforsafetrajectoryplanningandcontrolofleggedrobots-2024', 'https://arxiv.org/abs/2304.00346', event);\">\n    Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE Intl.\\ Conference on Robotics and Automation</i>,  2024. \n  <span class=\"note\">To appear. Also available as arXiv:2304.00346 [cs.RO]</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/2304.00346\"\n     onclick=\"log_download('zhu-payne-johnson-convergentilqrforsafetrajectoryplanningandcontrolofleggedrobots-2024', 'https://arxiv.org/abs/2304.00346', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2304.00346\"\n     onclick=\"log_download('zhu-payne-johnson-convergentilqrforsafetrajectoryplanningandcontrolofleggedrobots-2024', 'https://arxiv.org/pdf/2304.00346', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhu-payne-johnson-convergentilqrforsafetrajectoryplanningandcontrolofleggedrobots-2024\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>30 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhu-payne-johnson-convergentilqrforsafetrajectoryplanningandcontrolofleggedrobots-2024')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:zhu-convergent-2024,\n  title         = {Convergent {iLQR} for Safe Trajectory Planning and Control of Legged Robots},\n  author        = {Zhu, James and Payne, J. Joe and Johnson, Aaron M.},\n  booktitle     = {IEEE Intl.\\ Conference on Robotics and Automation},\n  year          = {2024},\n  note          = {To appear. Also available as arXiv:2304.00346 [cs.RO]},\n  keywords      = {Hybrid Systems, Control, Contact, Optimization},\n  url_Info      = {https://arxiv.org/abs/2304.00346},\n  url_PDF       = {https://arxiv.org/pdf/2304.00346}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tajbakhsh-biegler-johnson-conflictbasedmodelpredictivecontrolforscalablemultirobotmotionplanning-2024\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Ardalan Tajbakhsh;  Lorenz T Biegler;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/abs/2303.01619\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'tajbakhsh-biegler-johnson-conflictbasedmodelpredictivecontrolforscalablemultirobotmotionplanning-2024', 'https://arxiv.org/abs/2303.01619', event);\">\n    Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE Intl.\\ Conference on Robotics and Automation</i>,  2024. \n  <span class=\"note\">To appear. Also available as arXiv:2303.01619 [cs.RO]</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/2303.01619\"\n     onclick=\"log_download('tajbakhsh-biegler-johnson-conflictbasedmodelpredictivecontrolforscalablemultirobotmotionplanning-2024', 'https://arxiv.org/abs/2303.01619', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2303.01619\"\n     onclick=\"log_download('tajbakhsh-biegler-johnson-conflictbasedmodelpredictivecontrolforscalablemultirobotmotionplanning-2024', 'https://arxiv.org/pdf/2303.01619', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tajbakhsh-biegler-johnson-conflictbasedmodelpredictivecontrolforscalablemultirobotmotionplanning-2024\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>19 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tajbakhsh-biegler-johnson-conflictbasedmodelpredictivecontrolforscalablemultirobotmotionplanning-2024')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:tajbakhsh-conflict-2024,\n  title         = {Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning},\n  author        = {Tajbakhsh, Ardalan and Biegler, Lorenz T and Johnson, Aaron M.},\n  booktitle     = {IEEE Intl.\\ Conference on Robotics and Automation},\n  year          = {2024},\n  note          = {To appear. Also available as arXiv:2303.01619 [cs.RO]},\n  keywords      = {Control,Multi-robot Systems,Planning},\n  url_Info      = {https://arxiv.org/abs/2303.01619},\n  url_PDF       = {https://arxiv.org/pdf/2303.01619}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nadan-backus-johnson-lorisalightweightfreeclimbingrobotforextremeterrainexploration-2024\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Paul Nadan;  Spencer Backus;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.ri.cmu.edu/app/uploads/2024/04/LORIS__A_Lightweight_Free_Climbing_Robot_for_Extreme_Terrain_Exploration.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'nadan-backus-johnson-lorisalightweightfreeclimbingrobotforextremeterrainexploration-2024', 'https://www.ri.cmu.edu/app/uploads/2024/04/LORIS__A_Lightweight_Free_Climbing_Robot_for_Extreme_Terrain_Exploration.pdf', event);\">\n    LORIS: A Lightweight Free-Climbing Robot for Extreme Terrain Exploration.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE Intl.\\ Conference on Robotics and Automation</i>,  2024. \n  <span class=\"note\">To appear</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.ri.cmu.edu/app/uploads/2024/04/LORIS__A_Lightweight_Free_Climbing_Robot_for_Extreme_Terrain_Exploration.pdf\"\n     onclick=\"log_download('nadan-backus-johnson-lorisalightweightfreeclimbingrobotforextremeterrainexploration-2024', 'https://www.ri.cmu.edu/app/uploads/2024/04/LORIS__A_Lightweight_Free_Climbing_Robot_for_Extreme_Terrain_Exploration.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"LORIS: A Lightweight Free-Climbing Robot for Extreme Terrain Exploration [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/GjRrLqlI0yM\"\n     onclick=\"log_download('nadan-backus-johnson-lorisalightweightfreeclimbingrobotforextremeterrainexploration-2024', 'https://youtu.be/GjRrLqlI0yM', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"LORIS: A Lightweight Free-Climbing Robot for Extreme Terrain Exploration [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nadan-backus-johnson-lorisalightweightfreeclimbingrobotforextremeterrainexploration-2024\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nadan-backus-johnson-lorisalightweightfreeclimbingrobotforextremeterrainexploration-2024')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:nadan-loris-2024,\n  title         = {{LORIS}: {A} Lightweight Free-Climbing Robot for Extreme Terrain Exploration},\n  author        = {Nadan, Paul and Backus, Spencer and Johnson, Aaron M.},\n  booktitle     = {IEEE Intl.\\ Conference on Robotics and Automation},\n  year          = {2024},\n  note          = {To appear},\n  keywords      = {Robot Design, Space Robotics},\n  url_PDF       = {https://www.ri.cmu.edu/app/uploads/2024/04/LORIS__A_Lightweight_Free_Climbing_Robot_for_Extreme_Terrain_Exploration.pdf},\n  url_Video     = {https://youtu.be/GjRrLqlI0yM}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-apracticalapproachtolearningdynamicsforroughterrainnavigation-2024\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Sean J. Wang.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/Wang2024.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-apracticalapproachtolearningdynamicsforroughterrainnavigation-2024', 'http://www.andrew.cmu.edu/user/amj1/papers/Wang2024.pdf', event);\">\n    A Practical Approach to Learning Dynamics for Rough Terrain Navigation.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, Mechanical Engineering Department, Carnegie Mellon University, Pittsburgh, PA, February 2024.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/Wang2024.pdf\"\n     onclick=\"log_download('wang-apracticalapproachtolearningdynamicsforroughterrainnavigation-2024', 'http://www.andrew.cmu.edu/user/amj1/papers/Wang2024.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Practical Approach to Learning Dynamics for Rough Terrain Navigation [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-apracticalapproachtolearningdynamicsforroughterrainnavigation-2024\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>6 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-apracticalapproachtolearningdynamicsforroughterrainnavigation-2024')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{Wang-2024,\n  author   = {Sean J. Wang},\n  title    = {A Practical Approach to Learning Dynamics for Rough Terrain Navigation},\n  year     = {2024},\n  month    = {February},\n  school   = {Mechanical Engineering Department, Carnegie Mellon University},\n  address  = {Pittsburgh, PA},\n  keywords = {Learning, Modeling, Uncertainty,Control},\n  url_PDF  = {http://www.andrew.cmu.edu/user/amj1/papers/Wang2024.pdf}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pavlov-johnson-aterramechanicsmodelforhighslipangleandskidwithpredictionofwheelsoilinteractiongeometry-2024\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Catherine Pavlov;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0022489823000691\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pavlov-johnson-aterramechanicsmodelforhighslipangleandskidwithpredictionofwheelsoilinteractiongeometry-2024', 'https://www.sciencedirect.com/science/article/pii/S0022489823000691', event);\">\n    A terramechanics model for high slip angle and skid with prediction of wheel-soil interaction geometry.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>Journal of Terramechanics</i>, 111: 9–19.  2024.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0022489823000691\"\n     onclick=\"log_download('pavlov-johnson-aterramechanicsmodelforhighslipangleandskidwithpredictionofwheelsoilinteractiongeometry-2024', 'https://www.sciencedirect.com/science/article/pii/S0022489823000691', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A terramechanics model for high slip angle and skid with prediction of wheel-soil interaction geometry [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1016/j.jterra.2023.08.004\"\n     onclick=\"log_download('pavlov-johnson-aterramechanicsmodelforhighslipangleandskidwithpredictionofwheelsoilinteractiongeometry-2024', 'https://doi.org/10.1016/j.jterra.2023.08.004', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A terramechanics model for high slip angle and skid with prediction of wheel-soil interaction geometry [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pavlov-johnson-aterramechanicsmodelforhighslipangleandskidwithpredictionofwheelsoilinteractiongeometry-2024\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>16 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pavlov-johnson-aterramechanicsmodelforhighslipangleandskidwithpredictionofwheelsoilinteractiongeometry-2024')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:pavlov-terramechanics-2024,\n  author        = {Catherine Pavlov and Aaron M. Johnson},\n  title         = {A terramechanics model for high slip angle and skid with prediction of wheel-soil interaction geometry},\n  journal       = {Journal of Terramechanics},\n  volume        = {111},\n  pages         = {9--19},\n  year          = {2024},\n  url_Info      = {https://www.sciencedirect.com/science/article/pii/S0022489823000691},\n  url_DOI       = {https://doi.org/10.1016/j.jterra.2023.08.004},\n  keywords      = {Modeling,Sand,Space Robotics,Terrain Manipulation}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"norby-tajbakhsh-yang-johnson-adaptivecomplexitymodelpredictivecontrol-2024\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Joseph Norby;  Ardalan Tajbakhsh;  Yanhao Yang;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/abs/2209.02849\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'norby-tajbakhsh-yang-johnson-adaptivecomplexitymodelpredictivecontrol-2024', 'https://arxiv.org/abs/2209.02849', event);\">\n    Adaptive Complexity Model Predictive Control.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Robotics</i>.  2024.\n  <span class=\"note\">To appear. Also available as arXiv:2209.02849 [cs.RO]</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/2209.02849\"\n     onclick=\"log_download('norby-tajbakhsh-yang-johnson-adaptivecomplexitymodelpredictivecontrol-2024', 'https://arxiv.org/abs/2209.02849', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Adaptive Complexity Model Predictive Control [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2209.02849\"\n     onclick=\"log_download('norby-tajbakhsh-yang-johnson-adaptivecomplexitymodelpredictivecontrol-2024', 'https://arxiv.org/pdf/2209.02849', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Adaptive Complexity Model Predictive Control [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/norby-tajbakhsh-yang-johnson-adaptivecomplexitymodelpredictivecontrol-2024\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('norby-tajbakhsh-yang-johnson-adaptivecomplexitymodelpredictivecontrol-2024')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:norby-adaptive-2024,\n  author        = {Joseph Norby and Ardalan Tajbakhsh and Yanhao Yang and Aaron M. Johnson},\n  title         = {Adaptive Complexity Model Predictive Control},\n  journal       = {IEEE Transactions on Robotics},\n  year          = {2024},\n  note          = {To appear. Also available as arXiv:2209.02849 [cs.RO]},\n  keywords      = {Control, Optimization, Leaping},\n  url_Info      = {https://arxiv.org/abs/2209.02849},\n  url_PDF       = {https://arxiv.org/pdf/2209.02849}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2023\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2023')\"\n      onkeypress=\"toggleGroup('group_2023')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2023</span>\n      <span class=\"bibbase_group_count\">\n        \n        (16)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"kyle-yim-hart-bergbreiter-johnson-thesimplestwalkingrobotabipedalrobotwithoneactuatorandtworigidbodies-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   James Kyle;  Justin K. Yim;  Kendall Hart;  Sarah Bergbreiter;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/abs/2308.08401\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kyle-yim-hart-bergbreiter-johnson-thesimplestwalkingrobotabipedalrobotwithoneactuatorandtworigidbodies-2023', 'https://arxiv.org/abs/2308.08401', event);\">\n    The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies .\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE-RAS International Conference on Humanoid Robots</i>,  2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/2308.08401\"\n     onclick=\"log_download('kyle-yim-hart-bergbreiter-johnson-thesimplestwalkingrobotabipedalrobotwithoneactuatorandtworigidbodies-2023', 'https://arxiv.org/abs/2308.08401', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies  [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2308.08401\"\n     onclick=\"log_download('kyle-yim-hart-bergbreiter-johnson-thesimplestwalkingrobotabipedalrobotwithoneactuatorandtworigidbodies-2023', 'https://arxiv.org/pdf/2308.08401', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies  [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=RLjmxp9vyTY\"\n     onclick=\"log_download('kyle-yim-hart-bergbreiter-johnson-thesimplestwalkingrobotabipedalrobotwithoneactuatorandtworigidbodies-2023', 'https://www.youtube.com/watch?v=RLjmxp9vyTY', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies  [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=5EwBtk0PADw\"\n     onclick=\"log_download('kyle-yim-hart-bergbreiter-johnson-thesimplestwalkingrobotabipedalrobotwithoneactuatorandtworigidbodies-2023', 'https://www.youtube.com/watch?v=5EwBtk0PADw', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies  [link]\"\n       title=\" videoattachment\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> videoattachment</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kyle-yim-hart-bergbreiter-johnson-thesimplestwalkingrobotabipedalrobotwithoneactuatorandtworigidbodies-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>94 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kyle-yim-hart-bergbreiter-johnson-thesimplestwalkingrobotabipedalrobotwithoneactuatorandtworigidbodies-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:kyle-simplest-2023,\n  title         = {The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies },\n  author        = {Kyle, James and Yim, Justin K. and Hart, Kendall and Bergbreiter, Sarah and Johnson, Aaron M.},\n  booktitle     = {IEEE-RAS International Conference on Humanoid Robots},\n  year          = {2023},\n  keywords      = {Robot Design, Control},\n  url_Info      = {https://arxiv.org/abs/2308.08401},\n  url_PDF       = {https://arxiv.org/pdf/2308.08401},\n  url_Video     = {https://www.youtube.com/watch?v=RLjmxp9vyTY},\n  url_VideoAttachment     = {https://www.youtube.com/watch?v=5EwBtk0PADw}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tajbakhsh-biegler-johnson-conflictbasedmodelpredictivecontrolforscalablemultirobotmotionplanning-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Ardalan Tajbakhsh;  Lorenz T Biegler;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE International Symposium on Multi-Robot and Multi-Agent Systems</i>,  2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tajbakhsh-biegler-johnson-conflictbasedmodelpredictivecontrolforscalablemultirobotmotionplanning-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tajbakhsh-biegler-johnson-conflictbasedmodelpredictivecontrolforscalablemultirobotmotionplanning-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:tajbakhsh-mrs-2023,\n  title         = {Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning},\n  author        = {Tajbakhsh, Ardalan and Biegler, Lorenz T and Johnson, Aaron M.},\n  booktitle     = {IEEE International Symposium on Multi-Robot and Multi-Agent Systems},\n  year          = {2023},\n  type          = {workshop poster},\n  keywords      = {Control,Multi-robot Systems,Planning}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kong-payne-zhu-johnson-saltationmatricestheessentialtoolforlinearizinghybriddynamicalsystems-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Nathan J. Kong;  J. Joe Payne;  James Zhu;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/abs/2306.06862\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kong-payne-zhu-johnson-saltationmatricestheessentialtoolforlinearizinghybriddynamicalsystems-2023', 'https://arxiv.org/abs/2306.06862', event);\">\n    Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>arXiv:2306.06862 [cs.RO]</i>.  2023.\n  <span class=\"note\">Under review</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/2306.06862\"\n     onclick=\"log_download('kong-payne-zhu-johnson-saltationmatricestheessentialtoolforlinearizinghybriddynamicalsystems-2023', 'https://arxiv.org/abs/2306.06862', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2306.06862\"\n     onclick=\"log_download('kong-payne-zhu-johnson-saltationmatricestheessentialtoolforlinearizinghybriddynamicalsystems-2023', 'https://arxiv.org/pdf/2306.06862', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kong-payne-zhu-johnson-saltationmatricestheessentialtoolforlinearizinghybriddynamicalsystems-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>42 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kong-payne-zhu-johnson-saltationmatricestheessentialtoolforlinearizinghybriddynamicalsystems-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:kong-saltation-2023,\n  title         = {Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems},\n  author        = {Kong, Nathan J. and Payne, J. Joe and Zhu, James and Johnson, Aaron M.},\n  journal       = {arXiv:2306.06862 [cs.RO]},\n  year          = {2023},\n  note          = {Under review},\n  keywords      = {Hybrid Systems, Control, Contact, Modeling, State Estimation},\n  url_Info      = {https://arxiv.org/abs/2306.06862},\n  url_PDF       = {https://arxiv.org/pdf/2306.06862}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zaro-tajbakhsh-johnson-collisiondetectionformultirobotmotionplanningwithefficientquadtreeupdateandskipping-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Abdel Zaro;  Ardalan Tajbakhsh;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/pdf/2307.07602.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zaro-tajbakhsh-johnson-collisiondetectionformultirobotmotionplanningwithefficientquadtreeupdateandskipping-2023', 'https://arxiv.org/pdf/2307.07602.pdf', event);\">\n    Collision Detection for Multi-Robot Motion Planning with Efficient Quad-Tree Update and Skipping.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>arXiv:2307.07602 [cs.MA]</i>,  2023. \n  <span class=\"note\">Under review</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/2307.07602\"\n     onclick=\"log_download('zaro-tajbakhsh-johnson-collisiondetectionformultirobotmotionplanningwithefficientquadtreeupdateandskipping-2023', 'https://arxiv.org/abs/2307.07602', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Collision Detection for Multi-Robot Motion Planning with Efficient Quad-Tree Update and Skipping [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2307.07602.pdf\"\n     onclick=\"log_download('zaro-tajbakhsh-johnson-collisiondetectionformultirobotmotionplanningwithefficientquadtreeupdateandskipping-2023', 'https://arxiv.org/pdf/2307.07602.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Collision Detection for Multi-Robot Motion Planning with Efficient Quad-Tree Update and Skipping [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zaro-tajbakhsh-johnson-collisiondetectionformultirobotmotionplanningwithefficientquadtreeupdateandskipping-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>11 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zaro-tajbakhsh-johnson-collisiondetectionformultirobotmotionplanningwithefficientquadtreeupdateandskipping-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:zaro-collision-2023,\n  title         = {Collision Detection for Multi-Robot Motion Planning with Efficient Quad-Tree Update and Skipping},\n  author        = {Zaro, Abdel and Tajbakhsh, Ardalan and Johnson, Aaron M.},\n  booktitle     = {arXiv:2307.07602 [cs.MA]},\n  year          = {2023},\n  note          = {Under review},\n  keywords      = {Control,Multi-robot Systems,Planning},\n  url_Info      = {https://arxiv.org/abs/2307.07602},\n  url_PDF       = {https://arxiv.org/pdf/2307.07602.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kong-li-council-johnson-hybridilqrmodelpredictivecontrolforcontactimplicitstabilizationonleggedrobots-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Nathan Kong;  Chuanzheng Li;  George Council;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/10252162\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kong-li-council-johnson-hybridilqrmodelpredictivecontrolforcontactimplicitstabilizationonleggedrobots-2023', 'https://ieeexplore.ieee.org/document/10252162', event);\">\n    Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Robotics</i>, 39(6): 4712–4727.  2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/10252162\"\n     onclick=\"log_download('kong-li-council-johnson-hybridilqrmodelpredictivecontrolforcontactimplicitstabilizationonleggedrobots-2023', 'https://ieeexplore.ieee.org/document/10252162', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2207.04591\"\n     onclick=\"log_download('kong-li-council-johnson-hybridilqrmodelpredictivecontrolforcontactimplicitstabilizationonleggedrobots-2023', 'https://arxiv.org/pdf/2207.04591', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/zacEMkk37PA\"\n     onclick=\"log_download('kong-li-council-johnson-hybridilqrmodelpredictivecontrolforcontactimplicitstabilizationonleggedrobots-2023', 'https://youtu.be/zacEMkk37PA', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1109/TRO.2023.3308773\"\n     onclick=\"log_download('kong-li-council-johnson-hybridilqrmodelpredictivecontrolforcontactimplicitstabilizationonleggedrobots-2023', 'https://doi.org/10.1109/TRO.2023.3308773', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kong-li-council-johnson-hybridilqrmodelpredictivecontrolforcontactimplicitstabilizationonleggedrobots-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>44 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kong-li-council-johnson-hybridilqrmodelpredictivecontrolforcontactimplicitstabilizationonleggedrobots-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:kong-hybrid-2023,\n  author        = {Nathan Kong and Chuanzheng Li and George Council and Aaron M. Johnson},\n  title         = {Hybrid {iLQR} Model Predictive Control for Contact Implicit Stabilization on Legged Robots},\n  journal       = {IEEE Transactions on Robotics},\n  year          = {2023},\n  volume        = {39},\n  number        = {6},\n  pages         = {4712--4727},\n  keywords      = {Hybrid Systems, Control, Contact, Optimization},\n  url_Publisher = {https://ieeexplore.ieee.org/document/10252162},\n  url_PDF       = {https://arxiv.org/pdf/2207.04591},\n  url_Video     = {https://youtu.be/zacEMkk37PA},\n  url_DOI       = {https://doi.org/10.1109/TRO.2023.3308773}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yim-ren-ologan-garciagonzalez-johnson-proprioceptionandreactionforwalkingamongentanglements-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Justin K. Yim;  Jiming Ren;  David Ologan;  Selvin Garcia Gonzalez;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/10341986\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yim-ren-ologan-garciagonzalez-johnson-proprioceptionandreactionforwalkingamongentanglements-2023', 'https://ieeexplore.ieee.org/document/10341986', event);\">\n    Proprioception and reaction for walking among entanglements.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/RSJ International Conference on Intelligent Robots and Systems</i>, pages 2760–2767, October 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/10341986\"\n     onclick=\"log_download('yim-ren-ologan-garciagonzalez-johnson-proprioceptionandreactionforwalkingamongentanglements-2023', 'https://ieeexplore.ieee.org/document/10341986', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proprioception and reaction for walking among entanglements [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2304.02129\"\n     onclick=\"log_download('yim-ren-ologan-garciagonzalez-johnson-proprioceptionandreactionforwalkingamongentanglements-2023', 'https://arxiv.org/pdf/2304.02129', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proprioception and reaction for walking among entanglements [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=aM3qdtm1Ets\"\n     onclick=\"log_download('yim-ren-ologan-garciagonzalez-johnson-proprioceptionandreactionforwalkingamongentanglements-2023', 'https://www.youtube.com/watch?v=aM3qdtm1Ets', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proprioception and reaction for walking among entanglements [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1109/IROS55552.2023.10341986\"\n     onclick=\"log_download('yim-ren-ologan-garciagonzalez-johnson-proprioceptionandreactionforwalkingamongentanglements-2023', 'https://doi.org/10.1109/IROS55552.2023.10341986', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proprioception and reaction for walking among entanglements [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yim-ren-ologan-garciagonzalez-johnson-proprioceptionandreactionforwalkingamongentanglements-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>31 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yim-ren-ologan-garciagonzalez-johnson-proprioceptionandreactionforwalkingamongentanglements-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:yim-proprioception-2023,\n  title         = {Proprioception and reaction for walking among entanglements},\n  author        = {Yim, Justin K. and Ren, Jiming and Ologan, David and Garcia Gonzalez, Selvin and Johnson, Aaron M.},\n  booktitle     = {IEEE/RSJ International Conference on Intelligent Robots and Systems},\n  year          = {2023},\n  month         = {October},\n  pages         = {2760--2767},\n  keywords      = {Control,Proprioception,Perception,State Estimation,Contact},\n  url_Info      = {https://ieeexplore.ieee.org/document/10341986},\n  url_PDF       = {https://arxiv.org/pdf/2304.02129},\n  url_Video     = {https://www.youtube.com/watch?v=aM3qdtm1Ets},\n  url_DOI       = {https://doi.org/10.1109/IROS55552.2023.10341986}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Yanhao Yang;  Joseph Norby;  Justin K. Yim;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/10342384\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2023', 'https://ieeexplore.ieee.org/document/10342384', event);\">\n    Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/RSJ International Conference on Intelligent Robots and Systems</i>, pages 735–742, October 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/10342384\"\n     onclick=\"log_download('yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2023', 'https://ieeexplore.ieee.org/document/10342384', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2303.04781\"\n     onclick=\"log_download('yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2023', 'https://arxiv.org/pdf/2303.04781', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=ywXJ6kiuKyA\"\n     onclick=\"log_download('yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2023', 'https://www.youtube.com/watch?v=ywXJ6kiuKyA', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/1J9D1Pz4d9o\"\n     onclick=\"log_download('yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2023', 'https://youtu.be/1J9D1Pz4d9o', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots [link]\"\n       title=\" presentation\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> presentation</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1109/IROS55552.2023.10342384\"\n     onclick=\"log_download('yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2023', 'https://doi.org/10.1109/IROS55552.2023.10342384', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>77 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:yang-proprioception-2023,\n  title         = {Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots},\n  author        = {Yang, Yanhao and Norby, Joseph and Yim, Justin K. and Johnson, Aaron M.},\n  booktitle     = {IEEE/RSJ International Conference on Intelligent Robots and Systems},\n  year          = {2023},\n  month         = {October},\n  pages         = {735--742},\n  keywords      = {Control,Leaping,Proprioception,Tails},\n  url_Info      = {https://ieeexplore.ieee.org/document/10342384},\n  url_PDF       = {https://arxiv.org/pdf/2303.04781},\n  url_Video     = {https://www.youtube.com/watch?v=ywXJ6kiuKyA},\n  url_Presentation = {https://youtu.be/1J9D1Pz4d9o},\n  url_DOI       = {https://doi.org/10.1109/IROS55552.2023.10342384}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"turski-norby-johnson-stagedcontactoptimizationcombiningcontactimplicitandmultiphasehybridtrajectoryoptimization-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Michael R. Turski;  Joseph Norby;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/10342296\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'turski-norby-johnson-stagedcontactoptimizationcombiningcontactimplicitandmultiphasehybridtrajectoryoptimization-2023', 'https://ieeexplore.ieee.org/document/10342296', event);\">\n    Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/RSJ International Conference on Intelligent Robots and Systems</i>, pages 2376-2383, October 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/10342296\"\n     onclick=\"log_download('turski-norby-johnson-stagedcontactoptimizationcombiningcontactimplicitandmultiphasehybridtrajectoryoptimization-2023', 'https://ieeexplore.ieee.org/document/10342296', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2304.04923\"\n     onclick=\"log_download('turski-norby-johnson-stagedcontactoptimizationcombiningcontactimplicitandmultiphasehybridtrajectoryoptimization-2023', 'https://arxiv.org/pdf/2304.04923', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/2OZm7MQAZ28\"\n     onclick=\"log_download('turski-norby-johnson-stagedcontactoptimizationcombiningcontactimplicitandmultiphasehybridtrajectoryoptimization-2023', 'https://youtu.be/2OZm7MQAZ28', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1109/IROS55552.2023.10342296\"\n     onclick=\"log_download('turski-norby-johnson-stagedcontactoptimizationcombiningcontactimplicitandmultiphasehybridtrajectoryoptimization-2023', 'https://doi.org/10.1109/IROS55552.2023.10342296', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/turski-norby-johnson-stagedcontactoptimizationcombiningcontactimplicitandmultiphasehybridtrajectoryoptimization-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>11 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('turski-norby-johnson-stagedcontactoptimizationcombiningcontactimplicitandmultiphasehybridtrajectoryoptimization-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:turski-staged-2023,\n  title         = {Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization},\n  author        = {Turski, Michael R. and Norby, Joseph and Johnson, Aaron M.},\n  booktitle     = {IEEE/RSJ International Conference on Intelligent Robots and Systems},\n  year          = {2023},\n  month         = {October},\n  pages         = {2376-2383},\n  keywords      = {Optimization, Control, Contact},\n  url_Info      = {https://ieeexplore.ieee.org/document/10342296},\n  url_PDF       = {https://arxiv.org/pdf/2304.04923},\n  url_Video     = {https://youtu.be/2OZm7MQAZ28},\n  url_DOI       = {https://doi.org/10.1109/IROS55552.2023.10342296}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ologan-tajbakhsh-yim-yang-norby-ren-gonzalez-johnson-quadsdkupdateestimationunderbrushandotherimprovements-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   David Ologan;  Ardalan Tajbakhsh;  Justin K. Yim;  Yanhao Yang;  Joseph Norby;  Jiming Ren;  Selvin Orlando Garcia Gonzalez;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/QuadSDK_IROS23_Update.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ologan-tajbakhsh-yim-yang-norby-ren-gonzalez-johnson-quadsdkupdateestimationunderbrushandotherimprovements-2023', 'http://www.andrew.cmu.edu/user/amj1/papers/QuadSDK_IROS23_Update.pdf', event);\">\n    Quad-SDK Update: Estimation, Underbrush, and Other Improvements.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IROS Late Breaking Results</i>, October 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/QuadSDK_IROS23_Update.pdf\"\n     onclick=\"log_download('ologan-tajbakhsh-yim-yang-norby-ren-gonzalez-johnson-quadsdkupdateestimationunderbrushandotherimprovements-2023', 'http://www.andrew.cmu.edu/user/amj1/papers/QuadSDK_IROS23_Update.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Quad-SDK Update: Estimation, Underbrush, and Other Improvements [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ologan-tajbakhsh-yim-yang-norby-ren-gonzalez-johnson-quadsdkupdateestimationunderbrushandotherimprovements-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ologan-tajbakhsh-yim-yang-norby-ren-gonzalez-johnson-quadsdkupdateestimationunderbrushandotherimprovements-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:ologan-iros-2023,\n  author        = {David Ologan and Ardalan Tajbakhsh and Justin K. Yim and Yanhao Yang and Joseph Norby and Jiming Ren and Selvin Orlando Garcia Gonzalez and Aaron M. Johnson},\n  title         = {{Quad-SDK} Update: Estimation, Underbrush, and Other Improvements},\n  booktitle     = {IROS Late Breaking Results},\n  year          = {2023},\n  month         = {October},\n  type          = {workshop poster},\n  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/QuadSDK_IROS23_Update.pdf},\n  keywords      = {Control, Planning,Proprioception,State Estimation,Contact}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yim-kyle-hart-bergbreiter-johnson-smallstablesteerablebipedalwalkerswithoneandtwoactuators-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Justin K. Yim;  James Kyle;  Kendall Hart;  Sarah Bergbreiter;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Small, stable, steerable bipedal walkers with one and two actuators.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IROS Demonstration Session</i>, October 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yim-kyle-hart-bergbreiter-johnson-smallstablesteerablebipedalwalkerswithoneandtwoactuators-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yim-kyle-hart-bergbreiter-johnson-smallstablesteerablebipedalwalkerswithoneandtwoactuators-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:yim-iros-2023,\n  author        = {Yim, Justin K. and Kyle, James and Hart, Kendall and Bergbreiter, Sarah and Johnson, Aaron M. },\n  title         = {Small, stable, steerable bipedal walkers with one and two actuators},\n  booktitle     = {IROS Demonstration Session},\n  year          = {2023},\n  month         = {October},\n  type          = {workshop abstract},\n  keywords      = {Robot Design, Control}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhu-shrivastava-johnson-groundingrobotnavigationinselfdefenselaw-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   James Zhu;  Anoushka Shrivastava;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/10309428\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhu-shrivastava-johnson-groundingrobotnavigationinselfdefenselaw-2023', 'https://ieeexplore.ieee.org/document/10309428', event);\">\n    Grounding Robot Navigation in Self-Defense Law.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE International Conference on Robot and Human Interactive Communication</i>, pages 2470–2477, August 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/10309428\"\n     onclick=\"log_download('zhu-shrivastava-johnson-groundingrobotnavigationinselfdefenselaw-2023', 'https://ieeexplore.ieee.org/document/10309428', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Grounding Robot Navigation in Self-Defense Law [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2304.00347\"\n     onclick=\"log_download('zhu-shrivastava-johnson-groundingrobotnavigationinselfdefenselaw-2023', 'https://arxiv.org/pdf/2304.00347', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Grounding Robot Navigation in Self-Defense Law [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1109/RO-MAN57019.2023.10309428\"\n     onclick=\"log_download('zhu-shrivastava-johnson-groundingrobotnavigationinselfdefenselaw-2023', 'https://doi.org/10.1109/RO-MAN57019.2023.10309428', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Grounding Robot Navigation in Self-Defense Law [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhu-shrivastava-johnson-groundingrobotnavigationinselfdefenselaw-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhu-shrivastava-johnson-groundingrobotnavigationinselfdefenselaw-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:zhu-grounding-2023,\n  title         = {Grounding Robot Navigation in Self-Defense Law},\n  author        = {Zhu, James and Shrivastava, Anoushka and Johnson, Aaron M.},\n  booktitle     = {IEEE International Conference on Robot and Human Interactive Communication},\n  year          = {2023},\n  month         = {August},\n  pages         = {2470--2477},\n  keywords      = {Philosophy, HRI},\n  url_Info      = {https://ieeexplore.ieee.org/document/10309428},\n  url_PDF       = {https://arxiv.org/pdf/2304.00347},\n  url_DOI       = {https://doi.org/10.1109/RO-MAN57019.2023.10309428}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"payne-johnson-multiplemodelstateestimationforhybriddynamicalsystems-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   J. Joe Payne;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Multiple Model State Estimation for Hybrid Dynamical Systems.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, June 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/payne-johnson-multiplemodelstateestimationforhybriddynamicalsystems-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('payne-johnson-multiplemodelstateestimationforhybriddynamicalsystems-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:payne-dw-2023,\n  author        = {J. Joe Payne and Aaron M. Johnson},\n  title         = {Multiple Model State Estimation for Hybrid Dynamical Systems},\n  booktitle     = {Dynamic Walking},\n  year          = {2023},\n  month         = {June},\n  type          = {workshop poster},\n  keywords      = {Proprioception,Perception,State Estimation,Contact}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yim-ren-ologan-garciagonzalez-johnson-locomotionthroughvegetationwithleggedrobots-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Justin K. Yim;  Jiming Ren;  David Ologan;  Selvin Garcia Gonzalez;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Locomotion Through Vegetation with Legged Robots.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, June 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yim-ren-ologan-garciagonzalez-johnson-locomotionthroughvegetationwithleggedrobots-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yim-ren-ologan-garciagonzalez-johnson-locomotionthroughvegetationwithleggedrobots-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:johnson-dw-2023,\n  author        = {Yim, Justin K. and Ren, Jiming and Ologan, David and Garcia Gonzalez, Selvin and Aaron M. Johnson},\n  title         = {Locomotion Through Vegetation with Legged Robots},\n  booktitle     = {Dynamic Walking},\n  year          = {2023},\n  month         = {June},\n  type          = {workshop abstract},\n  keywords      = {Control,Proprioception,Perception,State Estimation,Contact}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lowry-johnson-wang-wang-deng-hoelen-sihota-autonomouscharacterizationofchlorideandtotalpetroleumhydrocarbonsincontaminatedsoilsusinggroundbasedroboticplatforms-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Gregory V. Lowry;  Aaron M. Johnson;  Hairong Wang;  Sean Wang;  Shane Deng;  Thomas Hoelen;  and  Natasha Sihota.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.battelle.org/docs/default-source/hidden/2023-bio-symp-abstracts/347.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lowry-johnson-wang-wang-deng-hoelen-sihota-autonomouscharacterizationofchlorideandtotalpetroleumhydrocarbonsincontaminatedsoilsusinggroundbasedroboticplatforms-2023', 'https://www.battelle.org/docs/default-source/hidden/2023-bio-symp-abstracts/347.pdf', event);\">\n    Autonomous Characterization of Chloride and Total Petroleum Hydrocarbons in Contaminated Soils Using Ground-Based Robotic Platforms.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Battelle International Symposium on Bioremediation and Sustainable Environmental Technologies</i>, May 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.battelle.org/docs/default-source/hidden/2023-bio-symp-abstracts/347.pdf\"\n     onclick=\"log_download('lowry-johnson-wang-wang-deng-hoelen-sihota-autonomouscharacterizationofchlorideandtotalpetroleumhydrocarbonsincontaminatedsoilsusinggroundbasedroboticplatforms-2023', 'https://www.battelle.org/docs/default-source/hidden/2023-bio-symp-abstracts/347.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Autonomous Characterization of Chloride and Total Petroleum Hydrocarbons in Contaminated Soils Using Ground-Based Robotic Platforms [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lowry-johnson-wang-wang-deng-hoelen-sihota-autonomouscharacterizationofchlorideandtotalpetroleumhydrocarbonsincontaminatedsoilsusinggroundbasedroboticplatforms-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lowry-johnson-wang-wang-deng-hoelen-sihota-autonomouscharacterizationofchlorideandtotalpetroleumhydrocarbonsincontaminatedsoilsusinggroundbasedroboticplatforms-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:lowry-battelle-2023,\n  author        = {Gregory V. Lowry and Aaron M. Johnson and Hairong Wang and Sean Wang and Shane Deng and Thomas Hoelen and Natasha Sihota},\n  title         = {Autonomous Characterization of Chloride and Total Petroleum Hydrocarbons in Contaminated Soils Using Ground-Based Robotic Platforms},\n  booktitle     = {Battelle International Symposium on Bioremediation and Sustainable Environmental Technologies},\n  year          = {2023},\n  month         = {May},\n  type          = {workshop abstract},\n  keywords      = {Environmental Monitoring},\n  url_PDF       = {https://www.battelle.org/docs/default-source/hidden/2023-bio-symp-abstracts/347.pdf}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pavlov-offnominalroverdrivingterrainmanipulationanddegradedmobilitycompensation-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Catherine Pavlov.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/Pavlov2023.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pavlov-offnominalroverdrivingterrainmanipulationanddegradedmobilitycompensation-2023', 'http://www.andrew.cmu.edu/user/amj1/papers/Pavlov2023.pdf', event);\">\n    Off-Nominal Rover Driving: Terrain Manipulation and Degraded Mobility Compensation.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, Mechanical Engineering Department, Carnegie Mellon University, Pittsburgh, PA, February 2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/Pavlov2023.pdf\"\n     onclick=\"log_download('pavlov-offnominalroverdrivingterrainmanipulationanddegradedmobilitycompensation-2023', 'http://www.andrew.cmu.edu/user/amj1/papers/Pavlov2023.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Off-Nominal Rover Driving: Terrain Manipulation and Degraded Mobility Compensation [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=bF0AZiiSgVg\"\n     onclick=\"log_download('pavlov-offnominalroverdrivingterrainmanipulationanddegradedmobilitycompensation-2023', 'https://www.youtube.com/watch?v=bF0AZiiSgVg', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Off-Nominal Rover Driving: Terrain Manipulation and Degraded Mobility Compensation [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pavlov-offnominalroverdrivingterrainmanipulationanddegradedmobilitycompensation-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pavlov-offnominalroverdrivingterrainmanipulationanddegradedmobilitycompensation-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{Pavlov-2023,\n  author   = {Catherine Pavlov},\n  title    = {Off-Nominal Rover Driving: Terrain Manipulation and Degraded Mobility Compensation},\n  year     = {2023},\n  month    = {February},\n  school   = {Mechanical Engineering Department, Carnegie Mellon University},\n  address  = {Pittsburgh, PA},\n  keywords = {Control,Modeling,Optimization,Sand,Space Robotics,Terrain Manipulation},\n  url_PDF  = {http://www.andrew.cmu.edu/user/amj1/papers/Pavlov2023.pdf},\n  url_Video = {https://www.youtube.com/watch?v=bF0AZiiSgVg}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nava-sihota-hoelen-johnson-lowry-portablexrayfluorescenceforautonomousinsitucharacterizationofchlorideinoilandgaswaste-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Valeria Nava;  Natasha Sihota;  Thomas P. Hoelen;  Aaron M. Johnson;  and  Gregory Lowry.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.1016/j.envpol.2022.120558\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'nava-sihota-hoelen-johnson-lowry-portablexrayfluorescenceforautonomousinsitucharacterizationofchlorideinoilandgaswaste-2023', 'https://doi.org/10.1016/j.envpol.2022.120558', event);\">\n    Portable X-ray fluorescence for autonomous in-situ characterization of chloride in oil and gas waste.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>Environmental Pollution</i>, 316: 120558.  2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.1016/j.envpol.2022.120558\"\n     onclick=\"log_download('nava-sihota-hoelen-johnson-lowry-portablexrayfluorescenceforautonomousinsitucharacterizationofchlorideinoilandgaswaste-2023', 'https://doi.org/10.1016/j.envpol.2022.120558', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Portable X-ray fluorescence for autonomous in-situ characterization of chloride in oil and gas waste [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nava-sihota-hoelen-johnson-lowry-portablexrayfluorescenceforautonomousinsitucharacterizationofchlorideinoilandgaswaste-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nava-sihota-hoelen-johnson-lowry-portablexrayfluorescenceforautonomousinsitucharacterizationofchlorideinoilandgaswaste-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:nava-portable-2023,\n  author        = {Valeria Nava and Natasha Sihota and Thomas P. Hoelen and Aaron M. Johnson and Gregory Lowry},\n  title         = {Portable {X}-ray fluorescence for autonomous in-situ characterization of chloride in oil and gas waste},\n  journal       = {Environmental Pollution},\n  year          = {2023},\n  pages         = {120558},\n  volume        = {316},\n  part          = {2},\n  keywords      = {Environmental Monitoring},\n  url_DOI       = {https://doi.org/10.1016/j.envpol.2022.120558}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2022\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2022')\"\n      onkeypress=\"toggleGroup('group_2022')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2022</span>\n      <span class=\"bibbase_group_count\">\n        \n        (24)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"bhatia-mason-johnson-reactingtocontacttransparencyandcollisionreflexinactuation-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Ankit Bhatia;  Matthew T. Mason;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/abs/2212.03469\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bhatia-mason-johnson-reactingtocontacttransparencyandcollisionreflexinactuation-2022', 'https://arxiv.org/abs/2212.03469', event);\">\n    Reacting to Contact: Transparency and Collision Reflex in Actuation.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>arXiv:2212.03469 [cs.RO]</i>.  2022.\n  <span class=\"note\">Under review</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/2212.03469\"\n     onclick=\"log_download('bhatia-mason-johnson-reactingtocontacttransparencyandcollisionreflexinactuation-2022', 'https://arxiv.org/abs/2212.03469', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Reacting to Contact: Transparency and Collision Reflex in Actuation [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2212.03469\"\n     onclick=\"log_download('bhatia-mason-johnson-reactingtocontacttransparencyandcollisionreflexinactuation-2022', 'https://arxiv.org/pdf/2212.03469', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Reacting to Contact: Transparency and Collision Reflex in Actuation [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bhatia-mason-johnson-reactingtocontacttransparencyandcollisionreflexinactuation-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bhatia-mason-johnson-reactingtocontacttransparencyandcollisionreflexinactuation-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:bhatia-reacting-2022,\n  author        = {Ankit Bhatia and Matthew T. Mason and Aaron M. Johnson},\n  title         = {Reacting to Contact: Transparency and Collision Reflex in Actuation},\n  journal       = {arXiv:2212.03469 [cs.RO]},\n  year          = {2022},\n  note          = {Under review},\n  keywords      = {Contact,Control,Manipulation,Perception,Proprioception,Robot Design,Uncertainty},\n  url_Info      = {https://arxiv.org/abs/2212.03469},\n  url_PDF       = {https://arxiv.org/pdf/2212.03469}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"payne-kong-johnson-stateestimationforhybridsystemssaltationbasedmethods-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   J. Joe Payne;  Nathan J. Kong;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://wp.nyu.edu/workshopiros2022agilerobotics/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'payne-kong-johnson-stateestimationforhybridsystemssaltationbasedmethods-2022', 'https://wp.nyu.edu/workshopiros2022agilerobotics/', event);\">\n    State Estimation for Hybrid Systems: Saltation Based Methods.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IROS Workshop on Agile Robotics</i>, October 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://wp.nyu.edu/workshopiros2022agilerobotics/\"\n     onclick=\"log_download('payne-kong-johnson-stateestimationforhybridsystemssaltationbasedmethods-2022', 'https://wp.nyu.edu/workshopiros2022agilerobotics/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"State Estimation for Hybrid Systems: Saltation Based Methods [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.dropbox.com/s/wu3jmwheh0erixo/Agile_Robotics_2022_paper_7758.pdf?dl=0\"\n     onclick=\"log_download('payne-kong-johnson-stateestimationforhybridsystemssaltationbasedmethods-2022', 'https://www.dropbox.com/s/wu3jmwheh0erixo/Agile_Robotics_2022_paper_7758.pdf?dl=0', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"State Estimation for Hybrid Systems: Saltation Based Methods [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/payne-kong-johnson-stateestimationforhybridsystemssaltationbasedmethods-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>11 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('payne-kong-johnson-stateestimationforhybridsystemssaltationbasedmethods-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:payne-state-2022,\n  author        = {J. Joe Payne and Nathan J. Kong and Aaron M. Johnson},\n  title         = {State Estimation for Hybrid Systems: {S}altation Based Methods},\n  booktitle     = {IROS Workshop on Agile Robotics},\n  year          = {2022},\n  month         = {October},\n  type          = {workshop abstract},\n  keywords      = {Hybrid Systems, State Estimation, Uncertainty, Contact},\n  url_Info      = {https://wp.nyu.edu/workshopiros2022agilerobotics/},\n  url_PDF       = {https://www.dropbox.com/s/wu3jmwheh0erixo/Agile_Robotics_2022_paper_7758.pdf?dl=0}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"matthies-johnson-kennedy-matuszek-patel-editorialspecialissueonroboticscollaborativetechnologyalliancerctaprogram-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Larry Matthies;  Aaron M. Johnson;  Monroe Kennedy;  Cynthia Matuszek;  and  Dilip G. Patel.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.journalfieldrobotics.org/Field_Robotics/SI_RCTA_files/Vol2_61_FR-Editorial-RCTA.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'matthies-johnson-kennedy-matuszek-patel-editorialspecialissueonroboticscollaborativetechnologyalliancerctaprogram-2022', 'https://www.journalfieldrobotics.org/Field_Robotics/SI_RCTA_files/Vol2_61_FR-Editorial-RCTA.pdf', event);\">\n    Editorial: Special Issue on Robotics Collaborative Technology Alliance (RCTA) Program.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>Field Robotics</i>, 2: 1943–1946. September 2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.journalfieldrobotics.org/Field_Robotics/SI_RCTA.html\"\n     onclick=\"log_download('matthies-johnson-kennedy-matuszek-patel-editorialspecialissueonroboticscollaborativetechnologyalliancerctaprogram-2022', 'https://www.journalfieldrobotics.org/Field_Robotics/SI_RCTA.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Editorial: Special Issue on Robotics Collaborative Technology Alliance (RCTA) Program [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.journalfieldrobotics.org/Field_Robotics/SI_RCTA_files/Vol2_61_FR-Editorial-RCTA.pdf\"\n     onclick=\"log_download('matthies-johnson-kennedy-matuszek-patel-editorialspecialissueonroboticscollaborativetechnologyalliancerctaprogram-2022', 'https://www.journalfieldrobotics.org/Field_Robotics/SI_RCTA_files/Vol2_61_FR-Editorial-RCTA.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Editorial: Special Issue on Robotics Collaborative Technology Alliance (RCTA) Program [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.55417/fr.2022061\"\n     onclick=\"log_download('matthies-johnson-kennedy-matuszek-patel-editorialspecialissueonroboticscollaborativetechnologyalliancerctaprogram-2022', 'https://doi.org/10.55417/fr.2022061', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Editorial: Special Issue on Robotics Collaborative Technology Alliance (RCTA) Program [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/matthies-johnson-kennedy-matuszek-patel-editorialspecialissueonroboticscollaborativetechnologyalliancerctaprogram-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('matthies-johnson-kennedy-matuszek-patel-editorialspecialissueonroboticscollaborativetechnologyalliancerctaprogram-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:matthies-editorial-2022,\n  author        = {Larry Matthies and Aaron M. Johnson and Monroe Kennedy and Cynthia Matuszek and Dilip G. Patel},\n  title         = {Editorial: {S}pecial Issue on {R}obotics {C}ollaborative {T}echnology {A}lliance ({RCTA}) Program},\n  journal       = {Field Robotics},\n  year          = {2022},\n  month         = {September},\n  volume        = {2},\n  pages         = {1943--1946},\n  url_Info      = {https://www.journalfieldrobotics.org/Field_Robotics/SI_RCTA.html},\n  url_PDF       = {https://www.journalfieldrobotics.org/Field_Robotics/SI_RCTA_files/Vol2_61_FR-Editorial-RCTA.pdf},\n  url_DOI       = {https://doi.org/10.55417/fr.2022061}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kong-increasingreliabilityofleggedrobotsinthepresenceofuncertainty-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Nathan J. Kong.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/Kong2022.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kong-increasingreliabilityofleggedrobotsinthepresenceofuncertainty-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/Kong2022.pdf', event);\">\n    Increasing Reliability of Legged Robots in the Presence of Uncertainty.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, Mechanical Engineering Department, Carnegie Mellon University, Pittsburgh, PA, August 2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/Kong2022.pdf\"\n     onclick=\"log_download('kong-increasingreliabilityofleggedrobotsinthepresenceofuncertainty-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/Kong2022.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Increasing Reliability of Legged Robots in the Presence of Uncertainty [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=lPzBe-pfdXY\"\n     onclick=\"log_download('kong-increasingreliabilityofleggedrobotsinthepresenceofuncertainty-2022', 'https://www.youtube.com/watch?v=lPzBe-pfdXY', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Increasing Reliability of Legged Robots in the Presence of Uncertainty [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.proquest.com/docview/2719490550/5F257C350C32417APQ/\"\n     onclick=\"log_download('kong-increasingreliabilityofleggedrobotsinthepresenceofuncertainty-2022', 'https://www.proquest.com/docview/2719490550/5F257C350C32417APQ/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Increasing Reliability of Legged Robots in the Presence of Uncertainty [link]\"\n       title=\" proquest\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> proquest</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kong-increasingreliabilityofleggedrobotsinthepresenceofuncertainty-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>10 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kong-increasingreliabilityofleggedrobotsinthepresenceofuncertainty-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{Kong-2022,\n  author   = {Nathan J. Kong},\n  title    = {Increasing Reliability of Legged Robots in the Presence of Uncertainty},\n  year     = {2022},\n  month    = {August},\n  school   = {Mechanical Engineering Department, Carnegie Mellon University},\n  address  = {Pittsburgh, PA},\n  keywords = {Hybrid Systems, Control, Contact, Optimization, Planning, State Estimation, Uncertainty, Hill Climbing},\n  url_PDF  = {http://www.andrew.cmu.edu/user/amj1/papers/Kong2022.pdf},\n  url_Video = {https://www.youtube.com/watch?v=lPzBe-pfdXY},\n  url_ProQuest = {https://www.proquest.com/docview/2719490550/5F257C350C32417APQ/}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"norby-enablingautonomousleggedrobotagility-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Joseph Norby.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/Norby2022.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'norby-enablingautonomousleggedrobotagility-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/Norby2022.pdf', event);\">\n    Enabling Autonomous Legged Robot Agility.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, Mechanical Engineering Department, Carnegie Mellon University, Pittsburgh, PA, August 2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/Norby2022.pdf\"\n     onclick=\"log_download('norby-enablingautonomousleggedrobotagility-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/Norby2022.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Enabling Autonomous Legged Robot Agility [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.proquest.com/docview/2719482026/9D3D96AF11484B24PQ/\"\n     onclick=\"log_download('norby-enablingautonomousleggedrobotagility-2022', 'https://www.proquest.com/docview/2719482026/9D3D96AF11484B24PQ/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Enabling Autonomous Legged Robot Agility [link]\"\n       title=\" proquest\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> proquest</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/norby-enablingautonomousleggedrobotagility-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('norby-enablingautonomousleggedrobotagility-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{Norby-2022,\n  author   = {Joseph Norby},\n  title    = {Enabling Autonomous Legged Robot Agility},\n  year     = {2022},\n  month    = {August},\n  school   = {Mechanical Engineering Department, Carnegie Mellon University},\n  address  = {Pittsburgh, PA},\n  keywords = {Control, Optimization, Leaping, Planning, Tails},\n  url_PDF  = {http://www.andrew.cmu.edu/user/amj1/papers/Norby2022.pdf},\n  url_ProQuest = {https://www.proquest.com/docview/2719482026/9D3D96AF11484B24PQ/}\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"payne-kong-johnson-theuncertaintyawaresaltedkalmanfilterstateestimationforhybridsystemswithuncertainguards-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   J. Joe Payne;  Nathan J. Kong;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/pdf/2202.12729.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'payne-kong-johnson-theuncertaintyawaresaltedkalmanfilterstateestimationforhybridsystemswithuncertainguards-2022', 'https://arxiv.org/pdf/2202.12729.pdf', event);\">\n    The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems</i>, pages 8821–8828, October 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/9981218\"\n     onclick=\"log_download('payne-kong-johnson-theuncertaintyawaresaltedkalmanfilterstateestimationforhybridsystemswithuncertainguards-2022', 'https://ieeexplore.ieee.org/document/9981218', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2202.12729.pdf\"\n     onclick=\"log_download('payne-kong-johnson-theuncertaintyawaresaltedkalmanfilterstateestimationforhybridsystemswithuncertainguards-2022', 'https://arxiv.org/pdf/2202.12729.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=8HJ2zbg3W3Q\"\n     onclick=\"log_download('payne-kong-johnson-theuncertaintyawaresaltedkalmanfilterstateestimationforhybridsystemswithuncertainguards-2022', 'https://www.youtube.com/watch?v=8HJ2zbg3W3Q', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/payne-kong-johnson-theuncertaintyawaresaltedkalmanfilterstateestimationforhybridsystemswithuncertainguards-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>11 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('payne-kong-johnson-theuncertaintyawaresaltedkalmanfilterstateestimationforhybridsystemswithuncertainguards-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:payne-uncertainty-2022,\n  author       = {J. Joe Payne and Nathan J. Kong and Aaron M. Johnson},\n  title        = {The Uncertainty Aware {Salted} {Kalman} {Filter}: {State} Estimation for Hybrid Systems with Uncertain Guards},\n  booktitle    = {IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems},\n  year         = {2022},\n  month        = {October},\n  pages        = {8821--8828},\n  keywords     = {Hybrid Systems, State Estimation, Uncertainty, Contact},\n  url_Publisher= {https://ieeexplore.ieee.org/document/9981218},\n  url_PDF      = {https://arxiv.org/pdf/2202.12729.pdf},\n  url_Video    = {https://www.youtube.com/watch?v=8HJ2zbg3W3Q}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nadan-patel-pavlov-backus-johnson-microspinedesignforadditivemanufacturing-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Paul Nadan;  Dinesh Patel;  Catherine Pavlov;  Spencer Backus;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.ri.cmu.edu/wp-content/uploads/2022/07/Microspine_Design_for_Additive_Manufacturing.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'nadan-patel-pavlov-backus-johnson-microspinedesignforadditivemanufacturing-2022', 'https://www.ri.cmu.edu/wp-content/uploads/2022/07/Microspine_Design_for_Additive_Manufacturing.pdf', event);\">\n    Microspine Design for Additive Manufacturing.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems</i>, pages 5640–5647, October 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/9981634\"\n     onclick=\"log_download('nadan-patel-pavlov-backus-johnson-microspinedesignforadditivemanufacturing-2022', 'https://ieeexplore.ieee.org/document/9981634', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Microspine Design for Additive Manufacturing [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.ri.cmu.edu/publications/microspine-design-for-additive-manufacturing/\"\n     onclick=\"log_download('nadan-patel-pavlov-backus-johnson-microspinedesignforadditivemanufacturing-2022', 'https://www.ri.cmu.edu/publications/microspine-design-for-additive-manufacturing/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Microspine Design for Additive Manufacturing [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.ri.cmu.edu/wp-content/uploads/2022/07/Microspine_Design_for_Additive_Manufacturing.pdf\"\n     onclick=\"log_download('nadan-patel-pavlov-backus-johnson-microspinedesignforadditivemanufacturing-2022', 'https://www.ri.cmu.edu/wp-content/uploads/2022/07/Microspine_Design_for_Additive_Manufacturing.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Microspine Design for Additive Manufacturing [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=XGfsZuqb3PI\"\n     onclick=\"log_download('nadan-patel-pavlov-backus-johnson-microspinedesignforadditivemanufacturing-2022', 'https://www.youtube.com/watch?v=XGfsZuqb3PI', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Microspine Design for Additive Manufacturing [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nadan-patel-pavlov-backus-johnson-microspinedesignforadditivemanufacturing-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nadan-patel-pavlov-backus-johnson-microspinedesignforadditivemanufacturing-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:nadan-microspine-2022,\n  author       = {Paul Nadan and Dinesh Patel and Catherine Pavlov and Spencer Backus and Aaron M. Johnson},\n  title        = {Microspine Design for Additive Manufacturing},\n  booktitle    = {IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems},\n  year         = {2022},\n  month        = {October},\n  pages        = {5640--5647},\n  keywords     = {Robot Design, Space Robotics},\n  url_Publisher= {https://ieeexplore.ieee.org/document/9981634},\n  url_Info     = {https://www.ri.cmu.edu/publications/microspine-design-for-additive-manufacturing/},\n  url_PDF      = {https://www.ri.cmu.edu/wp-content/uploads/2022/07/Microspine_Design_for_Additive_Manufacturing.pdf},\n  url_Video    = {https://www.youtube.com/watch?v=XGfsZuqb3PI}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"he-norby-wang-sihota-hoelen-lowry-johnson-environmentalsamplingwiththeboustrophedondecompositionalgorithm-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Hannah He;  Joe Norby;  Sean Wang;  Natasha Sihota;  Thomas P. Hoelen;  Gregory V. Lowry;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/abs/2207.06209\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'he-norby-wang-sihota-hoelen-lowry-johnson-environmentalsamplingwiththeboustrophedondecompositionalgorithm-2022', 'https://arxiv.org/abs/2207.06209', event);\">\n    Environmental Sampling with the Boustrophedon Decomposition Algorithm.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Technical Report arXiv:2207.06209 [cs.RO], arXiv,  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/2207.06209\"\n     onclick=\"log_download('he-norby-wang-sihota-hoelen-lowry-johnson-environmentalsamplingwiththeboustrophedondecompositionalgorithm-2022', 'https://arxiv.org/abs/2207.06209', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Environmental Sampling with the Boustrophedon Decomposition Algorithm [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2207.06209\"\n     onclick=\"log_download('he-norby-wang-sihota-hoelen-lowry-johnson-environmentalsamplingwiththeboustrophedondecompositionalgorithm-2022', 'https://arxiv.org/pdf/2207.06209', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Environmental Sampling with the Boustrophedon Decomposition Algorithm [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/he-norby-wang-sihota-hoelen-lowry-johnson-environmentalsamplingwiththeboustrophedondecompositionalgorithm-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('he-norby-wang-sihota-hoelen-lowry-johnson-environmentalsamplingwiththeboustrophedondecompositionalgorithm-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{tr:he-2022,\n  author       = {Hannah He and Joe Norby and Sean Wang and Natasha Sihota and Thomas P. Hoelen and Gregory V. Lowry and Aaron M. Johnson},\n  title        = {Environmental Sampling with the Boustrophedon Decomposition Algorithm},\n  institution  = {{arXiv}},\n  year         = {2022},\n  number       = {{arXiv:2207.06209 [cs.RO]}},\n  keywords     = {Environmental Monitoring, Planning},\n  url_Info     = {https://arxiv.org/abs/2207.06209},\n  url_PDF      = {https://arxiv.org/pdf/2207.06209}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhu-kong-council-johnson-hybrideventshapingtostabilizeperiodichybridorbits-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   James Zhu;  Nathan J. Kong;  George Council;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://aaronjoh.github.io/bumping_into_things/RSS_Workshop___Hybrid_Event_Shaping.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhu-kong-council-johnson-hybrideventshapingtostabilizeperiodichybridorbits-2022', 'https://aaronjoh.github.io/bumping_into_things/RSS_Workshop___Hybrid_Event_Shaping.pdf', event);\">\n    Hybrid Event Shaping to stabilize periodic hybrid orbits.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>RSS Workshop on the Science of Bumping Into Things</i>, July 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://aaronjoh.github.io/bumping_into_things/\"\n     onclick=\"log_download('zhu-kong-council-johnson-hybrideventshapingtostabilizeperiodichybridorbits-2022', 'https://aaronjoh.github.io/bumping_into_things/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Hybrid Event Shaping to stabilize periodic hybrid orbits [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://aaronjoh.github.io/bumping_into_things/RSS_Workshop___Hybrid_Event_Shaping.pdf\"\n     onclick=\"log_download('zhu-kong-council-johnson-hybrideventshapingtostabilizeperiodichybridorbits-2022', 'https://aaronjoh.github.io/bumping_into_things/RSS_Workshop___Hybrid_Event_Shaping.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid Event Shaping to stabilize periodic hybrid orbits [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhu-kong-council-johnson-hybrideventshapingtostabilizeperiodichybridorbits-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>19 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhu-kong-council-johnson-hybrideventshapingtostabilizeperiodichybridorbits-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:zhu-hybrid-2022,\n  author        = {James Zhu and Nathan J. Kong and George Council and Aaron M. Johnson},\n  title         = {Hybrid {Event} {Shaping} to stabilize periodic hybrid orbits},\n  booktitle     = {RSS Workshop on the Science of Bumping Into Things},\n  year          = {2022},\n  month         = {July},\n  type          = {workshop abstract},\n  keywords      = {Hybrid Systems, Control, Optimization, Planning, Contact},\n  url_Info      = {https://aaronjoh.github.io/bumping_into_things/},\n  url_PDF       = {https://aaronjoh.github.io/bumping_into_things/RSS_Workshop___Hybrid_Event_Shaping.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhu-johnson-convergentilqrforunderactuatedhybriddynamicalsystems-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   James Zhu;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.youtube.com/watch?v=u14fghhCpTU&amp;t=366s\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhu-johnson-convergentilqrforunderactuatedhybriddynamicalsystems-2022', 'https://www.youtube.com/watch?v=u14fghhCpTU&amp;t=366s', event);\">\n    Convergent iLQR for Underactuated Hybrid Dynamical Systems.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>RSS Workshop on Risk Aware Decision Making</i>, June 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.youtube.com/watch?v=u14fghhCpTU&amp;t=366s\"\n     onclick=\"log_download('zhu-johnson-convergentilqrforunderactuatedhybriddynamicalsystems-2022', 'https://www.youtube.com/watch?v=u14fghhCpTU&amp;t=366s', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Convergent iLQR for Underactuated Hybrid Dynamical Systems [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhu-johnson-convergentilqrforunderactuatedhybriddynamicalsystems-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhu-johnson-convergentilqrforunderactuatedhybriddynamicalsystems-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:zhu-convergent-2022,\n  author        = {James Zhu and Aaron M. Johnson},\n  title         = {Convergent {iLQR} for Underactuated Hybrid Dynamical Systems},\n  booktitle     = {RSS Workshop on Risk Aware Decision Making},\n  year          = {2022},\n  month         = {June},\n  type          = {workshop abstract},\n  keywords      = {Hybrid Systems, Control, Optimization, Planning, Contact},\n  url_Video     = {https://www.youtube.com/watch?v=u14fghhCpTU&amp;t=366s}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yim-kyle-johnson-walkingandturningwithfewactuators-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Justin Yim;  James Kyle;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://mediaspace.wisc.edu/media/DW22_Yim%2C+Justin+-+June+14th+2022%2C+3A24A36+pm/1_o8qe5c46\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yim-kyle-johnson-walkingandturningwithfewactuators-2022', 'https://mediaspace.wisc.edu/media/DW22_Yim%2C+Justin+-+June+14th+2022%2C+3A24A36+pm/1_o8qe5c46', event);\">\n    Walking and turning with few actuators.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, June 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://mediaspace.wisc.edu/media/DW22_Yim%2C+Justin+-+June+14th+2022%2C+3A24A36+pm/1_o8qe5c46\"\n     onclick=\"log_download('yim-kyle-johnson-walkingandturningwithfewactuators-2022', 'https://mediaspace.wisc.edu/media/DW22_Yim%2C+Justin+-+June+14th+2022%2C+3A24A36+pm/1_o8qe5c46', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Walking and turning with few actuators [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yim-kyle-johnson-walkingandturningwithfewactuators-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yim-kyle-johnson-walkingandturningwithfewactuators-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:yim-walking-2022,\n  author        = {Justin Yim and James Kyle and Aaron M. Johnson},\n  title         = {Walking and turning with few actuators},\n  booktitle     = {Dynamic Walking},\n  year          = {2022},\n  month         = {June},\n  type          = {workshop poster},\n  keywords      = {Robot Design, Control},\n  url_Video     = {https://mediaspace.wisc.edu/media/DW22_Yim%2C+Justin+-+June+14th+2022%2C+3A24A36+pm/1_o8qe5c46}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"payne-kong-johnson-kalmanfilteringforhybridsystems-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   J. Joe Payne;  Nathan J. Kong;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://mediaspace.wisc.edu/media/DW22_Payne%2C%20J.%20Joe%20-%20June%2015th%202022%2C%209%3A32%3A43%20pm/1_ps8wgu5u\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'payne-kong-johnson-kalmanfilteringforhybridsystems-2022', 'https://mediaspace.wisc.edu/media/DW22_Payne%2C%20J.%20Joe%20-%20June%2015th%202022%2C%209%3A32%3A43%20pm/1_ps8wgu5u', event);\">\n    Kalman Filtering for Hybrid Systems.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, June 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://mediaspace.wisc.edu/media/DW22_Payne%2C%20J.%20Joe%20-%20June%2015th%202022%2C%209%3A32%3A43%20pm/1_ps8wgu5u\"\n     onclick=\"log_download('payne-kong-johnson-kalmanfilteringforhybridsystems-2022', 'https://mediaspace.wisc.edu/media/DW22_Payne%2C%20J.%20Joe%20-%20June%2015th%202022%2C%209%3A32%3A43%20pm/1_ps8wgu5u', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Kalman Filtering for Hybrid Systems [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/payne-kong-johnson-kalmanfilteringforhybridsystems-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('payne-kong-johnson-kalmanfilteringforhybridsystems-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:payne-kalman-2022,\n  author        = {J. Joe Payne and Nathan J. Kong and Aaron M. Johnson},\n  title         = {Kalman Filtering for Hybrid Systems},\n  booktitle     = {Dynamic Walking},\n  year          = {2022},\n  month         = {June},\n  type          = {workshop poster},\n  keywords      = {Hybrid Systems, State Estimation, Uncertainty, Contact},\n  url_Video     = {https://mediaspace.wisc.edu/media/DW22_Payne%2C%20J.%20Joe%20-%20June%2015th%202022%2C%209%3A32%3A43%20pm/1_ps8wgu5u}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhu-johnson-unifyingswinglegretractionraibertheuristicandpaddlejugglingwithhybrideventshaping-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   James Zhu;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://mediaspace.wisc.edu/media/DW22_Joyhnson%2C+Aaron+%281%29+-+June+13th+%28Screen%29/1_dj001uhy\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhu-johnson-unifyingswinglegretractionraibertheuristicandpaddlejugglingwithhybrideventshaping-2022', 'https://mediaspace.wisc.edu/media/DW22_Joyhnson%2C+Aaron+%281%29+-+June+13th+%28Screen%29/1_dj001uhy', event);\">\n    Unifying swing leg retraction, Raibert heuristic, and paddle juggling with hybrid event shaping.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, June 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://mediaspace.wisc.edu/media/DW22_Joyhnson%2C+Aaron+%281%29+-+June+13th+%28Screen%29/1_dj001uhy\"\n     onclick=\"log_download('zhu-johnson-unifyingswinglegretractionraibertheuristicandpaddlejugglingwithhybrideventshaping-2022', 'https://mediaspace.wisc.edu/media/DW22_Joyhnson%2C+Aaron+%281%29+-+June+13th+%28Screen%29/1_dj001uhy', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Unifying swing leg retraction, Raibert heuristic, and paddle juggling with hybrid event shaping [link]\"\n       title=\" video1\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video1</span></a>\n  &nbsp;\n  \n  <a href=\"https://mediaspace.wisc.edu/media/DW22_Johnson%2C+Aaron%281%29+-+June+13th+%28Camera%29/1_x32mfbsr\"\n     onclick=\"log_download('zhu-johnson-unifyingswinglegretractionraibertheuristicandpaddlejugglingwithhybrideventshaping-2022', 'https://mediaspace.wisc.edu/media/DW22_Johnson%2C+Aaron%281%29+-+June+13th+%28Camera%29/1_x32mfbsr', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Unifying swing leg retraction, Raibert heuristic, and paddle juggling with hybrid event shaping [link]\"\n       title=\" video2\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video2</span></a>\n  &nbsp;\n  \n  <a href=\"https://mediaspace.wisc.edu/media/DW22_Johnson%2C+Aaron-+June+13th+2022%2C+10A11A21+am/1_30ss865f\"\n     onclick=\"log_download('zhu-johnson-unifyingswinglegretractionraibertheuristicandpaddlejugglingwithhybrideventshaping-2022', 'https://mediaspace.wisc.edu/media/DW22_Johnson%2C+Aaron-+June+13th+2022%2C+10A11A21+am/1_30ss865f', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Unifying swing leg retraction, Raibert heuristic, and paddle juggling with hybrid event shaping [link]\"\n       title=\" video3\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video3</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhu-johnson-unifyingswinglegretractionraibertheuristicandpaddlejugglingwithhybrideventshaping-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhu-johnson-unifyingswinglegretractionraibertheuristicandpaddlejugglingwithhybrideventshaping-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:zhu-unifying-2022,\n  author        = {James Zhu and Aaron M. Johnson},\n  title         = {Unifying swing leg retraction, {R}aibert heuristic, and paddle juggling with hybrid event shaping},\n  booktitle     = {Dynamic Walking},\n  year          = {2022},\n  month         = {June},\n  type          = {workshop poster},\n  keywords      = {Hybrid Systems, Control, Optimization, Planning, Contact},\n  url_Video1    = {https://mediaspace.wisc.edu/media/DW22_Joyhnson%2C+Aaron+%281%29+-+June+13th+%28Screen%29/1_dj001uhy},\n  url_Video2    = {https://mediaspace.wisc.edu/media/DW22_Johnson%2C+Aaron%281%29+-+June+13th+%28Camera%29/1_x32mfbsr},\n  url_video3    = {https://mediaspace.wisc.edu/media/DW22_Johnson%2C+Aaron-+June+13th+2022%2C+10A11A21+am/1_30ss865f}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"norby-yang-tajbakhsh-ren-yim-stutt-yu-flowers-etal-quadsdkfullstacksoftwareframeworkforagilequadrupedallocomotion-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Joseph Norby;  Yanhao Yang;  Ardalan Tajbakhsh;  Jiming Ren;  Justin K. Yim;  Alexandra Stutt;  Qishun Yu;  Nikolai Flowers;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/Quad_SDK_ICRA_Abstract.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'norby-yang-tajbakhsh-ren-yim-stutt-yu-flowers-etal-quadsdkfullstacksoftwareframeworkforagilequadrupedallocomotion-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/Quad_SDK_ICRA_Abstract.pdf', event);\">\n    Quad-SDK: Full Stack Software Framework for Agile Quadrupedal Locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>ICRA Workshop on Legged Robots</i>, May 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/Quad_SDK_ICRA_Abstract.pdf\"\n     onclick=\"log_download('norby-yang-tajbakhsh-ren-yim-stutt-yu-flowers-etal-quadsdkfullstacksoftwareframeworkforagilequadrupedallocomotion-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/Quad_SDK_ICRA_Abstract.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Quad-SDK: Full Stack Software Framework for Agile Quadrupedal Locomotion [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=kSXKjTxKpuA\"\n     onclick=\"log_download('norby-yang-tajbakhsh-ren-yim-stutt-yu-flowers-etal-quadsdkfullstacksoftwareframeworkforagilequadrupedallocomotion-2022', 'https://www.youtube.com/watch?v=kSXKjTxKpuA', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Quad-SDK: Full Stack Software Framework for Agile Quadrupedal Locomotion [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://github.com/robomechanics/quad-sdk\"\n     onclick=\"log_download('norby-yang-tajbakhsh-ren-yim-stutt-yu-flowers-etal-quadsdkfullstacksoftwareframeworkforagilequadrupedallocomotion-2022', 'https://github.com/robomechanics/quad-sdk', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Quad-SDK: Full Stack Software Framework for Agile Quadrupedal Locomotion [link]\"\n       title=\" code\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> code</span></a>\n  &nbsp;\n  \n  <a href=\"https://leggedrobots.org/lrws_2022/index.html\"\n     onclick=\"log_download('norby-yang-tajbakhsh-ren-yim-stutt-yu-flowers-etal-quadsdkfullstacksoftwareframeworkforagilequadrupedallocomotion-2022', 'https://leggedrobots.org/lrws_2022/index.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Quad-SDK: Full Stack Software Framework for Agile Quadrupedal Locomotion [link]\"\n       title=\" workshop\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> workshop</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/norby-yang-tajbakhsh-ren-yim-stutt-yu-flowers-etal-quadsdkfullstacksoftwareframeworkforagilequadrupedallocomotion-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>49 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('norby-yang-tajbakhsh-ren-yim-stutt-yu-flowers-etal-quadsdkfullstacksoftwareframeworkforagilequadrupedallocomotion-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:norby-quad-sdk-2022,\n  author        = {Joseph Norby and Yanhao Yang and Ardalan Tajbakhsh and Jiming Ren and Justin K. Yim and Alexandra Stutt and Qishun Yu and Nikolai Flowers and Aaron M. Johnson},\n  title         = {Quad-{SDK}: Full Stack Software Framework for Agile Quadrupedal Locomotion},\n  booktitle     = {ICRA Workshop on Legged Robots},\n  year          = {2022},\n  month         = {May},\n  type          = {workshop abstract},\n  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/Quad_SDK_ICRA_Abstract.pdf},\n  url_Video     = {https://www.youtube.com/watch?v=kSXKjTxKpuA},\n  url_Code      = {https://github.com/robomechanics/quad-sdk},\n  url_Workshop  = {https://leggedrobots.org/lrws_2022/index.html},\n  keywords      = {Control,Planning,Leaping}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Yanhao Yang;  Joseph Norby;  Justin K. Yim;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/Proprioception_and_Tail_Control_ICRA_WS.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/Proprioception_and_Tail_Control_ICRA_WS.pdf', event);\">\n    Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>ICRA Workshop on Legged Robots</i>, May 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://leggedrobots.org/index.html\"\n     onclick=\"log_download('yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2022', 'https://leggedrobots.org/index.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/Proprioception_and_Tail_Control_ICRA_WS.pdf\"\n     onclick=\"log_download('yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/Proprioception_and_Tail_Control_ICRA_WS.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/uH6T1ETzjhM\"\n     onclick=\"log_download('yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2022', 'https://youtu.be/uH6T1ETzjhM', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>57 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yang-norby-yim-johnson-proprioceptionandtailcontrolenableextremeterraintraversalbyquadrupedrobots-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:yang-proprioception-2022,\n  author        = {Yanhao Yang and Joseph Norby and Justin K. Yim and Aaron M. Johnson},\n  title         = {Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots},\n  booktitle     = {ICRA Workshop on Legged Robots},\n  year          = {2022},\n  month         = {May},\n  type          = {workshop abstract},\n  url_Info      = {https://leggedrobots.org/index.html},\n  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/Proprioception_and_Tail_Control_ICRA_WS.pdf},\n  url_Video     = {https://youtu.be/uH6T1ETzjhM},\n  keywords      = {Control,Leaping,Proprioception,Tails}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhu-johnson-byairorbylandhowlocomotionmethodsdictatedroneethics-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   James Zhu;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/How_Locomotion_Methods_Dictate_Drone_Ethics.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhu-johnson-byairorbylandhowlocomotionmethodsdictatedroneethics-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/How_Locomotion_Methods_Dictate_Drone_Ethics.pdf', event);\">\n    By Air or by Land: How Locomotion Methods Dictate Drone Ethics.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>ICRA Workshop on Addressing Ethical and Technical Challenges in the Development, Use and Governance of Lethal Autonomous Weapons Systems</i>, May 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.grasp.upenn.edu/LAWS_ICRA2022/\"\n     onclick=\"log_download('zhu-johnson-byairorbylandhowlocomotionmethodsdictatedroneethics-2022', 'https://www.grasp.upenn.edu/LAWS_ICRA2022/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"By Air or by Land: How Locomotion Methods Dictate Drone Ethics [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/How_Locomotion_Methods_Dictate_Drone_Ethics.pdf\"\n     onclick=\"log_download('zhu-johnson-byairorbylandhowlocomotionmethodsdictatedroneethics-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/How_Locomotion_Methods_Dictate_Drone_Ethics.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"By Air or by Land: How Locomotion Methods Dictate Drone Ethics [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhu-johnson-byairorbylandhowlocomotionmethodsdictatedroneethics-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhu-johnson-byairorbylandhowlocomotionmethodsdictatedroneethics-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:zhu-ethics-2022,\n  author        = {James Zhu and Aaron M. Johnson},\n  title         = {By Air or by Land: How Locomotion Methods Dictate Drone Ethics},\n  booktitle     = {ICRA Workshop on Addressing Ethical and Technical Challenges in the Development, Use and Governance of Lethal Autonomous Weapons Systems},\n  year          = {2022},\n  month         = {May},\n  type          = {workshop poster},\n  url_Info      = {https://www.grasp.upenn.edu/LAWS_ICRA2022/},\n  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/How_Locomotion_Methods_Dictate_Drone_Ethics.pdf},\n  keywords      = {Philosophy}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhu-kong-council-johnson-hybrideventshapingtostabilizeperiodichybridorbits-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   James Zhu;  Nathan J. Kong;  George Council;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/pdf/2110.01123.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhu-kong-council-johnson-hybrideventshapingtostabilizeperiodichybridorbits-2022', 'https://arxiv.org/pdf/2110.01123.pdf', event);\">\n    Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE Intl.\\ Conference on Robotics and Automation</i>, pages 6600–6606, Philadelphia, PA, May 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/pdf/2110.01123.pdf\"\n     onclick=\"log_download('zhu-kong-council-johnson-hybrideventshapingtostabilizeperiodichybridorbits-2022', 'https://arxiv.org/pdf/2110.01123.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=EqIjG2cCX5w\"\n     onclick=\"log_download('zhu-kong-council-johnson-hybrideventshapingtostabilizeperiodichybridorbits-2022', 'https://www.youtube.com/watch?v=EqIjG2cCX5w', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=oLRKRzsb5uo\"\n     onclick=\"log_download('zhu-kong-council-johnson-hybrideventshapingtostabilizeperiodichybridorbits-2022', 'https://www.youtube.com/watch?v=oLRKRzsb5uo', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits [link]\"\n       title=\" presentation\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> presentation</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1109/ICRA46639.2022.9811782\"\n     onclick=\"log_download('zhu-kong-council-johnson-hybrideventshapingtostabilizeperiodichybridorbits-2022', 'https://doi.org/10.1109/ICRA46639.2022.9811782', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhu-kong-council-johnson-hybrideventshapingtostabilizeperiodichybridorbits-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>19 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhu-kong-council-johnson-hybrideventshapingtostabilizeperiodichybridorbits-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:zhu-hybrid-2022,\n  author       = {James Zhu and Nathan J. Kong and George Council and Aaron M. Johnson},\n  title        = {Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits},\n  booktitle    = {IEEE Intl.\\ Conference on Robotics and Automation},\n  month        = {May},\n  year         = {2022},\n  pages        = {6600--6606},\n  address      = {Philadelphia, PA},\n  keywords     = {Hybrid Systems, Control, Optimization, Planning, Contact},\n  url_PDF      = {https://arxiv.org/pdf/2110.01123.pdf},\n  url_Video    = {https://www.youtube.com/watch?v=EqIjG2cCX5w},\n  url_Presentation = {https://www.youtube.com/watch?v=oLRKRzsb5uo},\n  url_DOI      = {https://doi.org/10.1109/ICRA46639.2022.9811782}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"islam-carter-yim-kyle-bergbreiter-johnson-scalableminimallyactuatedlegextensionbipedalwalkerbasedon3dpassivedynamics-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Sharfin Islam;  Kamal Carter;  Justin Yim;  James Kyle;  Sarah Bergbreiter;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/ICRA2022_3D_Walker_Paper.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'islam-carter-yim-kyle-bergbreiter-johnson-scalableminimallyactuatedlegextensionbipedalwalkerbasedon3dpassivedynamics-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/ICRA2022_3D_Walker_Paper.pdf', event);\">\n    Scalable Minimally Actuated Leg Extension Bipedal Walker Based on 3D Passive Dynamics.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE Intl.\\ Conference on Robotics and Automation</i>, pages 207–213, Philadelphia, PA, May 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/ICRA2022_3D_Walker_Paper.pdf\"\n     onclick=\"log_download('islam-carter-yim-kyle-bergbreiter-johnson-scalableminimallyactuatedlegextensionbipedalwalkerbasedon3dpassivedynamics-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/ICRA2022_3D_Walker_Paper.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Scalable Minimally Actuated Leg Extension Bipedal Walker Based on 3D Passive Dynamics [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/kECAdJEaJlk\"\n     onclick=\"log_download('islam-carter-yim-kyle-bergbreiter-johnson-scalableminimallyactuatedlegextensionbipedalwalkerbasedon3dpassivedynamics-2022', 'https://youtu.be/kECAdJEaJlk', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Scalable Minimally Actuated Leg Extension Bipedal Walker Based on 3D Passive Dynamics [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1109/ICRA46639.2022.9812053\"\n     onclick=\"log_download('islam-carter-yim-kyle-bergbreiter-johnson-scalableminimallyactuatedlegextensionbipedalwalkerbasedon3dpassivedynamics-2022', 'https://doi.org/10.1109/ICRA46639.2022.9812053', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Scalable Minimally Actuated Leg Extension Bipedal Walker Based on 3D Passive Dynamics [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/islam-carter-yim-kyle-bergbreiter-johnson-scalableminimallyactuatedlegextensionbipedalwalkerbasedon3dpassivedynamics-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('islam-carter-yim-kyle-bergbreiter-johnson-scalableminimallyactuatedlegextensionbipedalwalkerbasedon3dpassivedynamics-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:islam-scalable-2022,\n  author        = {Sharfin Islam and Kamal Carter and Justin Yim and James Kyle and Sarah Bergbreiter and Aaron M. Johnson},\n  title         = {Scalable Minimally Actuated Leg Extension Bipedal Walker Based on {3D} Passive Dynamics},\n  booktitle     = {IEEE Intl.\\ Conference on Robotics and Automation},\n  month         = {May},\n  year          = {2022},\n  pages         = {207--213},\n  address       = {Philadelphia, PA},\n  keywords      = {Robot Design, Control},\n  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/ICRA2022_3D_Walker_Paper.pdf},\n  url_Video     = {https://youtu.be/kECAdJEaJlk},\n  url_DOI       = {https://doi.org/10.1109/ICRA46639.2022.9812053}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kumar-payne-travers-johnson-choset-periodicslamusingcyclicconstraintstoimprovetheperformanceofvisualinertialslamonleggedrobots-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Hans Kumar;  J. Joe Payne;  Matthew Travers;  Aaron M. Johnson;  and  Howie Choset.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/ICRA2022_Periodic_SLAM_Paper.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kumar-payne-travers-johnson-choset-periodicslamusingcyclicconstraintstoimprovetheperformanceofvisualinertialslamonleggedrobots-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/ICRA2022_Periodic_SLAM_Paper.pdf', event);\">\n    Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE Intl.\\ Conference on Robotics and Automation</i>, pages 9477–9483, Philadelphia, PA, May 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/ICRA2022_Periodic_SLAM_Paper.pdf\"\n     onclick=\"log_download('kumar-payne-travers-johnson-choset-periodicslamusingcyclicconstraintstoimprovetheperformanceofvisualinertialslamonleggedrobots-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/ICRA2022_Periodic_SLAM_Paper.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1109/ICRA46639.2022.9811634\"\n     onclick=\"log_download('kumar-payne-travers-johnson-choset-periodicslamusingcyclicconstraintstoimprovetheperformanceofvisualinertialslamonleggedrobots-2022', 'https://doi.org/10.1109/ICRA46639.2022.9811634', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kumar-payne-travers-johnson-choset-periodicslamusingcyclicconstraintstoimprovetheperformanceofvisualinertialslamonleggedrobots-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kumar-payne-travers-johnson-choset-periodicslamusingcyclicconstraintstoimprovetheperformanceofvisualinertialslamonleggedrobots-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:kumar-periodic-2022,\n  author        = {Hans Kumar and J. Joe Payne and Matthew Travers and Aaron M. Johnson and Howie Choset},\n  title         = {Periodic {SLAM}: {U}sing Cyclic Constraints to Improve the Performance of Visual-Inertial {SLAM} on Legged Robots},\n  booktitle     = {IEEE Intl.\\ Conference on Robotics and Automation},\n  month         = {May},\n  year          = {2022},\n  pages         = {9477--9483},\n  address       = {Philadelphia, PA},\n  keywords      = {Perception, State Estimation},\n  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/ICRA2022_Periodic_SLAM_Paper.pdf},\n  url_DOI       = {https://doi.org/10.1109/ICRA46639.2022.9811634}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"triest-sivaprakasam-wang-wang-johnson-scherer-tartandrivealargescaledatasetforlearningoffroaddynamicsmodels-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Samuel Triest;  Matthew Sivaprakasam;  Sean J. Wang;  Wenshan Wang;  Aaron M. Johnson;  and  Sebastian Scherer.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/pdf/2205.01791\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'triest-sivaprakasam-wang-wang-johnson-scherer-tartandrivealargescaledatasetforlearningoffroaddynamicsmodels-2022', 'https://arxiv.org/pdf/2205.01791', event);\">\n    TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE Intl.\\ Conference on Robotics and Automation</i>, pages 2546–2552, Philadelphia, PA, May 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/pdf/2205.01791\"\n     onclick=\"log_download('triest-sivaprakasam-wang-wang-johnson-scherer-tartandrivealargescaledatasetforlearningoffroaddynamicsmodels-2022', 'https://arxiv.org/pdf/2205.01791', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=wgAD7T6dKEE\"\n     onclick=\"log_download('triest-sivaprakasam-wang-wang-johnson-scherer-tartandrivealargescaledatasetforlearningoffroaddynamicsmodels-2022', 'https://www.youtube.com/watch?v=wgAD7T6dKEE', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://github.com/castacks/tartan_drive\"\n     onclick=\"log_download('triest-sivaprakasam-wang-wang-johnson-scherer-tartandrivealargescaledatasetforlearningoffroaddynamicsmodels-2022', 'https://github.com/castacks/tartan_drive', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models [link]\"\n       title=\" dataset\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> dataset</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1109/ICRA46639.2022.9811648\"\n     onclick=\"log_download('triest-sivaprakasam-wang-wang-johnson-scherer-tartandrivealargescaledatasetforlearningoffroaddynamicsmodels-2022', 'https://doi.org/10.1109/ICRA46639.2022.9811648', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/triest-sivaprakasam-wang-wang-johnson-scherer-tartandrivealargescaledatasetforlearningoffroaddynamicsmodels-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>11 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('triest-sivaprakasam-wang-wang-johnson-scherer-tartandrivealargescaledatasetforlearningoffroaddynamicsmodels-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:triest-tartandrive-2022,\n  author        = {Samuel Triest and Matthew Sivaprakasam and Sean J. Wang and Wenshan Wang and Aaron M. Johnson and Sebastian Scherer},\n  title         = {{TartanDrive}: {A} Large-Scale Dataset for Learning Off-Road Dynamics Models},\n  booktitle     = {IEEE Intl.\\ Conference on Robotics and Automation},\n  month         = {May},\n  year          = {2022},\n  pages         = {2546--2552},\n  address       = {Philadelphia, PA},\n  keywords      = {Learning, Modeling, Hill Climbing},\n  url_PDF       = {https://arxiv.org/pdf/2205.01791},\n  url_Video     = {https://www.youtube.com/watch?v=wgAD7T6dKEE},\n  url_Dataset   = {https://github.com/castacks/tartan_drive},\n  url_DOI       = {https://doi.org/10.1109/ICRA46639.2022.9811648}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-wanderingthroughthedeserthowkodlablaunchedmycareer-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/KodFest_2022_Johnson.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-wanderingthroughthedeserthowkodlablaunchedmycareer-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/KodFest_2022_Johnson.pdf', event);\">\n    Wandering Through the Desert: How Kod*lab Launched My Career.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Kod*fest: A Festschrift in Honor of Professor Daniel E. Koditschek</i>, May 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/KodFest_2022_Johnson.pdf\"\n     onclick=\"log_download('johnson-wanderingthroughthedeserthowkodlablaunchedmycareer-2022', 'http://www.andrew.cmu.edu/user/amj1/papers/KodFest_2022_Johnson.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Wandering Through the Desert: How Kod*lab Launched My Career [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-wanderingthroughthedeserthowkodlablaunchedmycareer-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-wanderingthroughthedeserthowkodlablaunchedmycareer-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:johnson-kodfest-2022,\n  author        = {Aaron M. Johnson},\n  title         = {Wandering Through the Desert: How Kod*lab Launched My Career},\n  booktitle     = {Kod*fest: A Festschrift in Honor of Professor Daniel E. Koditschek},\n  year          = {2022},\n  month         = {May},\n  type          = {workshop abstract},\n  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/KodFest_2022_Johnson.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bhatia-directdrivehandsmakingrobothandstransparentandreactivetocontacts-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Ankit Bhatia.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.ri.cmu.edu/wp-content/uploads/2022/05/ankitb_thesis_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bhatia-directdrivehandsmakingrobothandstransparentandreactivetocontacts-2022', 'https://www.ri.cmu.edu/wp-content/uploads/2022/05/ankitb_thesis_final.pdf', event);\">\n    Direct-Drive Hands: Making Robot Hands Transparent and Reactive to Contacts.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, May 2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.ri.cmu.edu/publications/direct-drive-hands-making-robot-hands-transparent-and-reactive-to-contacts/\"\n     onclick=\"log_download('bhatia-directdrivehandsmakingrobothandstransparentandreactivetocontacts-2022', 'https://www.ri.cmu.edu/publications/direct-drive-hands-making-robot-hands-transparent-and-reactive-to-contacts/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Direct-Drive Hands: Making Robot Hands Transparent and Reactive to Contacts [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.ri.cmu.edu/wp-content/uploads/2022/05/ankitb_thesis_final.pdf\"\n     onclick=\"log_download('bhatia-directdrivehandsmakingrobothandstransparentandreactivetocontacts-2022', 'https://www.ri.cmu.edu/wp-content/uploads/2022/05/ankitb_thesis_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Direct-Drive Hands: Making Robot Hands Transparent and Reactive to Contacts [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bhatia-directdrivehandsmakingrobothandstransparentandreactivetocontacts-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bhatia-directdrivehandsmakingrobothandstransparentandreactivetocontacts-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{Bhatia-2022-131694,\n  author   = {Ankit Bhatia},\n  title    = {Direct-Drive Hands: Making Robot Hands Transparent and Reactive to Contacts},\n  year     = {2022},\n  month    = {May},\n  school   = {Robotics Institute, Carnegie Mellon University},\n  address  = {Pittsburgh, PA},\n  number   = {CMU-RI-TR-22-16},\n  keywords = {Contact,Control,Manipulation,Perception,Proprioception,Robot Design,Uncertainty},\n  url_Info = {https://www.ri.cmu.edu/publications/direct-drive-hands-making-robot-hands-transparent-and-reactive-to-contacts/},\n  url_PDF  = {https://www.ri.cmu.edu/wp-content/uploads/2022/05/ankitb_thesis_final.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pavlov-rogg-johnson-assessingimpactofjointactuatorfailureonlunarrovermobility-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Catherine A. Pavlov;  Arno Rogg;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://lsic.jhuapl.edu/uploadedDocs/meetings/docs/1336-2022%2005%20LSIC%20Spring%20Meeting_Program%20Book.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pavlov-rogg-johnson-assessingimpactofjointactuatorfailureonlunarrovermobility-2022', 'https://lsic.jhuapl.edu/uploadedDocs/meetings/docs/1336-2022%2005%20LSIC%20Spring%20Meeting_Program%20Book.pdf', event);\">\n    Assessing Impact of Joint Actuator Failure on Lunar Rover Mobility.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Lunar Surface Innovation Consortium Spring Meeting</i>, May 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://lsic.jhuapl.edu/uploadedDocs/meetings/docs/1336-2022%2005%20LSIC%20Spring%20Meeting_Program%20Book.pdf\"\n     onclick=\"log_download('pavlov-rogg-johnson-assessingimpactofjointactuatorfailureonlunarrovermobility-2022', 'https://lsic.jhuapl.edu/uploadedDocs/meetings/docs/1336-2022%2005%20LSIC%20Spring%20Meeting_Program%20Book.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Assessing Impact of Joint Actuator Failure on Lunar Rover Mobility [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://ntrs.nasa.gov/citations/20220005373\"\n     onclick=\"log_download('pavlov-rogg-johnson-assessingimpactofjointactuatorfailureonlunarrovermobility-2022', 'https://ntrs.nasa.gov/citations/20220005373', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Assessing Impact of Joint Actuator Failure on Lunar Rover Mobility [link]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pavlov-rogg-johnson-assessingimpactofjointactuatorfailureonlunarrovermobility-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pavlov-rogg-johnson-assessingimpactofjointactuatorfailureonlunarrovermobility-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:pavlov-LSIC-2022,\n  author        = {Catherine A. Pavlov and Arno Rogg and Aaron M. Johnson},\n  title         = {Assessing Impact of Joint Actuator Failure on Lunar Rover Mobility},\n  booktitle     = {Lunar Surface Innovation Consortium Spring Meeting},\n  year          = {2022},\n  month         = {May},\n  page          = {45},\n  type          = {workshop abstract},\n  url_PDF       = {https://lsic.jhuapl.edu/uploadedDocs/meetings/docs/1336-2022%2005%20LSIC%20Spring%20Meeting_Program%20Book.pdf},\n  url_Poster    = {https://ntrs.nasa.gov/citations/20220005373},\n  keywords      = {Terrain Manipulation, Sand, Space Robotics}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"shield-johnson-patel-contactimplicitdirectcollocationwithadiscontinuousvelocitystate-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Stacey Leigh Shield;  Aaron M. Johnson;  and  Amir Patel.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/abstract/document/9739950\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'shield-johnson-patel-contactimplicitdirectcollocationwithadiscontinuousvelocitystate-2022', 'https://ieeexplore.ieee.org/abstract/document/9739950', event);\">\n    Contact-Implicit Direct Collocation with a Discontinuous Velocity State.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 7(2): 5779–5786.  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/abstract/document/9739950\"\n     onclick=\"log_download('shield-johnson-patel-contactimplicitdirectcollocationwithadiscontinuousvelocitystate-2022', 'https://ieeexplore.ieee.org/abstract/document/9739950', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Contact-Implicit Direct Collocation with a Discontinuous Velocity State [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1109/LRA.2022.3160077\"\n     onclick=\"log_download('shield-johnson-patel-contactimplicitdirectcollocationwithadiscontinuousvelocitystate-2022', 'https://doi.org/10.1109/LRA.2022.3160077', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Contact-Implicit Direct Collocation with a Discontinuous Velocity State [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/shield-johnson-patel-contactimplicitdirectcollocationwithadiscontinuousvelocitystate-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('shield-johnson-patel-contactimplicitdirectcollocationwithadiscontinuousvelocitystate-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:shield-contact-2022,\n  author        = {Stacey Leigh Shield and Aaron M. Johnson and Amir Patel},\n  title         = {Contact-Implicit Direct Collocation with a Discontinuous Velocity State},\n  journal       = {IEEE Robotics and Automation Letters},\n  year          = {2022},\n  volume        = {7},\n  number        = {2},\n  pages         = {5779--5786},\n  keywords      = {Optimization, Control, Contact},\n  url_Publisher = {https://ieeexplore.ieee.org/abstract/document/9739950},\n  url_DOI       = {https://doi.org/10.1109/LRA.2022.3160077}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2021\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2021')\"\n      onkeypress=\"toggleGroup('group_2021')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2021</span>\n      <span class=\"bibbase_group_count\">\n        \n        (10)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"kong-council-johnson-ilqrforpiecewisesmoothhybriddynamicalsystems-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Nathan J. Kong;  George Council;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/pdf/2103.14584.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kong-council-johnson-ilqrforpiecewisesmoothhybriddynamicalsystems-2021', 'https://arxiv.org/pdf/2103.14584.pdf', event);\">\n    iLQR for Piecewise-Smooth Hybrid Dynamical Systems.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE Conference on Decision and Control</i>, pages 5374–5381, December 2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/9683506\"\n     onclick=\"log_download('kong-council-johnson-ilqrforpiecewisesmoothhybriddynamicalsystems-2021', 'https://ieeexplore.ieee.org/document/9683506', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"iLQR for Piecewise-Smooth Hybrid Dynamical Systems [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/2103.14584.pdf\"\n     onclick=\"log_download('kong-council-johnson-ilqrforpiecewisesmoothhybriddynamicalsystems-2021', 'https://arxiv.org/pdf/2103.14584.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"iLQR for Piecewise-Smooth Hybrid Dynamical Systems [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=_rcM68X6gOE\"\n     onclick=\"log_download('kong-council-johnson-ilqrforpiecewisesmoothhybriddynamicalsystems-2021', 'https://www.youtube.com/watch?v=_rcM68X6gOE', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"iLQR for Piecewise-Smooth Hybrid Dynamical Systems [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1109/CDC45484.2021.9683506\"\n     onclick=\"log_download('kong-council-johnson-ilqrforpiecewisesmoothhybriddynamicalsystems-2021', 'https://doi.org/10.1109/CDC45484.2021.9683506', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"iLQR for Piecewise-Smooth Hybrid Dynamical Systems [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kong-council-johnson-ilqrforpiecewisesmoothhybriddynamicalsystems-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kong-council-johnson-ilqrforpiecewisesmoothhybriddynamicalsystems-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:kong-ilqr-2021,\n  author       = {Nathan J. Kong and George Council and Aaron M. Johnson},\n  title        = {{iLQR}  for  Piecewise-Smooth  Hybrid  Dynamical  Systems},\n  booktitle    = {IEEE Conference on Decision and Control},\n  year         = {2021},\n  month        = {December},\n  pages        = {5374--5381},\n  keywords     = {Hybrid Systems, Control, Optimization, Planning, Contact},\n  url_Publisher= {https://ieeexplore.ieee.org/document/9683506},\n  url_PDF      = {https://arxiv.org/pdf/2103.14584.pdf},\n  url_Video    = {https://www.youtube.com/watch?v=_rcM68X6gOE},\n  url_DOI      = {https://doi.org/10.1109/CDC45484.2021.9683506}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-triest-wang-scherer-johnson-roughterrainnavigationusingdivergenceconstrainedmodelbasedreinforcementlearning-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Sean J. Wang;  Samuel Triest;  Wenshan Wang;  Sebastian Scherer;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://proceedings.mlr.press/v164/wang22c/wang22c.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-triest-wang-scherer-johnson-roughterrainnavigationusingdivergenceconstrainedmodelbasedreinforcementlearning-2021', 'https://proceedings.mlr.press/v164/wang22c/wang22c.pdf', event);\">\n    Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Conference on Robot Learning</i>, volume 164, of <i>Proceedings of Machine Learning Research</i>, pages 224–233, November 2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://proceedings.mlr.press/v164/wang22c.html\"\n     onclick=\"log_download('wang-triest-wang-scherer-johnson-roughterrainnavigationusingdivergenceconstrainedmodelbasedreinforcementlearning-2021', 'https://proceedings.mlr.press/v164/wang22c.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"https://proceedings.mlr.press/v164/wang22c/wang22c.pdf\"\n     onclick=\"log_download('wang-triest-wang-scherer-johnson-roughterrainnavigationusingdivergenceconstrainedmodelbasedreinforcementlearning-2021', 'https://proceedings.mlr.press/v164/wang22c/wang22c.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://openreview.net/attachment?id=Wt3GLZYFvEQ&amp;name=poster\"\n     onclick=\"log_download('wang-triest-wang-scherer-johnson-roughterrainnavigationusingdivergenceconstrainedmodelbasedreinforcementlearning-2021', 'https://openreview.net/attachment?id=Wt3GLZYFvEQ&amp;name=poster', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning [link]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=Zthy1dZGLHk\"\n     onclick=\"log_download('wang-triest-wang-scherer-johnson-roughterrainnavigationusingdivergenceconstrainedmodelbasedreinforcementlearning-2021', 'https://www.youtube.com/watch?v=Zthy1dZGLHk', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-triest-wang-scherer-johnson-roughterrainnavigationusingdivergenceconstrainedmodelbasedreinforcementlearning-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>90 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-triest-wang-scherer-johnson-roughterrainnavigationusingdivergenceconstrainedmodelbasedreinforcementlearning-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:wang2021rough,\n  title     = {Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning},\n  author    = {Sean J. Wang and Samuel Triest and Wenshan Wang and Sebastian Scherer and Aaron M. Johnson},\n  booktitle = {Conference on Robot Learning},\n  series    = {Proceedings of Machine Learning Research},\n  pages     = {224--233},\n  volume    = {164},\n  year      = {2021},\n  month     = {November},\n  keywords  = {Learning, Modeling, Uncertainty},\n  url_Publisher  = {https://proceedings.mlr.press/v164/wang22c.html},\n  url_PDF   = {https://proceedings.mlr.press/v164/wang22c/wang22c.pdf},\n  url_Poster = {https://openreview.net/attachment?id=Wt3GLZYFvEQ&amp;name=poster},\n  url_Video = {https://www.youtube.com/watch?v=Zthy1dZGLHk}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yang-norby-yim-johnson-improvingtailcompatibilitythroughsequentialdistributedmodelpredictivecontrol-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Yanhao Yang;  Joseph Norby;  Justin K. Yim;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://mpcworkshop.org/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yang-norby-yim-johnson-improvingtailcompatibilitythroughsequentialdistributedmodelpredictivecontrol-2021', 'https://mpcworkshop.org/', event);\">\n    Improving Tail Compatibility Through Sequential Distributed Model Predictive Control.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>RSS Workshop on Software Tools for Real-Time Optimal Control</i>, July 2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://mpcworkshop.org/\"\n     onclick=\"log_download('yang-norby-yim-johnson-improvingtailcompatibilitythroughsequentialdistributedmodelpredictivecontrol-2021', 'https://mpcworkshop.org/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Improving Tail Compatibility Through Sequential Distributed Model Predictive Control [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://drive.google.com/file/d/1znLvlbNYpMr8u6HqINxlvMcQ4xHFdA_t/view\"\n     onclick=\"log_download('yang-norby-yim-johnson-improvingtailcompatibilitythroughsequentialdistributedmodelpredictivecontrol-2021', 'https://drive.google.com/file/d/1znLvlbNYpMr8u6HqINxlvMcQ4xHFdA_t/view', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Improving Tail Compatibility Through Sequential Distributed Model Predictive Control [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yang-norby-yim-johnson-improvingtailcompatibilitythroughsequentialdistributedmodelpredictivecontrol-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>90 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yang-norby-yim-johnson-improvingtailcompatibilitythroughsequentialdistributedmodelpredictivecontrol-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:yang-rssws-2021,\n  author = {Yanhao Yang and Joseph Norby and Justin K. Yim and Aaron M. Johnson},\n  title = {Improving Tail Compatibility Through Sequential Distributed Model Predictive Control},\n  booktitle = {RSS Workshop on Software Tools for Real-Time Optimal Control},\n  year = {2021},\n  month = {July},\n  type  = {workshop abstract},\n  keywords = {Control, Tails, Optimization},\n  url_Info = {https://mpcworkshop.org/},\n  url_PDF  = {https://drive.google.com/file/d/1znLvlbNYpMr8u6HqINxlvMcQ4xHFdA_t/view}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kumar-payne-travers-johnson-choset-periodicslamusingcyclicconstraintstoimprovetheperformanceofvisualinertialslamonleggedrobots-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Hans Kumar;  J. Joe Payne;  Matthew Travers;  Aaron M. Johnson;  and  Howie Choset.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://udel.edu/~ghuang/icra21-vins-workshop/papers/04-Kumar_PeriodicSLAM.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kumar-payne-travers-johnson-choset-periodicslamusingcyclicconstraintstoimprovetheperformanceofvisualinertialslamonleggedrobots-2021', 'https://udel.edu/~ghuang/icra21-vins-workshop/papers/04-Kumar_PeriodicSLAM.pdf', event);\">\n    Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>ICRA Workshop on Visual-Inertial Navigation Systems</i>, May 2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://udel.edu/~ghuang/icra21-vins-workshop/papers/04-Kumar_PeriodicSLAM.pdf\"\n     onclick=\"log_download('kumar-payne-travers-johnson-choset-periodicslamusingcyclicconstraintstoimprovetheperformanceofvisualinertialslamonleggedrobots-2021', 'https://udel.edu/~ghuang/icra21-vins-workshop/papers/04-Kumar_PeriodicSLAM.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://udel.edu/~ghuang/icra21-vins-workshop/index.html\"\n     onclick=\"log_download('kumar-payne-travers-johnson-choset-periodicslamusingcyclicconstraintstoimprovetheperformanceofvisualinertialslamonleggedrobots-2021', 'https://udel.edu/~ghuang/icra21-vins-workshop/index.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kumar-payne-travers-johnson-choset-periodicslamusingcyclicconstraintstoimprovetheperformanceofvisualinertialslamonleggedrobots-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kumar-payne-travers-johnson-choset-periodicslamusingcyclicconstraintstoimprovetheperformanceofvisualinertialslamonleggedrobots-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:kumar-periodic-2021,\n  author        = {Hans Kumar and J. Joe Payne and Matthew Travers and Aaron M. Johnson and Howie Choset},\n  title         = {Periodic {SLAM}: Using Cyclic Constraints to Improve the Performance of Visual-Inertial {SLAM} on Legged Robots},\n  booktitle     = {ICRA Workshop on Visual-Inertial Navigation Systems},\n  month         = {May},\n  year          = {2021},\n  type          = {workshop abstract},\n  keywords      = {Perception, State Estimation},\n  url_PDF       = {https://udel.edu/~ghuang/icra21-vins-workshop/papers/04-Kumar_PeriodicSLAM.pdf},\n  url_Info      = {https://udel.edu/~ghuang/icra21-vins-workshop/index.html}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kong-payne-council-johnson-thesaltedkalmanfilterkalmanfilteringonhybriddynamicalsystems-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Nathan J. Kong;  J. Joe Payne;  George Council;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0005109821002727/pdfft?md5=4bbaaa437df2d1f651affbded8b1115a&amp;pid=1-s2.0-S0005109821002727-main.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kong-payne-council-johnson-thesaltedkalmanfilterkalmanfilteringonhybriddynamicalsystems-2021', 'https://www.sciencedirect.com/science/article/pii/S0005109821002727/pdfft?md5=4bbaaa437df2d1f651affbded8b1115a&amp;pid=1-s2.0-S0005109821002727-main.pdf', event);\">\n    The Salted Kalman Filter: Kalman Filtering on Hybrid Dynamical Systems.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>Automatica</i>, 131: 109752.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0005109821002727\"\n     onclick=\"log_download('kong-payne-council-johnson-thesaltedkalmanfilterkalmanfilteringonhybriddynamicalsystems-2021', 'https://www.sciencedirect.com/science/article/pii/S0005109821002727', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Salted Kalman Filter: Kalman Filtering on Hybrid Dynamical Systems [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1016/j.automatica.2021.109752\"\n     onclick=\"log_download('kong-payne-council-johnson-thesaltedkalmanfilterkalmanfilteringonhybriddynamicalsystems-2021', 'https://doi.org/10.1016/j.automatica.2021.109752', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Salted Kalman Filter: Kalman Filtering on Hybrid Dynamical Systems [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/abs/2007.12233\"\n     onclick=\"log_download('kong-payne-council-johnson-thesaltedkalmanfilterkalmanfilteringonhybriddynamicalsystems-2021', 'https://arxiv.org/abs/2007.12233', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Salted Kalman Filter: Kalman Filtering on Hybrid Dynamical Systems [link]\"\n       title=\" arxiv\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> arxiv</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0005109821002727/pdfft?md5=4bbaaa437df2d1f651affbded8b1115a&amp;pid=1-s2.0-S0005109821002727-main.pdf\"\n     onclick=\"log_download('kong-payne-council-johnson-thesaltedkalmanfilterkalmanfilteringonhybriddynamicalsystems-2021', 'https://www.sciencedirect.com/science/article/pii/S0005109821002727/pdfft?md5=4bbaaa437df2d1f651affbded8b1115a&amp;pid=1-s2.0-S0005109821002727-main.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"The Salted Kalman Filter: Kalman Filtering on Hybrid Dynamical Systems [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kong-payne-council-johnson-thesaltedkalmanfilterkalmanfilteringonhybriddynamicalsystems-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kong-payne-council-johnson-thesaltedkalmanfilterkalmanfilteringonhybriddynamicalsystems-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:kong-skf-2021,\n  author       = {Nathan J. Kong and J. Joe Payne and George Council and Aaron M. Johnson},\n  title        = {The {Salted} {Kalman} {Filter}:  {Kalman} Filtering on Hybrid Dynamical Systems},\n  journal      = {Automatica},\n  year         = {2021},\n  volume       = {131},\n  pages        = {109752},\n  keywords     = {Hybrid Systems, State Estimation, Uncertainty, Contact},\n  url_Publisher     = {https://www.sciencedirect.com/science/article/pii/S0005109821002727},\n  url_DOI      = {https://doi.org/10.1016/j.automatica.2021.109752},\n  url_arxiv    = {https://arxiv.org/abs/2007.12233},\n  url_PDF      = {https://www.sciencedirect.com/science/article/pii/S0005109821002727/pdfft?md5=4bbaaa437df2d1f651affbded8b1115a&amp;pid=1-s2.0-S0005109821002727-main.pdf}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-johnson-domainadaptationusingsysteminvariantdynamicsmodels-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Sean J. Wang;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://proceedings.mlr.press/v144/wang21c/wang21c.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-johnson-domainadaptationusingsysteminvariantdynamicsmodels-2021', 'http://proceedings.mlr.press/v144/wang21c/wang21c.pdf', event);\">\n    Domain Adaptation Using System Invariant Dynamics Models.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Learning for Dynamics and Control Conference</i>, volume 144, of <i>Proceedings of Machine Learning Research</i>, pages 1130–1141, May 2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://proceedings.mlr.press/v144/wang21c.html\"\n     onclick=\"log_download('wang-johnson-domainadaptationusingsysteminvariantdynamicsmodels-2021', 'http://proceedings.mlr.press/v144/wang21c.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Domain Adaptation Using System Invariant Dynamics Models [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://proceedings.mlr.press/v144/wang21c/wang21c.pdf\"\n     onclick=\"log_download('wang-johnson-domainadaptationusingsysteminvariantdynamicsmodels-2021', 'http://proceedings.mlr.press/v144/wang21c/wang21c.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Domain Adaptation Using System Invariant Dynamics Models [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=EWIoX15Hlzs&amp;list=PLe110ctXgBd1K8YNnfXIRHOIvg6q2xFkm&amp;index=4\"\n     onclick=\"log_download('wang-johnson-domainadaptationusingsysteminvariantdynamicsmodels-2021', 'https://www.youtube.com/watch?v=EWIoX15Hlzs&amp;list=PLe110ctXgBd1K8YNnfXIRHOIvg6q2xFkm&amp;index=4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Domain Adaptation Using System Invariant Dynamics Models [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-johnson-domainadaptationusingsysteminvariantdynamicsmodels-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>40 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-johnson-domainadaptationusingsysteminvariantdynamicsmodels-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:wang-domain-2021,\n  author        = {Sean J. Wang and Aaron M. Johnson},\n  title         = {Domain Adaptation Using System Invariant Dynamics Models},\n  booktitle     = {Learning for Dynamics and Control Conference},\n  month         = {May},\n  year          = {2021},\n  pages         = {1130--1141},\n  volume        = {144},\n  series        = {Proceedings of Machine Learning Research},\n  url_Publisher      = {http://proceedings.mlr.press/v144/wang21c.html},\n  url_PDF       = {http://proceedings.mlr.press/v144/wang21c/wang21c.pdf},\n  url_Video     = {https://www.youtube.com/watch?v=EWIoX15Hlzs&amp;list=PLe110ctXgBd1K8YNnfXIRHOIvg6q2xFkm&amp;index=4},\n  keywords      = {Learning, Modeling}  \n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yim-carter-islam-bergbreiter-johnson-3dpassivedynamicsinspiredwalkingactuatedbyopenlooplegextension-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Justin K. Yim;  Kamal Carter;  Sharfin Islam;  Sarah Bergbreiter;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.dynamicwalking2021.org/s/Justin-Yim-Yim_Justin_DW2021.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yim-carter-islam-bergbreiter-johnson-3dpassivedynamicsinspiredwalkingactuatedbyopenlooplegextension-2021', 'https://www.dynamicwalking2021.org/s/Justin-Yim-Yim_Justin_DW2021.pdf', event);\">\n    3D Passive Dynamics-inspired Walking Actuated by Open Loop Leg Extension.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, May 2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.dynamicwalking2021.org/episode-1-biomechanics\"\n     onclick=\"log_download('yim-carter-islam-bergbreiter-johnson-3dpassivedynamicsinspiredwalkingactuatedbyopenlooplegextension-2021', 'https://www.dynamicwalking2021.org/episode-1-biomechanics', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"3D Passive Dynamics-inspired Walking Actuated by Open Loop Leg Extension [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.dynamicwalking2021.org/s/Justin-Yim-Yim_Justin_DW2021.pdf\"\n     onclick=\"log_download('yim-carter-islam-bergbreiter-johnson-3dpassivedynamicsinspiredwalkingactuatedbyopenlooplegextension-2021', 'https://www.dynamicwalking2021.org/s/Justin-Yim-Yim_Justin_DW2021.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"3D Passive Dynamics-inspired Walking Actuated by Open Loop Leg Extension [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yim-carter-islam-bergbreiter-johnson-3dpassivedynamicsinspiredwalkingactuatedbyopenlooplegextension-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yim-carter-islam-bergbreiter-johnson-3dpassivedynamicsinspiredwalkingactuatedbyopenlooplegextension-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:yim-dw-2021,\n  author = {Justin K. Yim and Kamal Carter and Sharfin Islam and Sarah Bergbreiter and Aaron M. Johnson},\n  title = {{3D} Passive Dynamics-inspired Walking Actuated by Open Loop Leg Extension},\n  booktitle = {Dynamic Walking},\n  year = {2021},\n  month = {May},\n  type  = {workshop abstract},\n  keywords = {Robot Design, Control},\n  url_Info = {https://www.dynamicwalking2021.org/episode-1-biomechanics},\n  url_PDF  = {https://www.dynamicwalking2021.org/s/Justin-Yim-Yim_Justin_DW2021.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"marsicecoreworkinggroup-firsticecoresfrommars-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Mars Ice Core Working Group.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.nasa.gov/sites/default/files/atoms/files/mars_ice_core_working_group_report_final_feb2021.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'marsicecoreworkinggroup-firsticecoresfrommars-2021', 'https://www.nasa.gov/sites/default/files/atoms/files/mars_ice_core_working_group_report_final_feb2021.pdf', event);\">\n    First Ice Cores from Mars.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Technical Report NASA Whitepaper. co-chairs: M.R. Albert and M. Koutnik,  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.nasa.gov/sites/default/files/atoms/files/mars_ice_core_working_group_report_final_feb2021.pdf\"\n     onclick=\"log_download('marsicecoreworkinggroup-firsticecoresfrommars-2021', 'https://www.nasa.gov/sites/default/files/atoms/files/mars_ice_core_working_group_report_final_feb2021.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"First Ice Cores from Mars [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/marsicecoreworkinggroup-firsticecoresfrommars-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('marsicecoreworkinggroup-firsticecoresfrommars-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{tr:mars-ice-2021,\n  author       = {{Mars Ice Core Working Group}},\n  title        = {First Ice Cores from {Mars}},\n  institution  = {NASA Whitepaper. co-chairs: M.R. Albert and M. Koutnik},\n  year         = {2021},\n  keywords     = {Environmental Monitoring, Space Robotics},\n  url_PDF      = {https://www.nasa.gov/sites/default/files/atoms/files/mars_ice_core_working_group_report_final_feb2021.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"norby-li-selby-patel-johnson-enablingdynamicbehaviorswithaerodynamicdraginlightweighttails-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Joseph C. Norby;  Jun Yang Li;  Cameron C. Selby;  Amir Patel;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/TRO2021_Aerodynamic_Tails.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'norby-li-selby-patel-johnson-enablingdynamicbehaviorswithaerodynamicdraginlightweighttails-2021', 'http://www.andrew.cmu.edu/user/amj1/papers/TRO2021_Aerodynamic_Tails.pdf', event);\">\n    Enabling dynamic behaviors with aerodynamic drag in lightweight tails.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Robotics</i>, 37(4): 1144–1153.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/TRO2021_Aerodynamic_Tails.pdf\"\n     onclick=\"log_download('norby-li-selby-patel-johnson-enablingdynamicbehaviorswithaerodynamicdraginlightweighttails-2021', 'http://www.andrew.cmu.edu/user/amj1/papers/TRO2021_Aerodynamic_Tails.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Enabling dynamic behaviors with aerodynamic drag in lightweight tails [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://ieeexplore.ieee.org/document/9316238\"\n     onclick=\"log_download('norby-li-selby-patel-johnson-enablingdynamicbehaviorswithaerodynamicdraginlightweighttails-2021', 'https://ieeexplore.ieee.org/document/9316238', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Enabling dynamic behaviors with aerodynamic drag in lightweight tails [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1109/TRO.2020.3045644\"\n     onclick=\"log_download('norby-li-selby-patel-johnson-enablingdynamicbehaviorswithaerodynamicdraginlightweighttails-2021', 'https://doi.org/10.1109/TRO.2020.3045644', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Enabling dynamic behaviors with aerodynamic drag in lightweight tails [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/norby-li-selby-patel-johnson-enablingdynamicbehaviorswithaerodynamicdraginlightweighttails-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>110 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('norby-li-selby-patel-johnson-enablingdynamicbehaviorswithaerodynamicdraginlightweighttails-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:norby-aerodynamic-2021,\n  title     = {Enabling dynamic behaviors with aerodynamic drag in lightweight tails},\n  author    = {Joseph C. Norby and Jun Yang Li and Cameron C. Selby and Amir Patel and Aaron M. Johnson},\n  year      = {2021},\n  journal   = {IEEE Transactions on Robotics},\n  volume    = {37},\n  number    = {4},\n  pages     = {1144--1153},\n  keywords  = {Tails, Leaping},\n  url_PDF   = {http://www.andrew.cmu.edu/user/amj1/papers/TRO2021_Aerodynamic_Tails.pdf},\n  url_Publisher  = {https://ieeexplore.ieee.org/document/9316238},\n  url_DOI   = {https://doi.org/10.1109/TRO.2020.3045644}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"norby-li-selby-patel-johnson-leveragingaerodynamicdragfortailsinleggedrobotlocomotion-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Joseph C. Norby;  Jun Yang Li;  Cameron C. Selby;  Amir Patel;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://meetings.aps.org/Meeting/MAR21/Session/F14.3\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'norby-li-selby-patel-johnson-leveragingaerodynamicdragfortailsinleggedrobotlocomotion-2021', 'http://meetings.aps.org/Meeting/MAR21/Session/F14.3', event);\">\n    Leveraging Aerodynamic Drag for Tails in Legged Robot Locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>American Physical Society (APS) March Meeting</i>,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://meetings.aps.org/Meeting/MAR21/Session/F14.3\"\n     onclick=\"log_download('norby-li-selby-patel-johnson-leveragingaerodynamicdragfortailsinleggedrobotlocomotion-2021', 'http://meetings.aps.org/Meeting/MAR21/Session/F14.3', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Leveraging Aerodynamic Drag for Tails in Legged Robot Locomotion [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/norby-li-selby-patel-johnson-leveragingaerodynamicdragfortailsinleggedrobotlocomotion-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('norby-li-selby-patel-johnson-leveragingaerodynamicdragfortailsinleggedrobotlocomotion-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:norby-aps-2021,\n  title     = {Leveraging Aerodynamic Drag for Tails in Legged Robot Locomotion},\n  author    = {Joseph C. Norby and Jun Yang Li and Cameron C. Selby and Amir Patel and Aaron M. Johnson},\n  year      = {2021},\n  booktitle   = {American Physical Society (APS) March Meeting},\n  keywords  = {Tails, Leaping},\n  type      = {workshop abstract},\n  url_Publisher  = {http://meetings.aps.org/Meeting/MAR21/Session/F14.3}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2020\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2020')\"\n      onkeypress=\"toggleGroup('group_2020')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2020</span>\n      <span class=\"bibbase_group_count\">\n        \n        (14)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"wang-nava-jones-lowry-johnson-groundbasedrobotsforsoilcollectionandanalysis-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Sean J. Wang;  Valeria Nava;  Nicholas Jones;  Gregory Lowry;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://agu.confex.com/agu/fm20/webprogram/Paper735031.html\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-nava-jones-lowry-johnson-groundbasedrobotsforsoilcollectionandanalysis-2020', 'https://agu.confex.com/agu/fm20/webprogram/Paper735031.html', event);\">\n    Ground-based Robots for Soil Collection and Analysis.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>American Geophysical Union (AGU) Fall Meeting</i>, December 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://agu.confex.com/agu/fm20/webprogram/Paper735031.html\"\n     onclick=\"log_download('wang-nava-jones-lowry-johnson-groundbasedrobotsforsoilcollectionandanalysis-2020', 'https://agu.confex.com/agu/fm20/webprogram/Paper735031.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Ground-based Robots for Soil Collection and Analysis [link]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-nava-jones-lowry-johnson-groundbasedrobotsforsoilcollectionandanalysis-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>48 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-nava-jones-lowry-johnson-groundbasedrobotsforsoilcollectionandanalysis-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:wang-agu-2020,\n  author = {Sean J. Wang and Valeria Nava and Nicholas Jones and Gregory Lowry and Aaron M. Johnson},\n  title = {Ground-based Robots for Soil Collection and Analysis},\n  booktitle = {American Geophysical Union (AGU) Fall Meeting},\n  year = {2020},\n  month = {December},\n  type  = {workshop poster},\n  keywords = {Robot Design, Terrain Manipulation, Environmental Monitoring},\n  url_Poster = {https://agu.confex.com/agu/fm20/webprogram/Paper735031.html}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-bhatia-mason-johnson-contactlocalizationusingvelocityconstraints-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Sean J. Wang;  Ankit Bhatia;  Matthew T. Mason;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/IROS2020_Contact_Localization.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-bhatia-mason-johnson-contactlocalizationusingvelocityconstraints-2020', 'http://www.andrew.cmu.edu/user/amj1/papers/IROS2020_Contact_Localization.pdf', event);\">\n    Contact Localization using Velocity Constraints.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems</i>, pages 7351–7358, Las Vegas, NV, October 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/IROS2020_Contact_Localization.pdf\"\n     onclick=\"log_download('wang-bhatia-mason-johnson-contactlocalizationusingvelocityconstraints-2020', 'http://www.andrew.cmu.edu/user/amj1/papers/IROS2020_Contact_Localization.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Contact Localization using Velocity Constraints [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=zN183Fkj3-Q\"\n     onclick=\"log_download('wang-bhatia-mason-johnson-contactlocalizationusingvelocityconstraints-2020', 'https://www.youtube.com/watch?v=zN183Fkj3-Q', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Contact Localization using Velocity Constraints [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://ieeexplore.ieee.org/abstract/document/9341751\"\n     onclick=\"log_download('wang-bhatia-mason-johnson-contactlocalizationusingvelocityconstraints-2020', 'https://ieeexplore.ieee.org/abstract/document/9341751', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Contact Localization using Velocity Constraints [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-bhatia-mason-johnson-contactlocalizationusingvelocityconstraints-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>98 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-bhatia-mason-johnson-contactlocalizationusingvelocityconstraints-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:wang-contact-2020,\n  author        = {Sean J. Wang and Ankit Bhatia and Matthew T. Mason and Aaron M. Johnson},\n  title         = {Contact Localization using Velocity Constraints},\n  booktitle     = {IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems},\n  month         = {October},\n  year          = {2020},\n  pages         = {7351--7358},\n  address       = {Las Vegas, NV},\n  keywords      = {Contact, Proprioception, State Estimation},\n  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/IROS2020_Contact_Localization.pdf},\n  url_Video     = {https://www.youtube.com/watch?v=zN183Fkj3-Q},\n  url_Publisher = {https://ieeexplore.ieee.org/abstract/document/9341751}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"norby-johnson-fastglobalmotionplanningfordynamicleggedrobots-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Joseph Norby;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/IROS2020_Fast_Global_Motion_Planning.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'norby-johnson-fastglobalmotionplanningfordynamicleggedrobots-2020', 'http://www.andrew.cmu.edu/user/amj1/papers/IROS2020_Fast_Global_Motion_Planning.pdf', event);\">\n    Fast Global Motion Planning for Dynamic Legged Robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems</i>, pages 3829–3836, Las Vegas, NV, October 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/IROS2020_Fast_Global_Motion_Planning.pdf\"\n     onclick=\"log_download('norby-johnson-fastglobalmotionplanningfordynamicleggedrobots-2020', 'http://www.andrew.cmu.edu/user/amj1/papers/IROS2020_Fast_Global_Motion_Planning.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Fast Global Motion Planning for Dynamic Legged Robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=B1u4hTuSS8g\"\n     onclick=\"log_download('norby-johnson-fastglobalmotionplanningfordynamicleggedrobots-2020', 'https://www.youtube.com/watch?v=B1u4hTuSS8g', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Fast Global Motion Planning for Dynamic Legged Robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://ieeexplore.ieee.org/document/9341438\"\n     onclick=\"log_download('norby-johnson-fastglobalmotionplanningfordynamicleggedrobots-2020', 'https://ieeexplore.ieee.org/document/9341438', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Fast Global Motion Planning for Dynamic Legged Robots [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/norby-johnson-fastglobalmotionplanningfordynamicleggedrobots-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>183 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('norby-johnson-fastglobalmotionplanningfordynamicleggedrobots-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:norby-fast-2020,\n  author        = {Joseph Norby and Aaron M. Johnson},\n  title         = {Fast Global Motion Planning for Dynamic Legged Robots},\n  booktitle     = {IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems},\n  month         = {October},\n  year          = {2020},\n  pages         = {3829--3836},\n  address       = {Las Vegas, NV},\n  keywords      = {Planning, Leaping},\n  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/IROS2020_Fast_Global_Motion_Planning.pdf},\n  url_Video     = {https://www.youtube.com/watch?v=B1u4hTuSS8g},\n  url_Publisher = {https://ieeexplore.ieee.org/document/9341438}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pavlov-johnson-fieldexperimentsinnonprehensileterrainmanipulationwithplanetaryexplorationrovers-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Catherine Pavlov;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.hou.usra.edu/meetings/isairas2020/eposter/4038.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pavlov-johnson-fieldexperimentsinnonprehensileterrainmanipulationwithplanetaryexplorationrovers-2020', 'https://www.hou.usra.edu/meetings/isairas2020/eposter/4038.pdf', event);\">\n    Field Experiments in Nonprehensile Terrain Manipulation with Planetary Exploration Rovers.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)</i>, October 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.hou.usra.edu/meetings/isairas2020/eposter/4038.pdf\"\n     onclick=\"log_download('pavlov-johnson-fieldexperimentsinnonprehensileterrainmanipulationwithplanetaryexplorationrovers-2020', 'https://www.hou.usra.edu/meetings/isairas2020/eposter/4038.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Field Experiments in Nonprehensile Terrain Manipulation with Planetary Exploration Rovers [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=jlq6pzfWUE8\"\n     onclick=\"log_download('pavlov-johnson-fieldexperimentsinnonprehensileterrainmanipulationwithplanetaryexplorationrovers-2020', 'https://www.youtube.com/watch?v=jlq6pzfWUE8', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Field Experiments in Nonprehensile Terrain Manipulation with Planetary Exploration Rovers [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pavlov-johnson-fieldexperimentsinnonprehensileterrainmanipulationwithplanetaryexplorationrovers-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>30 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pavlov-johnson-fieldexperimentsinnonprehensileterrainmanipulationwithplanetaryexplorationrovers-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:pavlov-isairas-2020,\n  author = {Catherine Pavlov and Aaron M. Johnson},\n  title = {Field Experiments in Nonprehensile Terrain Manipulation with Planetary Exploration Rovers},\n  booktitle = {International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)},\n  year = {2020},\n  month = {October},\n  type  = {workshop poster},\n  keywords = {Terrain Manipulation, Sand, Space Robotics},\n  url_Poster = {https://www.hou.usra.edu/meetings/isairas2020/eposter/4038.pdf},\n  url_Video = {https://www.youtube.com/watch?v=jlq6pzfWUE8}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sadalgekar-wang-johnson-pathoptimizationforautonomousroughterraintraversal-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Gargi Sadalgekar;  Sean Wang;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://riss.ri.cmu.edu/wp-content/uploads/2020/10/2020-CMU-RoboticsInstituteSummerScholarsWorkingPapersJournal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sadalgekar-wang-johnson-pathoptimizationforautonomousroughterraintraversal-2020', 'https://riss.ri.cmu.edu/wp-content/uploads/2020/10/2020-CMU-RoboticsInstituteSummerScholarsWorkingPapersJournal.pdf', event);\">\n    Path Optimization for Autonomous Rough Terrain Traversal.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Technical Report CMU Robotics Institute Summer Scholars Working Papers Journal,  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://riss.ri.cmu.edu/wp-content/uploads/2020/10/2020-CMU-RoboticsInstituteSummerScholarsWorkingPapersJournal.pdf\"\n     onclick=\"log_download('sadalgekar-wang-johnson-pathoptimizationforautonomousroughterraintraversal-2020', 'https://riss.ri.cmu.edu/wp-content/uploads/2020/10/2020-CMU-RoboticsInstituteSummerScholarsWorkingPapersJournal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Path Optimization for Autonomous Rough Terrain Traversal [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/bcPi7WQNAHg\"\n     onclick=\"log_download('sadalgekar-wang-johnson-pathoptimizationforautonomousroughterraintraversal-2020', 'https://youtu.be/bcPi7WQNAHg', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Path Optimization for Autonomous Rough Terrain Traversal [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://drive.google.com/file/d/1eooMmC3MOeZ43dzBuocTQuG-g7LZH4Uy/view?usp=sharing\"\n     onclick=\"log_download('sadalgekar-wang-johnson-pathoptimizationforautonomousroughterraintraversal-2020', 'https://drive.google.com/file/d/1eooMmC3MOeZ43dzBuocTQuG-g7LZH4Uy/view?usp=sharing', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Path Optimization for Autonomous Rough Terrain Traversal [link]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sadalgekar-wang-johnson-pathoptimizationforautonomousroughterraintraversal-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>18 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sadalgekar-wang-johnson-pathoptimizationforautonomousroughterraintraversal-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{tr:sadalgekar2020riss,\n   author = {Gargi Sadalgekar and Sean Wang and Aaron M. Johnson},\n   title = {Path Optimization for Autonomous Rough Terrain Traversal},\n   institution = {CMU Robotics Institute Summer Scholars Working Papers Journal},\n   year = {2020},\n   volume= {8},\n   pages = {195--199},\n   keywords  = {Optimization, Planning},\n   url_PDF = {https://riss.ri.cmu.edu/wp-content/uploads/2020/10/2020-CMU-RoboticsInstituteSummerScholarsWorkingPapersJournal.pdf},\n   url_Video = {https://youtu.be/bcPi7WQNAHg},\n   url_Poster = {https://drive.google.com/file/d/1eooMmC3MOeZ43dzBuocTQuG-g7LZH4Uy/view?usp=sharing}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"estansi-bhatia-johnson-statortemperatureestimationinpermanentmagnetsynchronousmotorsforlowspeeddirectdrivesystems-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Nathan Estansi;  Ankit Bhatia;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ankitbhatia.github.io/reacting_contact_workshop/files/nathan_estansi.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'estansi-bhatia-johnson-statortemperatureestimationinpermanentmagnetsynchronousmotorsforlowspeeddirectdrivesystems-2020', 'https://ankitbhatia.github.io/reacting_contact_workshop/files/nathan_estansi.pdf', event);\">\n    Stator Temperature Estimation in Permanent Magnet Synchronous Motors for Low Speed direct-drive Systems.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Robotics: Science and Systems Workshop on ``Reacting to Contact''</i>, July 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ankitbhatia.github.io/reacting_contact_workshop/files/nathan_estansi.pdf\"\n     onclick=\"log_download('estansi-bhatia-johnson-statortemperatureestimationinpermanentmagnetsynchronousmotorsforlowspeeddirectdrivesystems-2020', 'https://ankitbhatia.github.io/reacting_contact_workshop/files/nathan_estansi.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Stator Temperature Estimation in Permanent Magnet Synchronous Motors for Low Speed direct-drive Systems [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=Ges-fKB_mOY\"\n     onclick=\"log_download('estansi-bhatia-johnson-statortemperatureestimationinpermanentmagnetsynchronousmotorsforlowspeeddirectdrivesystems-2020', 'https://www.youtube.com/watch?v=Ges-fKB_mOY', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Stator Temperature Estimation in Permanent Magnet Synchronous Motors for Low Speed direct-drive Systems [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/estansi-bhatia-johnson-statortemperatureestimationinpermanentmagnetsynchronousmotorsforlowspeeddirectdrivesystems-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>28 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('estansi-bhatia-johnson-statortemperatureestimationinpermanentmagnetsynchronousmotorsforlowspeeddirectdrivesystems-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:estansi-rss-2020,\n  author = {Nathan Estansi and Ankit Bhatia and Aaron M. Johnson},\n  title = {Stator Temperature Estimation in Permanent Magnet Synchronous Motors for Low Speed direct-drive Systems},\n  booktitle = {Robotics: Science and Systems Workshop on &#x60;&#x60;Reacting to Contact&#x27;&#x27;},\n  year = {2020},\n  month = {July},\n  type  = {workshop poster},\n  keywords = {Proprioception, State Estimation},\n  url_PDF = {https://ankitbhatia.github.io/reacting_contact_workshop/files/nathan_estansi.pdf},\n  url_Video = {https://www.youtube.com/watch?v=Ges-fKB_mOY}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tajbakhsh-flowers-johnson-stateestimationforleggedrobotsinunstructuredterrains-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Ardalan Tajbakhsh;  Nikolai Flowers;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/746-1131-1-RV.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'tajbakhsh-flowers-johnson-stateestimationforleggedrobotsinunstructuredterrains-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/746-1131-1-RV.pdf', event);\">\n    State Estimation for Legged Robots in Unstructured Terrains.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, May 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/746-1131-1-RV.pdf\"\n     onclick=\"log_download('tajbakhsh-flowers-johnson-stateestimationforleggedrobotsinunstructuredterrains-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/746-1131-1-RV.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"State Estimation for Legged Robots in Unstructured Terrains [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/746-1131-1-RVP.pdf\"\n     onclick=\"log_download('tajbakhsh-flowers-johnson-stateestimationforleggedrobotsinunstructuredterrains-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/746-1131-1-RVP.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"State Estimation for Legged Robots in Unstructured Terrains [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tajbakhsh-flowers-johnson-stateestimationforleggedrobotsinunstructuredterrains-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>118 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tajbakhsh-flowers-johnson-stateestimationforleggedrobotsinunstructuredterrains-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:tajbakhsh-dw-2020,\n  author = {Ardalan Tajbakhsh and Nikolai Flowers and Aaron M. Johnson},\n  title = {State Estimation for Legged Robots in Unstructured Terrains},\n  booktitle = {Dynamic Walking},\n  year = {2020},\n  month = {May},\n  type  = {workshop abstract},\n  keywords = {Proprioception, State Estimation, Control, Contact},\n  url_PDF = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/746-1131-1-RV.pdf},\n  url_Poster = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/746-1131-1-RVP.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"carter-islam-pierre-bergbreiter-johnson-designandcontrolofamesoscalehipactuatedpoweredwalker-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Kamal Carter;  Sharfin Islam;  Ryan St. Pierre;  Sarah Bergbreiter;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/754-1145-1-RV.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'carter-islam-pierre-bergbreiter-johnson-designandcontrolofamesoscalehipactuatedpoweredwalker-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/754-1145-1-RV.pdf', event);\">\n    Design and Control of a Mesoscale Hip Actuated Powered Walker.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, May 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/754-1145-1-RV.pdf\"\n     onclick=\"log_download('carter-islam-pierre-bergbreiter-johnson-designandcontrolofamesoscalehipactuatedpoweredwalker-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/754-1145-1-RV.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Design and Control of a Mesoscale Hip Actuated Powered Walker [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/754-1145-1-RVP.pdf\"\n     onclick=\"log_download('carter-islam-pierre-bergbreiter-johnson-designandcontrolofamesoscalehipactuatedpoweredwalker-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/754-1145-1-RVP.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Design and Control of a Mesoscale Hip Actuated Powered Walker [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/carter-islam-pierre-bergbreiter-johnson-designandcontrolofamesoscalehipactuatedpoweredwalker-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>54 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('carter-islam-pierre-bergbreiter-johnson-designandcontrolofamesoscalehipactuatedpoweredwalker-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:carter-dw-2020,\n  author = {Kamal Carter and Sharfin Islam and Ryan St. Pierre and Sarah Bergbreiter and Aaron M. Johnson},\n  title = {Design and Control of a Mesoscale Hip Actuated Powered Walker},\n  booktitle = {Dynamic Walking},\n  year = {2020},\n  month = {May},\n  type  = {workshop abstract},\n  keywords = {Robot Design, Control},\n  url_PDF = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/754-1145-1-RV.pdf},\n  url_Poster = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/754-1145-1-RVP.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"islam-carter-pierre-bergbreiter-johnson-integratingpassivedynamicwobblingwithlegextensiontoproducestablegaitsinatwoactuatorbipedalrobot-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Sharfin Islam;  Kamal Carter;  Ryan St. Pierre;  Sarah Bergbreiter;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/614-977-1-RV.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'islam-carter-pierre-bergbreiter-johnson-integratingpassivedynamicwobblingwithlegextensiontoproducestablegaitsinatwoactuatorbipedalrobot-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/614-977-1-RV.pdf', event);\">\n    Integrating Passive Dynamic Wobbling with Leg Extension to Produce Stable Gaits in a Two-Actuator Bipedal Robot.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, May 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/614-977-1-RV.pdf\"\n     onclick=\"log_download('islam-carter-pierre-bergbreiter-johnson-integratingpassivedynamicwobblingwithlegextensiontoproducestablegaitsinatwoactuatorbipedalrobot-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/614-977-1-RV.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Integrating Passive Dynamic Wobbling with Leg Extension to Produce Stable Gaits in a Two-Actuator Bipedal Robot [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/614-977-1-RVP.pdf\"\n     onclick=\"log_download('islam-carter-pierre-bergbreiter-johnson-integratingpassivedynamicwobblingwithlegextensiontoproducestablegaitsinatwoactuatorbipedalrobot-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/614-977-1-RVP.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Integrating Passive Dynamic Wobbling with Leg Extension to Produce Stable Gaits in a Two-Actuator Bipedal Robot [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/islam-carter-pierre-bergbreiter-johnson-integratingpassivedynamicwobblingwithlegextensiontoproducestablegaitsinatwoactuatorbipedalrobot-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>25 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('islam-carter-pierre-bergbreiter-johnson-integratingpassivedynamicwobblingwithlegextensiontoproducestablegaitsinatwoactuatorbipedalrobot-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:islam-dw-2020,\n  author = {Sharfin Islam and Kamal Carter and Ryan St. Pierre and Sarah Bergbreiter and Aaron M. Johnson},\n  title = {Integrating Passive Dynamic Wobbling with Leg Extension to Produce Stable Gaits in a Two-Actuator Bipedal Robot},\n  booktitle = {Dynamic Walking},\n  year = {2020},\n  month = {May},\n  type  = {workshop abstract},\n  keywords = {Robot Design, Control},\n  url_PDF = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/614-977-1-RV.pdf},\n  url_Poster = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/614-977-1-RVP.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wallace-pavlov-johnson-designofmicrospineenhancedspringlegsforroboticrunningandclimbing-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Renee Jessica Wallace;  Catherine Pavlov;  and  Aaron Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/659-974-1-RV.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wallace-pavlov-johnson-designofmicrospineenhancedspringlegsforroboticrunningandclimbing-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/659-974-1-RV.pdf', event);\">\n    Design of Microspine-Enhanced Spring Legs for Robotic Running and Climbing.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, May 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/659-974-1-RV.pdf\"\n     onclick=\"log_download('wallace-pavlov-johnson-designofmicrospineenhancedspringlegsforroboticrunningandclimbing-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/659-974-1-RV.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Design of Microspine-Enhanced Spring Legs for Robotic Running and Climbing [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/659-974-1-RVP.png\"\n     onclick=\"log_download('wallace-pavlov-johnson-designofmicrospineenhancedspringlegsforroboticrunningandclimbing-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/659-974-1-RVP.png', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/png.svg\"\n\t     alt=\"Design of Microspine-Enhanced Spring Legs for Robotic Running and Climbing [png]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wallace-pavlov-johnson-designofmicrospineenhancedspringlegsforroboticrunningandclimbing-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>41 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wallace-pavlov-johnson-designofmicrospineenhancedspringlegsforroboticrunningandclimbing-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:wallace-dw-2020,\n  author = {Renee Jessica Wallace and Catherine Pavlov and Aaron Johnson},\n  title = {Design of Microspine-Enhanced Spring Legs for Robotic Running and Climbing},\n  booktitle = {Dynamic Walking},\n  year = {2020},\n  month = {May},\n  type  = {workshop abstract},\n  keywords = {Robot Design},\n  url_PDF = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/659-974-1-RV.pdf},\n  url_Poster = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/659-974-1-RVP.png}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-bhatia-mason-johnson-contactlocalizationfortransparentrobotsusingvelocityconstraints-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Sean J. Wang;  Ankit Bhatia;  Matt T. Mason;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/735-1113-1-RV.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-bhatia-mason-johnson-contactlocalizationfortransparentrobotsusingvelocityconstraints-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/735-1113-1-RV.pdf', event);\">\n    Contact Localization for Transparent Robots using Velocity Constraints.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, May 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/735-1113-1-RV.pdf\"\n     onclick=\"log_download('wang-bhatia-mason-johnson-contactlocalizationfortransparentrobotsusingvelocityconstraints-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/735-1113-1-RV.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Contact Localization for Transparent Robots using Velocity Constraints [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/735-1113-1-RVP.pdf\"\n     onclick=\"log_download('wang-bhatia-mason-johnson-contactlocalizationfortransparentrobotsusingvelocityconstraints-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/735-1113-1-RVP.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Contact Localization for Transparent Robots using Velocity Constraints [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-bhatia-mason-johnson-contactlocalizationfortransparentrobotsusingvelocityconstraints-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-bhatia-mason-johnson-contactlocalizationfortransparentrobotsusingvelocityconstraints-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:wang-dw-2020,\n  author = {Sean J. Wang and Ankit Bhatia and Matt T. Mason and Aaron M. Johnson},\n  title = {Contact Localization for Transparent Robots using Velocity Constraints},\n  booktitle = {Dynamic Walking},\n  year = {2020},\n  month = {May},\n  type  = {workshop abstract},\n  keywords = {Proprioception, Contact},\n  url_PDF = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/735-1113-1-RV.pdf},\n  url_Poster = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/735-1113-1-RVP.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"turski-norby-johnson-contactimplicitvshybridtrajectoryoptimizationperformancecomparison-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Michael R. Turski;  Joseph Norby;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/776-1184-1-RV.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'turski-norby-johnson-contactimplicitvshybridtrajectoryoptimizationperformancecomparison-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/776-1184-1-RV.pdf', event);\">\n    Contact-Implicit vs. Hybrid Trajectory Optimization: Performance Comparison.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, May 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/776-1184-1-RV.pdf\"\n     onclick=\"log_download('turski-norby-johnson-contactimplicitvshybridtrajectoryoptimizationperformancecomparison-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/776-1184-1-RV.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Contact-Implicit vs. Hybrid Trajectory Optimization: Performance Comparison [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/776-1184-1-RVP.png\"\n     onclick=\"log_download('turski-norby-johnson-contactimplicitvshybridtrajectoryoptimizationperformancecomparison-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/776-1184-1-RVP.png', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/png.svg\"\n\t     alt=\"Contact-Implicit vs. Hybrid Trajectory Optimization: Performance Comparison [png]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/turski-norby-johnson-contactimplicitvshybridtrajectoryoptimizationperformancecomparison-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>48 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('turski-norby-johnson-contactimplicitvshybridtrajectoryoptimizationperformancecomparison-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:turski-dw-2020,\n  author = {Michael R. Turski and Joseph Norby and Aaron M. Johnson},\n  title = {Contact-Implicit vs. Hybrid Trajectory Optimization: Performance Comparison},\n  booktitle = {Dynamic Walking},\n  year = {2020},\n  month = {May},\n  type  = {workshop abstract},\n  keywords = {Optimization, Control, Contact},\n  url_PDF = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/776-1184-1-RV.pdf},\n  url_Poster = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/776-1184-1-RVP.png}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lu-kong-payne-johnson-generatingadynamiccontrollerforaflamingoinspiredrobotusingdeepreinforcementlearning-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Edward Lu;  Nathan J. Kong;  J. Joseph Payne;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/760-1153-1-RV.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lu-kong-payne-johnson-generatingadynamiccontrollerforaflamingoinspiredrobotusingdeepreinforcementlearning-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/760-1153-1-RV.pdf', event);\">\n    Generating a Dynamic Controller for a Flamingo Inspired Robot using Deep Reinforcement Learning.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, May 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/760-1153-1-RV.pdf\"\n     onclick=\"log_download('lu-kong-payne-johnson-generatingadynamiccontrollerforaflamingoinspiredrobotusingdeepreinforcementlearning-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/760-1153-1-RV.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Generating a Dynamic Controller for a Flamingo Inspired Robot using Deep Reinforcement Learning [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.seas.upenn.edu/~posa/DynamicWalking2020/760-1153-1-RVP.pdf\"\n     onclick=\"log_download('lu-kong-payne-johnson-generatingadynamiccontrollerforaflamingoinspiredrobotusingdeepreinforcementlearning-2020', 'https://www.seas.upenn.edu/~posa/DynamicWalking2020/760-1153-1-RVP.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Generating a Dynamic Controller for a Flamingo Inspired Robot using Deep Reinforcement Learning [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lu-kong-payne-johnson-generatingadynamiccontrollerforaflamingoinspiredrobotusingdeepreinforcementlearning-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>39 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lu-kong-payne-johnson-generatingadynamiccontrollerforaflamingoinspiredrobotusingdeepreinforcementlearning-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:lu-dw-2020,\n  author = {Edward Lu and Nathan J. Kong and J. Joseph Payne and Aaron M. Johnson},\n  title = {Generating a Dynamic Controller for a Flamingo Inspired Robot using Deep Reinforcement Learning},\n  booktitle = {Dynamic Walking},\n  year = {2020},\n  month = {May},\n  type  = {workshop abstract},\n  keywords = {Learning, Optimization, Control},\n  url_PDF = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/760-1153-1-RV.pdf},\n  url_Poster = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/760-1153-1-RVP.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ilhan-johnson-koditschek-autonomousstairwellascent-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   B. Deniz Ilhan;  Aaron M. Johnson;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.1017/S0263574719000535\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ilhan-johnson-koditschek-autonomousstairwellascent-2020', 'https://doi.org/10.1017/S0263574719000535', event);\">\n    Autonomous Stairwell Ascent.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>Robotica</i>, 38(1): 159–170.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.1017/S0263574719000535\"\n     onclick=\"log_download('ilhan-johnson-koditschek-autonomousstairwellascent-2020', 'https://doi.org/10.1017/S0263574719000535', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Autonomous Stairwell Ascent [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ilhan-johnson-koditschek-autonomousstairwellascent-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>15 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ilhan-johnson-koditschek-autonomousstairwellascent-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:ilhan_stair_2020,\n  title     = {Autonomous Stairwell Ascent},\n  author    = {B. Deniz Ilhan and Aaron M. Johnson and D. E. Koditschek},\n  year      = {2020},\n  journal   = {Robotica},\n  volume    = {38},\n  number    = {1},\n  pages     = {159--170},\n  keywords  = {Stair Climbing, Control, Perception},\n  url_DOI   = {https://doi.org/10.1017/S0263574719000535}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2019\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2019')\"\n      onkeypress=\"toggleGroup('group_2019')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2019</span>\n      <span class=\"bibbase_group_count\">\n        \n        (10)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"yang-gu-ge-johnson-travers-choset-designandimplementationofathreelinkbrachiationrobotwithoptimalcontrolbasedtrajectorytrackingcontroller-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Shuo Yang;  Zhaoyuan Gu;  Ruohai Ge;  Aaron M Johnson;  Matthew Travers;  and  Howie Choset.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/abs/1911.05168\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yang-gu-ge-johnson-travers-choset-designandimplementationofathreelinkbrachiationrobotwithoptimalcontrolbasedtrajectorytrackingcontroller-2019', 'https://arxiv.org/abs/1911.05168', event);\">\n    Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Technical Report arXiv:1911.05168 [eess.SY], arXiv,  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/1911.05168\"\n     onclick=\"log_download('yang-gu-ge-johnson-travers-choset-designandimplementationofathreelinkbrachiationrobotwithoptimalcontrolbasedtrajectorytrackingcontroller-2019', 'https://arxiv.org/abs/1911.05168', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/1911.05168\"\n     onclick=\"log_download('yang-gu-ge-johnson-travers-choset-designandimplementationofathreelinkbrachiationrobotwithoptimalcontrolbasedtrajectorytrackingcontroller-2019', 'https://arxiv.org/pdf/1911.05168', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yang-gu-ge-johnson-travers-choset-designandimplementationofathreelinkbrachiationrobotwithoptimalcontrolbasedtrajectorytrackingcontroller-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>31 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yang-gu-ge-johnson-travers-choset-designandimplementationofathreelinkbrachiationrobotwithoptimalcontrolbasedtrajectorytrackingcontroller-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{tr:yang-2019,\n  author       = {Yang, Shuo and Gu, Zhaoyuan and Ge, Ruohai and Johnson, Aaron M and Travers, Matthew and Choset, Howie},\n  title        = {Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller},\n  institution  = {{arXiv}},\n  year         = {2019},\n  number       = {{arXiv:1911.05168 [eess.SY]}},\n  keywords     = {Robot Design, Control, Optimization},\n  url_Info     = {https://arxiv.org/abs/1911.05168},\n  url_PDF      = {https://arxiv.org/pdf/1911.05168}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"martone-pavlov-zeloof-bahl-johnson-enhancingtheverticalmobilityofarobothexapodusingmicrospines-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Matt Martone;  Catherine Pavlov;  Adam Zeloof;  Vivaan Bahl;  and  Aaron M Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/abs/1906.04811\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'martone-pavlov-zeloof-bahl-johnson-enhancingtheverticalmobilityofarobothexapodusingmicrospines-2019', 'https://arxiv.org/abs/1906.04811', event);\">\n    Enhancing the Vertical Mobility of a Robot Hexapod Using Microspines.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Technical Report arXiv:1906.04811 [cs.RO], arXiv,  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/1906.04811\"\n     onclick=\"log_download('martone-pavlov-zeloof-bahl-johnson-enhancingtheverticalmobilityofarobothexapodusingmicrospines-2019', 'https://arxiv.org/abs/1906.04811', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Enhancing the Vertical Mobility of a Robot Hexapod Using Microspines [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/1906.04811\"\n     onclick=\"log_download('martone-pavlov-zeloof-bahl-johnson-enhancingtheverticalmobilityofarobothexapodusingmicrospines-2019', 'https://arxiv.org/pdf/1906.04811', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Enhancing the Vertical Mobility of a Robot Hexapod Using Microspines [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/martone-pavlov-zeloof-bahl-johnson-enhancingtheverticalmobilityofarobothexapodusingmicrospines-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>13 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('martone-pavlov-zeloof-bahl-johnson-enhancingtheverticalmobilityofarobothexapodusingmicrospines-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{tr:martone-2019,\n  author       = {Martone, Matt and Pavlov, Catherine and Zeloof, Adam and Bahl, Vivaan and Johnson, Aaron M},\n  title        = {Enhancing the Vertical Mobility of a Robot Hexapod Using Microspines},\n  institution  = {{arXiv}},\n  year         = {2019},\n  number       = {{arXiv:1906.04811 [cs.RO]}},\n  keywords     = {Robot Design, Tails},\n  url_Info     = {https://arxiv.org/abs/1906.04811},\n  url_PDF      = {https://arxiv.org/pdf/1906.04811}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kong-johnson-optimallyconvergenttrajectoriesfornavigation-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Nathan Kong;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/ISRR_Convergent_Planning_for_Hill_Navigation.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kong-johnson-optimallyconvergenttrajectoriesfornavigation-2019', 'http://www.andrew.cmu.edu/user/amj1/papers/ISRR_Convergent_Planning_for_Hill_Navigation.pdf', event);\">\n    Optimally convergent trajectories for navigation.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>International Symposium on Robotics Research</i>, October 2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://link.springer.com/chapter/10.1007/978-3-030-95459-8_5\"\n     onclick=\"log_download('kong-johnson-optimallyconvergenttrajectoriesfornavigation-2019', 'https://link.springer.com/chapter/10.1007/978-3-030-95459-8_5', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Optimally convergent trajectories for navigation [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/ISRR_Convergent_Planning_for_Hill_Navigation.pdf\"\n     onclick=\"log_download('kong-johnson-optimallyconvergenttrajectoriesfornavigation-2019', 'http://www.andrew.cmu.edu/user/amj1/papers/ISRR_Convergent_Planning_for_Hill_Navigation.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Optimally convergent trajectories for navigation [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kong-johnson-optimallyconvergenttrajectoriesfornavigation-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>34 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kong-johnson-optimallyconvergenttrajectoriesfornavigation-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:kong-convergent-2019,\n  author        = {Nathan Kong and Aaron M. Johnson},\n  title         = {Optimally convergent trajectories for navigation},\n  booktitle     = {International Symposium on Robotics Research},\n  year          = {2019},\n  month         = {October},\n  keywords      = {Uncertainty, Control, Hill Climbing, Optimization},\n  url_Publisher = {https://link.springer.com/chapter/10.1007/978-3-030-95459-8_5},\n  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/ISRR_Convergent_Planning_for_Hill_Navigation.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bhatia-johnson-mason-directdrivehandsforcemotiontransparencyingripperdesign-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Ankit Bhatia;  Aaron M. Johnson;  and  Matthew T. Mason.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.roboticsproceedings.org/rss15/p53.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bhatia-johnson-mason-directdrivehandsforcemotiontransparencyingripperdesign-2019', 'http://www.roboticsproceedings.org/rss15/p53.pdf', event);\">\n    Direct Drive Hands: Force-Motion Transparency in Gripper Design.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Robotics: Science and Systems</i>, Messe Freiburg, Germany, June 2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.roboticsproceedings.org/rss15/p53.html\"\n     onclick=\"log_download('bhatia-johnson-mason-directdrivehandsforcemotiontransparencyingripperdesign-2019', 'http://www.roboticsproceedings.org/rss15/p53.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Direct Drive Hands: Force-Motion Transparency in Gripper Design [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://www.roboticsproceedings.org/rss15/p53.pdf\"\n     onclick=\"log_download('bhatia-johnson-mason-directdrivehandsforcemotiontransparencyingripperdesign-2019', 'http://www.roboticsproceedings.org/rss15/p53.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Direct Drive Hands: Force-Motion Transparency in Gripper Design [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=xnHtb0XP3U4\"\n     onclick=\"log_download('bhatia-johnson-mason-directdrivehandsforcemotiontransparencyingripperdesign-2019', 'https://www.youtube.com/watch?v=xnHtb0XP3U4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Direct Drive Hands: Force-Motion Transparency in Gripper Design [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bhatia-johnson-mason-directdrivehandsforcemotiontransparencyingripperdesign-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>18 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bhatia-johnson-mason-directdrivehandsforcemotiontransparencyingripperdesign-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:bhatia-ddhand-2019,\n  author        = {Ankit Bhatia and Aaron M. Johnson and Matthew T. Mason},\n  title         = {Direct Drive Hands: Force-Motion Transparency in Gripper Design},\n  booktitle     = {Robotics: Science and Systems},\n  month         = {June},\n  year          = {2019},\n  address       = {Messe Freiburg, Germany},\n  url_Publisher = {http://www.roboticsproceedings.org/rss15/p53.html},\n  url_PDF       = {http://www.roboticsproceedings.org/rss15/p53.pdf},\n  url_Video     = {https://www.youtube.com/watch?v=xnHtb0XP3U4},\n  keywords      = {Manipulation, Robot Design, Proprioception, Control}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kim-pavlov-johnson-developingasimplemodelforsandtoolinteractionandautonomouslyshapingsand-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Wooshik Kim;  Catherine Pavlov;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/abs/1908.02745\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kim-pavlov-johnson-developingasimplemodelforsandtoolinteractionandautonomouslyshapingsand-2019', 'https://arxiv.org/abs/1908.02745', event);\">\n    Developing a Simple Model for Sand-Tool Interaction and Autonomously Shaping Sand.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Technical Report arXiv:1908.02745 [cs.RO], arXiv,  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/1908.02745\"\n     onclick=\"log_download('kim-pavlov-johnson-developingasimplemodelforsandtoolinteractionandautonomouslyshapingsand-2019', 'https://arxiv.org/abs/1908.02745', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Developing a Simple Model for Sand-Tool Interaction and Autonomously Shaping Sand [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/1908.02745\"\n     onclick=\"log_download('kim-pavlov-johnson-developingasimplemodelforsandtoolinteractionandautonomouslyshapingsand-2019', 'https://arxiv.org/pdf/1908.02745', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Developing a Simple Model for Sand-Tool Interaction and Autonomously Shaping Sand [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kim-pavlov-johnson-developingasimplemodelforsandtoolinteractionandautonomouslyshapingsand-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kim-pavlov-johnson-developingasimplemodelforsandtoolinteractionandautonomouslyshapingsand-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{tr:kim-2019,\n  author       = {Wooshik Kim and Catherine Pavlov and Aaron M. Johnson},\n  title        = {Developing a Simple Model for Sand-Tool Interaction and Autonomously Shaping Sand},\n  institution  = {{arXiv}},\n  year         = {2019},\n  number       = {{arXiv:1908.02745 [cs.RO]}},\n  keywords     = {Terrain Manipulation, Sand, Modeling, Learning, Space Robotics},\n  url_Info     = {https://arxiv.org/abs/1908.02745},\n  url_PDF      = {https://arxiv.org/pdf/1908.02745}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-wang-johnson-traversabilityanalysisforhighlymaneuverablewheeledrobots-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Letong Wang;  Sean Wang;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://riss.ri.cmu.edu/wp-content/uploads/2019/11/2019-riss-final-journal-aA.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-wang-johnson-traversabilityanalysisforhighlymaneuverablewheeledrobots-2019', 'https://riss.ri.cmu.edu/wp-content/uploads/2019/11/2019-riss-final-journal-aA.pdf', event);\">\n    Traversability Analysis for Highly Maneuverable Wheeled Robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Technical Report CMU Robotics Institute Summer Scholars Working Papers Journal,  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://riss.ri.cmu.edu/wp-content/uploads/2019/11/2019-riss-final-journal-aA.pdf\"\n     onclick=\"log_download('wang-wang-johnson-traversabilityanalysisforhighlymaneuverablewheeledrobots-2019', 'https://riss.ri.cmu.edu/wp-content/uploads/2019/11/2019-riss-final-journal-aA.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Traversability Analysis for Highly Maneuverable Wheeled Robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://riss.ri.cmu.edu/wp-content/uploads/2019/08/2019-RISS-poster-WANG-Letong-JOHNSON.pdf\"\n     onclick=\"log_download('wang-wang-johnson-traversabilityanalysisforhighlymaneuverablewheeledrobots-2019', 'https://riss.ri.cmu.edu/wp-content/uploads/2019/08/2019-RISS-poster-WANG-Letong-JOHNSON.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Traversability Analysis for Highly Maneuverable Wheeled Robots [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-wang-johnson-traversabilityanalysisforhighlymaneuverablewheeledrobots-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>29 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-wang-johnson-traversabilityanalysisforhighlymaneuverablewheeledrobots-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{tr:wang2019riss,\n   author = {Letong Wang and Sean Wang and Aaron M. Johnson},\n   title = {Traversability  Analysis  for Highly  Maneuverable  Wheeled  Robots},\n   institution = {CMU Robotics Institute Summer Scholars Working Papers Journal},\n   year = {2019},\n   volume= {7},\n   pages = {188--193},\n   keywords  = {Perception, Environmental Monitoring},\n   url_PDF = {https://riss.ri.cmu.edu/wp-content/uploads/2019/11/2019-riss-final-journal-aA.pdf},\n   url_Poster = {https://riss.ri.cmu.edu/wp-content/uploads/2019/08/2019-RISS-poster-WANG-Letong-JOHNSON.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"norby-johnson-tailactuationimprovesquadrupedalrobotacceleration-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Joseph Norby;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Tail Actuation Improves Quadrupedal Robot Acceleration.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, Canmore, Canada, June 2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/norby-johnson-tailactuationimprovesquadrupedalrobotacceleration-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('norby-johnson-tailactuationimprovesquadrupedalrobotacceleration-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:norby-dw-2019,\n  author = {Joseph Norby and Aaron M. Johnson},\n  title = {Tail Actuation Improves Quadrupedal Robot Acceleration},\n  booktitle = {Dynamic Walking},\n  year = {2019},\n  month = {June},\n  address= {Canmore, Canada},\n  type  = {workshop abstract},\n  keywords = {Tails, Optimization, Leaping}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"payne-kong-johnson-flamingobotaflamingoinspiredminimalenergystandingbipedrobot-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   John Joseph Payne;  Nathan J. Kong;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.youtube.com/watch?v=vHWiVu242vc\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'payne-kong-johnson-flamingobotaflamingoinspiredminimalenergystandingbipedrobot-2019', 'https://www.youtube.com/watch?v=vHWiVu242vc', event);\">\n    Flamingobot: a Flamingo Inspired Minimal Energy Standing Biped Robot.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, Canmore, Canada, June 2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.youtube.com/watch?v=vHWiVu242vc\"\n     onclick=\"log_download('payne-kong-johnson-flamingobotaflamingoinspiredminimalenergystandingbipedrobot-2019', 'https://www.youtube.com/watch?v=vHWiVu242vc', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Flamingobot: a Flamingo Inspired Minimal Energy Standing Biped Robot [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/payne-kong-johnson-flamingobotaflamingoinspiredminimalenergystandingbipedrobot-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('payne-kong-johnson-flamingobotaflamingoinspiredminimalenergystandingbipedrobot-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:payne-dw-2019,\n  author = {John Joseph Payne and Nathan J. Kong and Aaron M. Johnson},\n  title = {Flamingobot: a Flamingo Inspired Minimal Energy Standing Biped Robot},\n  booktitle = {Dynamic Walking},\n  year = {2019},\n  month = {June},\n  address= {Canmore, Canada},\n  type  = {workshop abstract},\n  keywords = {Robot Design},\n  url_Video = {https://www.youtube.com/watch?v=vHWiVu242vc}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pavlov-johnson-soildisplacementterramechanicsforwheelbasedtrenchingwithaplanetaryrover-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Catherine Pavlov;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/ICRA2019_Wheel.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pavlov-johnson-soildisplacementterramechanicsforwheelbasedtrenchingwithaplanetaryrover-2019', 'http://www.andrew.cmu.edu/user/amj1/papers/ICRA2019_Wheel.pdf', event);\">\n    Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE Intl.\\ Conference on Robotics and Automation</i>, pages 4760–4766, Montreal, Canada, May 2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8793645\"\n     onclick=\"log_download('pavlov-johnson-soildisplacementterramechanicsforwheelbasedtrenchingwithaplanetaryrover-2019', 'https://ieeexplore.ieee.org/document/8793645', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/ICRA2019_Wheel.pdf\"\n     onclick=\"log_download('pavlov-johnson-soildisplacementterramechanicsforwheelbasedtrenchingwithaplanetaryrover-2019', 'http://www.andrew.cmu.edu/user/amj1/papers/ICRA2019_Wheel.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=SJXjnnBbAkA\"\n     onclick=\"log_download('pavlov-johnson-soildisplacementterramechanicsforwheelbasedtrenchingwithaplanetaryrover-2019', 'https://www.youtube.com/watch?v=SJXjnnBbAkA', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pavlov-johnson-soildisplacementterramechanicsforwheelbasedtrenchingwithaplanetaryrover-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>18 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pavlov-johnson-soildisplacementterramechanicsforwheelbasedtrenchingwithaplanetaryrover-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:pavlov-soil-2019,\n  author        = {Catherine Pavlov and Aaron M. Johnson},\n  title         = {Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover},\n  booktitle     = {IEEE Intl.\\ Conference on Robotics and Automation},\n  month         = {May},\n  year          = {2019},\n  address       = {Montreal, Canada},\n  pages         = {4760--4766},\n  _doi          = {10.1109/ICRA.2019.8793645},\n  keywords      = {Terrain Manipulation, Sand, Modeling, Space Robotics},\n  url_Publisher = {https://ieeexplore.ieee.org/document/8793645},\n  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/ICRA2019_Wheel.pdf},\n  url_Video     = {https://www.youtube.com/watch?v=SJXjnnBbAkA}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"patel-shield-kazi-johnson-biegler-contactimplicittrajectoryoptimizationusingorthogonalcollocation-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Amir Patel;  Stacey Shield;  Saif Kazi;  Aaron M. Johnson;  and  Lorenz T. Biegler.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/8648229\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'patel-shield-kazi-johnson-biegler-contactimplicittrajectoryoptimizationusingorthogonalcollocation-2019', 'https://ieeexplore.ieee.org/document/8648229', event);\">\n    Contact-Implicit Trajectory Optimization using Orthogonal Collocation.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 4(2): 2242–2249.  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8648229\"\n     onclick=\"log_download('patel-shield-kazi-johnson-biegler-contactimplicittrajectoryoptimizationusingorthogonalcollocation-2019', 'https://ieeexplore.ieee.org/document/8648229', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Contact-Implicit Trajectory Optimization using Orthogonal Collocation [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/1809.06436\"\n     onclick=\"log_download('patel-shield-kazi-johnson-biegler-contactimplicittrajectoryoptimizationusingorthogonalcollocation-2019', 'https://arxiv.org/pdf/1809.06436', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Contact-Implicit Trajectory Optimization using Orthogonal Collocation [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=nkynGuqKWUY\"\n     onclick=\"log_download('patel-shield-kazi-johnson-biegler-contactimplicittrajectoryoptimizationusingorthogonalcollocation-2019', 'https://www.youtube.com/watch?v=nkynGuqKWUY', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Contact-Implicit Trajectory Optimization using Orthogonal Collocation [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/patel-shield-kazi-johnson-biegler-contactimplicittrajectoryoptimizationusingorthogonalcollocation-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>20 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('patel-shield-kazi-johnson-biegler-contactimplicittrajectoryoptimizationusingorthogonalcollocation-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:patel-contact-2019,\n  author       = {Amir Patel and Stacey Shield and Saif Kazi and Aaron M. Johnson and Lorenz T. Biegler},\n  title        = {Contact-Implicit Trajectory Optimization using Orthogonal Collocation},\n  journal      = {IEEE Robotics and Automation Letters},\n  year         = {2019},\n  volume       = {4},\n  number       = {2},\n  pages        = {2242--2249},\n  _doi         = {10.1109/LRA.2019.2900840},\n  _arXiv       = {{arXiv:1809.06436 [cs.RO]}},\n  url_Publisher = {https://ieeexplore.ieee.org/document/8648229},\n  _url_arXiv     = {https://arxiv.org/abs/1809.06436},\n  url_PDF      = {https://arxiv.org/pdf/1809.06436},\n  url_Video    = {https://www.youtube.com/watch?v=nkynGuqKWUY},\n  keywords     = {Optimization, Control, Contact}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2018\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2018')\"\n      onkeypress=\"toggleGroup('group_2018')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2018</span>\n      <span class=\"bibbase_group_count\">\n        \n        (13)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"selby-patel-li-johnson-bioinspiredhighaerodynamictailforrobotreorientationandstabilization-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Cameron Selby;  Amir Patel;  Peter Li;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.asme.org/events/imece/program#/track/detail/830\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'selby-patel-li-johnson-bioinspiredhighaerodynamictailforrobotreorientationandstabilization-2018', 'https://www.asme.org/events/imece/program#/track/detail/830', event);\">\n    Bio-inspired High Aerodynamic Tail for Robot Reorientation and Stabilization.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>ASME International Mechanical Engineering Congress and Exposition</i>, pages IMECE2018-89710, Pittsburgh, PA, November 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.asme.org/events/imece/program#/track/detail/830\"\n     onclick=\"log_download('selby-patel-li-johnson-bioinspiredhighaerodynamictailforrobotreorientationandstabilization-2018', 'https://www.asme.org/events/imece/program#/track/detail/830', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Bio-inspired High Aerodynamic Tail for Robot Reorientation and Stabilization [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/selby-patel-li-johnson-bioinspiredhighaerodynamictailforrobotreorientationandstabilization-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>13 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('selby-patel-li-johnson-bioinspiredhighaerodynamictailforrobotreorientationandstabilization-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:selby-aerodynamic-2018,\n  author = {Cameron Selby and Amir Patel and Peter Li and Aaron M. Johnson},\n  title = {Bio-inspired High Aerodynamic Tail for Robot Reorientation and Stabilization},\n  booktitle = {ASME International Mechanical Engineering Congress and Exposition},\n  year = {2018},\n  month = {November},\n  address= {Pittsburgh, PA},\n  pages = {IMECE2018-89710},\n  type  = {workshop poster},\n  keywords     = {Tails},\n  url_Info = {https://www.asme.org/events/imece/program#/track/detail/830}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kim-johnson-simplemodelfortoolinteractiononacontinuouslydeformableenvironment-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Wooshik Kim;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.asme.org/events/imece/program#/track/detail/836\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kim-johnson-simplemodelfortoolinteractiononacontinuouslydeformableenvironment-2018', 'https://www.asme.org/events/imece/program#/track/detail/836', event);\">\n    Simple Model for Tool Interaction on a Continuously Deformable Environment.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>ASME International Mechanical Engineering Congress and Exposition</i>, pages IMECE2018-89452, Pittsburgh, PA, November 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.asme.org/events/imece/program#/track/detail/836\"\n     onclick=\"log_download('kim-johnson-simplemodelfortoolinteractiononacontinuouslydeformableenvironment-2018', 'https://www.asme.org/events/imece/program#/track/detail/836', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Simple Model for Tool Interaction on a Continuously Deformable Environment [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kim-johnson-simplemodelfortoolinteractiononacontinuouslydeformableenvironment-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kim-johnson-simplemodelfortoolinteractiononacontinuouslydeformableenvironment-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:kim-model-2018,\n  author = {Wooshik Kim and Aaron M. Johnson},\n  title = {Simple Model for Tool Interaction on a Continuously Deformable Environment},\n  booktitle = {ASME International Mechanical Engineering Congress and Exposition},\n  year = {2018},\n  month = {November},\n  address= {Pittsburgh, PA},\n  pages = {IMECE2018-89452},\n  type  = {workshop poster},\n  keywords = {Terrain Manipulation, Sand, Modeling, Space Robotics},\n  url_Info = {https://www.asme.org/events/imece/program#/track/detail/836}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ren-johnson-towardrobuststairclimbingofthequadrupedusingproprioceptivesensing-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Zhiyi Ren;  and  Aaron Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://riss.ri.cmu.edu/wp-content/uploads/2018/11/RISS_Journal_Nov26-r.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ren-johnson-towardrobuststairclimbingofthequadrupedusingproprioceptivesensing-2018', 'https://riss.ri.cmu.edu/wp-content/uploads/2018/11/RISS_Journal_Nov26-r.pdf', event);\">\n    Toward Robust Stair Climbing of the Quadruped using Proprioceptive Sensing.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Technical Report CMU Robotics Institute Summer Scholars Working Papers Journal,  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://riss.ri.cmu.edu/wp-content/uploads/2018/11/RISS_Journal_Nov26-r.pdf\"\n     onclick=\"log_download('ren-johnson-towardrobuststairclimbingofthequadrupedusingproprioceptivesensing-2018', 'https://riss.ri.cmu.edu/wp-content/uploads/2018/11/RISS_Journal_Nov26-r.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Toward Robust Stair Climbing of the Quadruped using Proprioceptive Sensing [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://riss.ri.cmu.edu/wp-content/uploads/2018/11/2018-RISS-Poster-Ren-Zhiyi.pdf.pdf\"\n     onclick=\"log_download('ren-johnson-towardrobuststairclimbingofthequadrupedusingproprioceptivesensing-2018', 'https://riss.ri.cmu.edu/wp-content/uploads/2018/11/2018-RISS-Poster-Ren-Zhiyi.pdf.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Toward Robust Stair Climbing of the Quadruped using Proprioceptive Sensing [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ren-johnson-towardrobuststairclimbingofthequadrupedusingproprioceptivesensing-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>21 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ren-johnson-towardrobuststairclimbingofthequadrupedusingproprioceptivesensing-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{tr:ren2018riss,\n   author = {Zhiyi Ren and Aaron Johnson},\n   title = {Toward Robust Stair Climbing of the Quadruped using Proprioceptive Sensing},\n   institution = {CMU Robotics Institute Summer Scholars Working Papers Journal},\n   year = {2018},\n   volume= {6},\n   pages = {112--118},\n   keywords  = {Stair Climbing, Proprioception},\n   url_PDF = {https://riss.ri.cmu.edu/wp-content/uploads/2018/11/RISS_Journal_Nov26-r.pdf},\n   url_Poster = {https://riss.ri.cmu.edu/wp-content/uploads/2018/11/2018-RISS-Poster-Ren-Zhiyi.pdf.pdf}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pavlov-johnson-wheelbasedtrenchingterramechanicsofnonprehensilemanipulationforplanetaryrovers-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Catherine Pavlov;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.spacerobotics.xyz/papers/pavlov.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pavlov-johnson-wheelbasedtrenchingterramechanicsofnonprehensilemanipulationforplanetaryrovers-2018', 'http://www.spacerobotics.xyz/papers/pavlov.pdf', event);\">\n    Wheel-Based Trenching: Terramechanics of Nonprehensile Manipulation for Planetary Rovers.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Robotics: Science and Systems Workshop on ``Autonomous Space Robotics''</i>, Pittsburgh, PA, June 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.spacerobotics.xyz/papers/pavlov.pdf\"\n     onclick=\"log_download('pavlov-johnson-wheelbasedtrenchingterramechanicsofnonprehensilemanipulationforplanetaryrovers-2018', 'http://www.spacerobotics.xyz/papers/pavlov.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Wheel-Based Trenching: Terramechanics of Nonprehensile Manipulation for Planetary Rovers [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"http://www.spacerobotics.xyz/\"\n     onclick=\"log_download('pavlov-johnson-wheelbasedtrenchingterramechanicsofnonprehensilemanipulationforplanetaryrovers-2018', 'http://www.spacerobotics.xyz/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Wheel-Based Trenching: Terramechanics of Nonprehensile Manipulation for Planetary Rovers [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pavlov-johnson-wheelbasedtrenchingterramechanicsofnonprehensilemanipulationforplanetaryrovers-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>15 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pavlov-johnson-wheelbasedtrenchingterramechanicsofnonprehensilemanipulationforplanetaryrovers-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:pavlov-wheel-2018,\n  author = {Catherine Pavlov and Aaron M. Johnson},\n  title = {Wheel-Based Trenching: Terramechanics of Nonprehensile Manipulation for Planetary Rovers},\n  booktitle = {Robotics: Science and Systems Workshop on &#x60;&#x60;Autonomous Space Robotics&#x27;&#x27;},\n  year = {2018},\n  month = {June},\n  address= {Pittsburgh, PA},\n  type  = {workshop abstract},\n  keywords = {Terrain Manipulation, Sand, Modeling, Space Robotics},\n  url_PDF = {http://www.spacerobotics.xyz/papers/pavlov.pdf},\n  url_Info = {http://www.spacerobotics.xyz/}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"norby-johnson-towardsenergyoptimaldesignandcontroloftailedleggedrobotlocomotion-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Joseph Norby;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.cmu.edu/me/robomechanicslab/ws/papers/Norby-RSSTails2018.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'norby-johnson-towardsenergyoptimaldesignandcontroloftailedleggedrobotlocomotion-2018', 'https://www.cmu.edu/me/robomechanicslab/ws/papers/Norby-RSSTails2018.pdf', event);\">\n    Towards Energy Optimal Design and Control of Tailed Legged Robot Locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Robotics: Science and Systems Workshop on ``Unusual Appendages''</i>, Pittsburgh, PA, June 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.cmu.edu/me/robomechanicslab/ws/papers/Norby-RSSTails2018.pdf\"\n     onclick=\"log_download('norby-johnson-towardsenergyoptimaldesignandcontroloftailedleggedrobotlocomotion-2018', 'https://www.cmu.edu/me/robomechanicslab/ws/papers/Norby-RSSTails2018.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Towards Energy Optimal Design and Control of Tailed Legged Robot Locomotion [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.cmu.edu/me/robomechanicslab/ws/rss2018.html\"\n     onclick=\"log_download('norby-johnson-towardsenergyoptimaldesignandcontroloftailedleggedrobotlocomotion-2018', 'https://www.cmu.edu/me/robomechanicslab/ws/rss2018.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Towards Energy Optimal Design and Control of Tailed Legged Robot Locomotion [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/norby-johnson-towardsenergyoptimaldesignandcontroloftailedleggedrobotlocomotion-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('norby-johnson-towardsenergyoptimaldesignandcontroloftailedleggedrobotlocomotion-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:norby-tailed-2018,\n  author = {Joseph Norby and Aaron M. Johnson},\n  title = {Towards Energy Optimal Design and Control of Tailed Legged Robot Locomotion},\n  booktitle = {Robotics: Science and Systems Workshop on &#x60;&#x60;Unusual Appendages&#x27;&#x27;},\n  year = {2018},\n  month = {June},\n  address= {Pittsburgh, PA},\n  type  = {workshop abstract},\n  keywords = {Tails, Optimization},\n  url_PDF = {https://www.cmu.edu/me/robomechanicslab/ws/papers/Norby-RSSTails2018.pdf},\n  url_Info = {https://www.cmu.edu/me/robomechanicslab/ws/rss2018.html}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"patel-suhrcke-zeloof-li-selby-johnson-tailaerodynamicsincheetahsandrobots-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Amir Patel;  Philipp Suhrcke;  Adam Zeloof;  Peter Li;  Cameron Selby;  and  Aaron Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.cmu.edu/me/robomechanicslab/ws/papers/Patel-RSSTails2018.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'patel-suhrcke-zeloof-li-selby-johnson-tailaerodynamicsincheetahsandrobots-2018', 'https://www.cmu.edu/me/robomechanicslab/ws/papers/Patel-RSSTails2018.pdf', event);\">\n    Tail Aerodynamics in Cheetahs and Robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Robotics: Science and Systems Workshop on ``Unusual Appendages''</i>, Pittsburgh, PA, June 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.cmu.edu/me/robomechanicslab/ws/papers/Patel-RSSTails2018.pdf\"\n     onclick=\"log_download('patel-suhrcke-zeloof-li-selby-johnson-tailaerodynamicsincheetahsandrobots-2018', 'https://www.cmu.edu/me/robomechanicslab/ws/papers/Patel-RSSTails2018.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Tail Aerodynamics in Cheetahs and Robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.cmu.edu/me/robomechanicslab/ws/rss2018.html\"\n     onclick=\"log_download('patel-suhrcke-zeloof-li-selby-johnson-tailaerodynamicsincheetahsandrobots-2018', 'https://www.cmu.edu/me/robomechanicslab/ws/rss2018.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Tail Aerodynamics in Cheetahs and Robots [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/patel-suhrcke-zeloof-li-selby-johnson-tailaerodynamicsincheetahsandrobots-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>11 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('patel-suhrcke-zeloof-li-selby-johnson-tailaerodynamicsincheetahsandrobots-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:patel-tailed-2018,\n  author = {Amir Patel and Philipp Suhrcke and Adam Zeloof and Peter Li and Cameron Selby and Aaron Johnson},\n  title = {Tail Aerodynamics in Cheetahs and Robots},\n  booktitle = {Robotics: Science and Systems Workshop on &#x60;&#x60;Unusual Appendages&#x27;&#x27;},\n  year = {2018},\n  month = {June},\n  address= {Pittsburgh, PA},\n  type  = {workshop abstract},\n  keywords = {Tails},\n  url_PDF = {https://www.cmu.edu/me/robomechanicslab/ws/papers/Patel-RSSTails2018.pdf},\n  url_Info = {https://www.cmu.edu/me/robomechanicslab/ws/rss2018.html}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"barragan-flowers-johnson-minirhexasmallopensourcefullyprogrammablewalkinghexapod-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Monica Barragan;  Nikolai Flowers;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/RSS2018ws_MiniRHex.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'barragan-flowers-johnson-minirhexasmallopensourcefullyprogrammablewalkinghexapod-2018', 'http://www.andrew.cmu.edu/user/amj1/papers/RSS2018ws_MiniRHex.pdf', event);\">\n    MiniRHex: A Small, Open-source, Fully Programmable Walking Hexapod.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Robotics: Science and Systems Workshop on ``Design and Control of Small Legged Robots''</i>, Pittsburgh, PA, June 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/RSS2018ws_MiniRHex.pdf\"\n     onclick=\"log_download('barragan-flowers-johnson-minirhexasmallopensourcefullyprogrammablewalkinghexapod-2018', 'http://www.andrew.cmu.edu/user/amj1/papers/RSS2018ws_MiniRHex.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"MiniRHex: A Small, Open-source, Fully Programmable Walking Hexapod [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://github.com/robomechanics/MiniRHex\"\n     onclick=\"log_download('barragan-flowers-johnson-minirhexasmallopensourcefullyprogrammablewalkinghexapod-2018', 'https://github.com/robomechanics/MiniRHex', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"MiniRHex: A Small, Open-source, Fully Programmable Walking Hexapod [link]\"\n       title=\" project\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> project</span></a>\n  &nbsp;\n  \n  <a href=\"http://intra.ece.ucr.edu/~kkarydis/rss18/\"\n     onclick=\"log_download('barragan-flowers-johnson-minirhexasmallopensourcefullyprogrammablewalkinghexapod-2018', 'http://intra.ece.ucr.edu/~kkarydis/rss18/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"MiniRHex: A Small, Open-source, Fully Programmable Walking Hexapod [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/barragan-flowers-johnson-minirhexasmallopensourcefullyprogrammablewalkinghexapod-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>15 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('barragan-flowers-johnson-minirhexasmallopensourcefullyprogrammablewalkinghexapod-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:barragan-minirhex-2018,\n  author = {Monica Barragan and Nikolai Flowers and Aaron M. Johnson},\n  title = {{MiniRHex}: A Small, Open-source, Fully Programmable Walking Hexapod},\n  booktitle = {Robotics: Science and Systems Workshop on &#x60;&#x60;Design and Control of Small Legged Robots&#x27;&#x27;},\n  year = {2018},\n  month = {June},\n  address= {Pittsburgh, PA},\n  type  = {workshop abstract},\n  keywords = {Robot Design},\n  url_PDF = {http://www.andrew.cmu.edu/user/amj1/papers/RSS2018ws_MiniRHex.pdf},\n  url_Project = {https://github.com/robomechanics/MiniRHex},\n  url_Info = {http://intra.ece.ucr.edu/~kkarydis/rss18/}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pavlov-johnson-wheelbasedtrenchingterramechanicsofnonprehensilemanipulationonplanetaryrovers-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Catherine Pavlov;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://sites.google.com/view/rss2018women/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pavlov-johnson-wheelbasedtrenchingterramechanicsofnonprehensilemanipulationonplanetaryrovers-2018', 'https://sites.google.com/view/rss2018women/', event);\">\n    Wheel-Based Trenching: Terramechanics of Nonprehensile Manipulation on Planetary Rovers.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Robotics: Science and Systems Workshop on ``Women In Robotics''</i>, Pittsburgh, PA, June 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://sites.google.com/view/rss2018women/\"\n     onclick=\"log_download('pavlov-johnson-wheelbasedtrenchingterramechanicsofnonprehensilemanipulationonplanetaryrovers-2018', 'https://sites.google.com/view/rss2018women/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Wheel-Based Trenching: Terramechanics of Nonprehensile Manipulation on Planetary Rovers [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pavlov-johnson-wheelbasedtrenchingterramechanicsofnonprehensilemanipulationonplanetaryrovers-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pavlov-johnson-wheelbasedtrenchingterramechanicsofnonprehensilemanipulationonplanetaryrovers-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:pavlov-trenching-2018,\n  author = {Catherine Pavlov and Aaron M. Johnson},\n  title = {Wheel-Based Trenching: Terramechanics of Nonprehensile Manipulation on Planetary Rovers},\n  booktitle = {Robotics: Science and Systems Workshop on &#x60;&#x60;Women In Robotics&#x27;&#x27;},\n  year = {2018},\n  month = {June},\n  address= {Pittsburgh, PA},\n  type  = {workshop poster},\n  keywords = {Terrain Manipulation, Sand, Modeling, Space Robotics},\n  url_Info = {https://sites.google.com/view/rss2018women/}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-singhasaneh-bays-bioinspiredhoofdesign-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  Natha Singhasaneh;  and  Praxis Bays.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/DW2018_Hoof.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-singhasaneh-bays-bioinspiredhoofdesign-2018', 'http://www.andrew.cmu.edu/user/amj1/papers/DW2018_Hoof.pdf', event);\">\n    Bioinspired Hoof Design.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, Pensacola, FL, May 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/DW2018_Hoof.pdf\"\n     onclick=\"log_download('johnson-singhasaneh-bays-bioinspiredhoofdesign-2018', 'http://www.andrew.cmu.edu/user/amj1/papers/DW2018_Hoof.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Bioinspired Hoof Design [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/g5Kcm8aP79o\"\n     onclick=\"log_download('johnson-singhasaneh-bays-bioinspiredhoofdesign-2018', 'https://youtu.be/g5Kcm8aP79o', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Bioinspired Hoof Design [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"http://robots.ihmc.us/dwc2018-proceedings\"\n     onclick=\"log_download('johnson-singhasaneh-bays-bioinspiredhoofdesign-2018', 'http://robots.ihmc.us/dwc2018-proceedings', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Bioinspired Hoof Design [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-singhasaneh-bays-bioinspiredhoofdesign-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>11 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-singhasaneh-bays-bioinspiredhoofdesign-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:johnson-hoof-2018,\n  author = {Aaron M. Johnson and Natha Singhasaneh and Praxis Bays},\n  title = {Bioinspired Hoof Design},\n  booktitle = {Dynamic Walking},\n  year = {2018},\n  month = {May},\n  address= {Pensacola, FL},\n  type  = {workshop abstract},\n  keywords = {Robot Design},\n  url_PDF = {http://www.andrew.cmu.edu/user/amj1/papers/DW2018_Hoof.pdf},\n  url_Video = {https://youtu.be/g5Kcm8aP79o},\n  url_Info = {http://robots.ihmc.us/dwc2018-proceedings}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"norby-johnson-towardsenergyoptimaldesignandcontrolforinertialreorientationdevice-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Joseph Norby;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://youtu.be/f0NtJcmhLnI\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'norby-johnson-towardsenergyoptimaldesignandcontrolforinertialreorientationdevice-2018', 'https://youtu.be/f0NtJcmhLnI', event);\">\n    Towards Energy Optimal Design and Control for Inertial Reorientation Device.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, Pensacola, FL, May 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://youtu.be/f0NtJcmhLnI\"\n     onclick=\"log_download('norby-johnson-towardsenergyoptimaldesignandcontrolforinertialreorientationdevice-2018', 'https://youtu.be/f0NtJcmhLnI', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Towards Energy Optimal Design and Control for Inertial Reorientation Device [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"http://robots.ihmc.us/dwc2018-proceedings\"\n     onclick=\"log_download('norby-johnson-towardsenergyoptimaldesignandcontrolforinertialreorientationdevice-2018', 'http://robots.ihmc.us/dwc2018-proceedings', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Towards Energy Optimal Design and Control for Inertial Reorientation Device [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/norby-johnson-towardsenergyoptimaldesignandcontrolforinertialreorientationdevice-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('norby-johnson-towardsenergyoptimaldesignandcontrolforinertialreorientationdevice-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:norby-towards-2018,\n  author = {Joseph Norby and Aaron M. Johnson},\n  title = {Towards Energy Optimal Design and Control for Inertial Reorientation Device},\n  booktitle = {Dynamic Walking},\n  year = {2018},\n  month = {May},\n  address= {Pensacola, FL},\n  type  = {workshop abstract},\n  keywords = {Tails, Optimization},\n  url_Video = {https://youtu.be/f0NtJcmhLnI},\n  url_Info = {http://robots.ihmc.us/dwc2018-proceedings}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"patel-johnson-wheelsversusanklesrapidaccelerationofahybridwheeledbipedrobot-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Amir Patel;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://youtu.be/dxX_AIlcRyw\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'patel-johnson-wheelsversusanklesrapidaccelerationofahybridwheeledbipedrobot-2018', 'https://youtu.be/dxX_AIlcRyw', event);\">\n    Wheels versus Ankles: Rapid Acceleration of a Hybrid Wheeled-Biped Robot.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, Pensacola, FL, May 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://youtu.be/dxX_AIlcRyw\"\n     onclick=\"log_download('patel-johnson-wheelsversusanklesrapidaccelerationofahybridwheeledbipedrobot-2018', 'https://youtu.be/dxX_AIlcRyw', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Wheels versus Ankles: Rapid Acceleration of a Hybrid Wheeled-Biped Robot [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"http://robots.ihmc.us/dwc2018-proceedings\"\n     onclick=\"log_download('patel-johnson-wheelsversusanklesrapidaccelerationofahybridwheeledbipedrobot-2018', 'http://robots.ihmc.us/dwc2018-proceedings', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Wheels versus Ankles: Rapid Acceleration of a Hybrid Wheeled-Biped Robot [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/patel-johnson-wheelsversusanklesrapidaccelerationofahybridwheeledbipedrobot-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('patel-johnson-wheelsversusanklesrapidaccelerationofahybridwheeledbipedrobot-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:patel-wheels-2018,\n  author = {Amir Patel and Aaron M. Johnson},\n  title = {Wheels versus Ankles: Rapid Acceleration of a Hybrid Wheeled-Biped Robot},\n  booktitle = {Dynamic Walking},\n  year = {2018},\n  month = {May},\n  address= {Pensacola, FL},\n  type  = {workshop abstract},\n  keywords = {Optimization, Control, Robot Design},\n  url_Video = {https://youtu.be/dxX_AIlcRyw},\n  url_Info = {http://robots.ihmc.us/dwc2018-proceedings}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"flowers-barragan-johnson-minirhexanopensourcewalkinghexapod-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Nikolai Flowers;  Monica Barragan;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://robots.ihmc.us/s/flowers_ABSTRACT.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'flowers-barragan-johnson-minirhexanopensourcewalkinghexapod-2018', 'http://robots.ihmc.us/s/flowers_ABSTRACT.pdf', event);\">\n    MiniRHex: An Open-source Walking Hexapod.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, Pensacola, FL, May 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://robots.ihmc.us/s/flowers_ABSTRACT.pdf\"\n     onclick=\"log_download('flowers-barragan-johnson-minirhexanopensourcewalkinghexapod-2018', 'http://robots.ihmc.us/s/flowers_ABSTRACT.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"MiniRHex: An Open-source Walking Hexapod [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/ZjvrX6ugl_8\"\n     onclick=\"log_download('flowers-barragan-johnson-minirhexanopensourcewalkinghexapod-2018', 'https://youtu.be/ZjvrX6ugl_8', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"MiniRHex: An Open-source Walking Hexapod [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://github.com/robomechanics/MiniRHex\"\n     onclick=\"log_download('flowers-barragan-johnson-minirhexanopensourcewalkinghexapod-2018', 'https://github.com/robomechanics/MiniRHex', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"MiniRHex: An Open-source Walking Hexapod [link]\"\n       title=\" project\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> project</span></a>\n  &nbsp;\n  \n  <a href=\"http://robots.ihmc.us/dwc2018-proceedings\"\n     onclick=\"log_download('flowers-barragan-johnson-minirhexanopensourcewalkinghexapod-2018', 'http://robots.ihmc.us/dwc2018-proceedings', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"MiniRHex: An Open-source Walking Hexapod [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/flowers-barragan-johnson-minirhexanopensourcewalkinghexapod-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>13 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('flowers-barragan-johnson-minirhexanopensourcewalkinghexapod-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:flowers-minirhex-2018,\n  author = {Nikolai Flowers and Monica Barragan and Aaron M. Johnson},\n  title = {{MiniRHex}: An Open-source Walking Hexapod},\n  booktitle = {Dynamic Walking},\n  year = {2018},\n  month = {May},\n  address= {Pensacola, FL},\n  type  = {workshop abstract},\n  keywords = {Robot Design},\n  url_PDF = {http://robots.ihmc.us/s/flowers_ABSTRACT.pdf},\n  url_Video = {https://youtu.be/ZjvrX6ugl_8},\n  url_Project = {https://github.com/robomechanics/MiniRHex},\n  url_Info = {http://robots.ihmc.us/dwc2018-proceedings}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ilhan-johnson-koditschek-autonomousleggedhillascent-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   B. Deniz Ilhan;  Aaron M. Johnson;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21779\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ilhan-johnson-koditschek-autonomousleggedhillascent-2018', 'https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21779', event);\">\n    Autonomous Legged Hill Ascent.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>Journal of Field Robotics</i>, 35(5): 802–832. August 2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21779\"\n     onclick=\"log_download('ilhan-johnson-koditschek-autonomousleggedhillascent-2018', 'https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21779', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Autonomous Legged Hill Ascent [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ilhan-johnson-koditschek-autonomousleggedhillascent-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ilhan-johnson-koditschek-autonomousleggedhillascent-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:ilhan_hill_2018,\n  title     = {Autonomous Legged Hill Ascent},\n  author    = {B. Deniz Ilhan and Aaron M. Johnson and D. E. Koditschek},\n  year      = {2018},\n  journal   = {Journal of Field Robotics},\n  volume    = {35},\n  number    = {5},\n  month     = {August},\n  keywords  = {Hill Climbing, Control},\n  pages     = {802--832},\n  url_Publisher = {https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21779}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2017\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2017')\"\n      onkeypress=\"toggleGroup('group_2017')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2017</span>\n      <span class=\"bibbase_group_count\">\n        \n        (3)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"lee-marinho-johnson-gordon-srinivasa-mason-unsupervisedlearningfornonlinearpiecewisesmoothhybridsystems-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Gilwoo Lee;  Zita Marinho;  Aaron M. Johnson;  Geoffrey J. Gordon;  Siddhartha S. Srinivasa;  and  Matthew T. Mason.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/abs/1710.00440\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lee-marinho-johnson-gordon-srinivasa-mason-unsupervisedlearningfornonlinearpiecewisesmoothhybridsystems-2017', 'https://arxiv.org/abs/1710.00440', event);\">\n    Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Technical Report arXiv:1710.00440 [cs.RO], arXiv,  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/1710.00440\"\n     onclick=\"log_download('lee-marinho-johnson-gordon-srinivasa-mason-unsupervisedlearningfornonlinearpiecewisesmoothhybridsystems-2017', 'https://arxiv.org/abs/1710.00440', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://arxiv.org/pdf/1710.00440\"\n     onclick=\"log_download('lee-marinho-johnson-gordon-srinivasa-mason-unsupervisedlearningfornonlinearpiecewisesmoothhybridsystems-2017', 'https://arxiv.org/pdf/1710.00440', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lee-marinho-johnson-gordon-srinivasa-mason-unsupervisedlearningfornonlinearpiecewisesmoothhybridsystems-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lee-marinho-johnson-gordon-srinivasa-mason-unsupervisedlearningfornonlinearpiecewisesmoothhybridsystems-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{tr:lee-2017,\n  author       = {Gilwoo Lee and Zita Marinho and Aaron M. Johnson and Geoffrey J. Gordon and Siddhartha S. Srinivasa and Matthew T. Mason},\n  title        = {Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems},\n  institution  = {{arXiv}},\n  year         = {2017},\n  number       = {{arXiv:1710.00440 [cs.RO]}},\n  keywords     = {Hybrid Systems, Uncertainty, Planning, Learning},\n  url_Info     = {https://arxiv.org/abs/1710.00440},\n  url_PDF      = {https://arxiv.org/pdf/1710.00440}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhou-paolini-johnson-bagnell-mason-aprobabilisticplanningframeworkforplanargraspingunderuncertainty-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Jiaji Zhou;  Robert Paolini;  Aaron M. Johnson;  James Bagnell;  and  Matthew T. Mason.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ri.cmu.edu/wp-content/uploads/2017/06/main_revised_v2.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhou-paolini-johnson-bagnell-mason-aprobabilisticplanningframeworkforplanargraspingunderuncertainty-2017', 'http://ri.cmu.edu/wp-content/uploads/2017/06/main_revised_v2.pdf', event);\">\n    A Probabilistic Planning Framework for Planar Grasping Under Uncertainty.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 2(4): 2111–2118. October 2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ri.cmu.edu/publications/a-probabilistic-planning-framework-for-planar-grasping-under-uncertainty/\"\n     onclick=\"log_download('zhou-paolini-johnson-bagnell-mason-aprobabilisticplanningframeworkforplanargraspingunderuncertainty-2017', 'http://ri.cmu.edu/publications/a-probabilistic-planning-framework-for-planar-grasping-under-uncertainty/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Probabilistic Planning Framework for Planar Grasping Under Uncertainty [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"http://ieeexplore.ieee.org/document/7961218/\"\n     onclick=\"log_download('zhou-paolini-johnson-bagnell-mason-aprobabilisticplanningframeworkforplanargraspingunderuncertainty-2017', 'http://ieeexplore.ieee.org/document/7961218/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Probabilistic Planning Framework for Planar Grasping Under Uncertainty [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://ri.cmu.edu/wp-content/uploads/2017/06/main_revised_v2.pdf\"\n     onclick=\"log_download('zhou-paolini-johnson-bagnell-mason-aprobabilisticplanningframeworkforplanargraspingunderuncertainty-2017', 'http://ri.cmu.edu/wp-content/uploads/2017/06/main_revised_v2.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Probabilistic Planning Framework for Planar Grasping Under Uncertainty [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=G8q8HmD36xw\"\n     onclick=\"log_download('zhou-paolini-johnson-bagnell-mason-aprobabilisticplanningframeworkforplanargraspingunderuncertainty-2017', 'https://www.youtube.com/watch?v=G8q8HmD36xw', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Probabilistic Planning Framework for Planar Grasping Under Uncertainty [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhou-paolini-johnson-bagnell-mason-aprobabilisticplanningframeworkforplanargraspingunderuncertainty-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>10 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhou-paolini-johnson-bagnell-mason-aprobabilisticplanningframeworkforplanargraspingunderuncertainty-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:zhou_planning_2017,\n  title     = {A Probabilistic Planning Framework for Planar Grasping Under Uncertainty},\n  author    = {Jiaji Zhou and Robert Paolini and Aaron M. Johnson and James Bagnell and Matthew T. Mason},\n  year      = {2017},\n  journal   = {IEEE Robotics and Automation Letters},\n  month     = {October},\n  volume    = {2},\n  number    = {4},\n  pages     = {2111--2118},\n  keywords  = {Manipulation, Planning, Uncertainty, Proprioception},\n  url_Info  = {http://ri.cmu.edu/publications/a-probabilistic-planning-framework-for-planar-grasping-under-uncertainty/},\n  url_Publisher = {http://ieeexplore.ieee.org/document/7961218/},\n  url_PDF   = {http://ri.cmu.edu/wp-content/uploads/2017/06/main_revised_v2.pdf},\n  url_Video = {https://www.youtube.com/watch?v=G8q8HmD36xw}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-threeusesforspringsinextensioninleggedlocomotion-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/DW2017.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-threeusesforspringsinextensioninleggedlocomotion-2017', 'http://www.andrew.cmu.edu/user/amj1/papers/DW2017.pdf', event);\">\n    Three Uses for Springs in Extension in Legged Locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, Mariehamn, Finland, June 2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/DW2017.pdf\"\n     onclick=\"log_download('johnson-threeusesforspringsinextensioninleggedlocomotion-2017', 'http://www.andrew.cmu.edu/user/amj1/papers/DW2017.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Three Uses for Springs in Extension in Legged Locomotion [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-threeusesforspringsinextensioninleggedlocomotion-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-threeusesforspringsinextensioninleggedlocomotion-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:johnson-extension-2017,\n  author = {Aaron M. Johnson},\n  title = {Three Uses for Springs in Extension in Legged Locomotion},\n  booktitle = {Dynamic Walking},\n  year = {2017},\n  month = {June},\n  address= {Mariehamn, Finland},\n  type  = {workshop abstract},\n  keywords = {Robot Design},\n  url_PDF = {http://www.andrew.cmu.edu/user/amj1/papers/DW2017.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2016\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2016')\"\n      onkeypress=\"toggleGroup('group_2016')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2016</span>\n      <span class=\"bibbase_group_count\">\n        \n        (7)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"srinivasa-johnson-lee-koval-choudhury-king-dellin-harding-etal-asystemformultistepmobilemanipulationarchitecturealgorithmsandexperiments-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Siddhartha S. Srinivasa;  Aaron M. Johnson;  Gilwoo Lee;  Michael C. Koval;  Shushman Choudhury;  Jennifer E. King;  Christopher M. Dellin;  Matthew Harding;  David T. Butterworth;  Prasanna Velagapudi;  and  Allison Thackston.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/ISER2016.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'srinivasa-johnson-lee-koval-choudhury-king-dellin-harding-etal-asystemformultistepmobilemanipulationarchitecturealgorithmsandexperiments-2016', 'http://www.andrew.cmu.edu/user/amj1/papers/ISER2016.pdf', event);\">\n    A System for Multi-step Mobile Manipulation: Architecture, Algorithms, and Experiments.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In  Dana Kulić;  Yoshihiko Nakamura;  Oussama Khatib;  and  Gentiane Venture., editor(s), <i>International Symposium on Experimental Robotics</i>, volume 1, pages 254–265, Tokyo, Japan, October 2016. Springer Proceedings in Advanced Robotics\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://dx.doi.org/10.1007/978-3-319-50115-4_23\"\n     onclick=\"log_download('srinivasa-johnson-lee-koval-choudhury-king-dellin-harding-etal-asystemformultistepmobilemanipulationarchitecturealgorithmsandexperiments-2016', 'http://dx.doi.org/10.1007/978-3-319-50115-4_23', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A System for Multi-step Mobile Manipulation: Architecture, Algorithms, and Experiments [link]\"\n       title=\" doi\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> doi</span></a>\n  &nbsp;\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/ISER2016.pdf\"\n     onclick=\"log_download('srinivasa-johnson-lee-koval-choudhury-king-dellin-harding-etal-asystemformultistepmobilemanipulationarchitecturealgorithmsandexperiments-2016', 'http://www.andrew.cmu.edu/user/amj1/papers/ISER2016.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A System for Multi-step Mobile Manipulation: Architecture, Algorithms, and Experiments [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/srinivasa-johnson-lee-koval-choudhury-king-dellin-harding-etal-asystemformultistepmobilemanipulationarchitecturealgorithmsandexperiments-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('srinivasa-johnson-lee-koval-choudhury-king-dellin-harding-etal-asystemformultistepmobilemanipulationarchitecturealgorithmsandexperiments-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:srinivasa_iser_2016,\n  author={Srinivasa, Siddhartha S.\n    and Johnson, Aaron M.\n    and Lee, Gilwoo\n    and Koval, Michael C.\n    and Choudhury, Shushman\n    and King, Jennifer E.\n    and Dellin, Christopher M.\n    and Harding, Matthew\n    and Butterworth, David T.\n    and Velagapudi, Prasanna\n    and Thackston, Allison},\n    editor={Kuli{\\&#x27;{c}}, Dana\n    and Nakamura, Yoshihiko\n    and Khatib, Oussama\n    and Venture, Gentiane},\n  title={A System for Multi-step Mobile Manipulation: Architecture, Algorithms, and Experiments},\n  booktitle={International Symposium on Experimental Robotics},\n  year={2016},\n  month = {October},\n  address= {Tokyo, Japan},\n  publisher={Springer Proceedings in Advanced Robotics},\n  pages={254--265},\n  volume={1},\n  keywords = {Manipulation, Planning},\n  _doi={10.1007/978-3-319-50115-4_23},\n  url_DOI={http://dx.doi.org/10.1007/978-3-319-50115-4_23},\n  url_PDF = {http://www.andrew.cmu.edu/user/amj1/papers/ISER2016.pdf}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"childers-lennon-bodt-pusey-hill-camden-oh-dean-etal-usarmyresearchlaboratoryarlroboticscollaborativetechnologyalliance2014capstoneexperiment-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Marshal Childers;  Craig Lennon;  Barry Bodt;  Jason Pusey;  Susan Hill;  Rick Camden;  Jean Oh;  Robert Dean;  Terence Keegan;  Chip Diberardino;  Sisir Karumanchi;  Bertrand Douillard;  Nikhil Gupta;  Camilo Ordonez;  Jacob Shill;  Emmanuel Collins;  Jonathan Clark;  Daniel Barber;  Jeff Duperret;  Garrett Wenger;  Menglong Zhu;  Sangdon Park;  Daniel Koditschek;  Aaron Johnson;  Arne Suppe;  and  Luis Navarro-Serment.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.arl.army.mil/www/default.cfm?technical_report=7724\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'childers-lennon-bodt-pusey-hill-camden-oh-dean-etal-usarmyresearchlaboratoryarlroboticscollaborativetechnologyalliance2014capstoneexperiment-2016', 'https://www.arl.army.mil/www/default.cfm?technical_report=7724', event);\">\n    US Army Research Laboratory (ARL) Robotics Collaborative Technology Alliance 2014 Capstone Experiment.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Technical Report ARL-TR-7729, US Army Research Laboratory, July 2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.arl.army.mil/www/default.cfm?technical_report=7724\"\n     onclick=\"log_download('childers-lennon-bodt-pusey-hill-camden-oh-dean-etal-usarmyresearchlaboratoryarlroboticscollaborativetechnologyalliance2014capstoneexperiment-2016', 'https://www.arl.army.mil/www/default.cfm?technical_report=7724', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"US Army Research Laboratory (ARL) Robotics Collaborative Technology Alliance 2014 Capstone Experiment [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/childers-lennon-bodt-pusey-hill-camden-oh-dean-etal-usarmyresearchlaboratoryarlroboticscollaborativetechnologyalliance2014capstoneexperiment-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('childers-lennon-bodt-pusey-hill-camden-oh-dean-etal-usarmyresearchlaboratoryarlroboticscollaborativetechnologyalliance2014capstoneexperiment-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{tr:rcta-2016,\n   author = {Marshal Childers and Craig Lennon and Barry Bodt and Jason Pusey and\n       Susan Hill and Rick Camden and Jean Oh and Robert Dean and Terence Keegan\n       and Chip Diberardino and Sisir Karumanchi and Bertrand Douillard and Nikhil \n       Gupta and Camilo Ordonez and Jacob Shill and Emmanuel Collins and Jonathan \n       Clark and Daniel Barber and Jeff Duperret and Garrett Wenger and Menglong \n       Zhu and Sangdon Park and Daniel Koditschek and Aaron Johnson and Arne Suppe\n       and Luis Navarro-Serment},\n   title = {{US} {Army} {Research} {Laboratory} ({ARL}) Robotics Collaborative Technology Alliance 2014 Capstone Experiment},\n   institution = {{US} Army Research Laboratory},\n   month = {July},\n   year = {2016},\n   number= {ARL-TR-7729},\n   keywords = {Stair Climbing, Perception},\n   url_Info = {https://www.arl.army.mil/www/default.cfm?technical_report=7724}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hou-jia-johnson-mason-robustplanardynamicpivotingbyregulatinginertialandgrippingforces-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Yifan Hou;  Zhenzhong Jia;  Aaron M. Johnson;  and  Matthew Mason.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ri.cmu.edu/wp-content/uploads/2016/12/WAFR_FinalVersion.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hou-jia-johnson-mason-robustplanardynamicpivotingbyregulatinginertialandgrippingforces-2016', 'http://ri.cmu.edu/wp-content/uploads/2016/12/WAFR_FinalVersion.pdf', event);\">\n    Robust Planar Dynamic Pivoting by Regulating Inertial and Gripping Forces.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Workshop on the Algorithmic Foundations of Robotics</i>, pages 464–479, San Francisco, CA, December 2016. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.ri.cmu.edu/publications/robust-planar-dynamic-pivoting-by-regulating-inertial-and-grip-forces-2/\"\n     onclick=\"log_download('hou-jia-johnson-mason-robustplanardynamicpivotingbyregulatinginertialandgrippingforces-2016', 'https://www.ri.cmu.edu/publications/robust-planar-dynamic-pivoting-by-regulating-inertial-and-grip-forces-2/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robust Planar Dynamic Pivoting by Regulating Inertial and Gripping Forces [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"http://ri.cmu.edu/wp-content/uploads/2016/12/WAFR_FinalVersion.pdf\"\n     onclick=\"log_download('hou-jia-johnson-mason-robustplanardynamicpivotingbyregulatinginertialandgrippingforces-2016', 'http://ri.cmu.edu/wp-content/uploads/2016/12/WAFR_FinalVersion.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Robust Planar Dynamic Pivoting by Regulating Inertial and Gripping Forces [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=a50qqSN4Vso\"\n     onclick=\"log_download('hou-jia-johnson-mason-robustplanardynamicpivotingbyregulatinginertialandgrippingforces-2016', 'https://www.youtube.com/watch?v=a50qqSN4Vso', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robust Planar Dynamic Pivoting by Regulating Inertial and Gripping Forces [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://link.springer.com/chapter/10.1007/978-3-030-43089-4_30\"\n     onclick=\"log_download('hou-jia-johnson-mason-robustplanardynamicpivotingbyregulatinginertialandgrippingforces-2016', 'https://link.springer.com/chapter/10.1007/978-3-030-43089-4_30', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robust Planar Dynamic Pivoting by Regulating Inertial and Gripping Forces [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hou-jia-johnson-mason-robustplanardynamicpivotingbyregulatinginertialandgrippingforces-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hou-jia-johnson-mason-robustplanardynamicpivotingbyregulatinginertialandgrippingforces-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:hou_wafr_2016,\n   author = {Yifan Hou and Zhenzhong Jia and Aaron M. Johnson and Matthew Mason},\n   title = {Robust Planar Dynamic Pivoting by Regulating Inertial and Gripping Forces},\n   booktitle = {Workshop on the Algorithmic Foundations of Robotics},\n   year = {2016},\n   month = {December},\n   pages = {464--479},\n   address= {San Francisco, CA},\n   keywords = {Manipulation, Control, Contact},\n   url_Info = {https://www.ri.cmu.edu/publications/robust-planar-dynamic-pivoting-by-regulating-inertial-and-grip-forces-2/},\n   url_PDF = {http://ri.cmu.edu/wp-content/uploads/2016/12/WAFR_FinalVersion.pdf},\n   url_Video = {https://www.youtube.com/watch?v=a50qqSN4Vso},\n   url_Publisher = {https://link.springer.com/chapter/10.1007/978-3-030-43089-4_30}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-libby-morphologicalreductiononthesliptemplate-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  and  Thomas Libby.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/DW2016.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-libby-morphologicalreductiononthesliptemplate-2016', 'http://www.andrew.cmu.edu/user/amj1/papers/DW2016.pdf', event);\">\n    Morphological reduction on the SLIP template.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, Holly, MI, June 2016. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/DW2016.pdf\"\n     onclick=\"log_download('johnson-libby-morphologicalreductiononthesliptemplate-2016', 'http://www.andrew.cmu.edu/user/amj1/papers/DW2016.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Morphological reduction on the SLIP template [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-libby-morphologicalreductiononthesliptemplate-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-libby-morphologicalreductiononthesliptemplate-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:johnson-mr-2016,\n   author = {Aaron M. Johnson and Thomas Libby},\n   title = {Morphological reduction on the SLIP template},\n   booktitle = {Dynamic Walking},\n   year = {2016},\n   month = {June},\n   address= {Holly, MI},\n  type  = {workshop abstract},\n  keywords = {Robot Design, Modeling},\n  url_PDF = {http://www.andrew.cmu.edu/user/amj1/papers/DW2016.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-king-srinivasa-convergentplanning-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  Jennifer E. King;  and  Siddhartha Srinivasa.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/ConvergentPlanning.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-king-srinivasa-convergentplanning-2016', 'http://www.andrew.cmu.edu/user/amj1/papers/ConvergentPlanning.pdf', event);\">\n    Convergent Planning.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 1(2): 1044–1051. July 2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7409985\"\n     onclick=\"log_download('johnson-king-srinivasa-convergentplanning-2016', 'http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7409985', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Convergent Planning [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=bC1ATPrPPJc\"\n     onclick=\"log_download('johnson-king-srinivasa-convergentplanning-2016', 'https://www.youtube.com/watch?v=bC1ATPrPPJc', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Convergent Planning [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/ConvergentPlanning.pdf\"\n     onclick=\"log_download('johnson-king-srinivasa-convergentplanning-2016', 'http://www.andrew.cmu.edu/user/amj1/papers/ConvergentPlanning.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Convergent Planning [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-king-srinivasa-convergentplanning-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-king-srinivasa-convergentplanning-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:johnson_convergent_2016,\n  title     = {Convergent Planning},\n  author    = {Aaron M. Johnson and Jennifer E. King and Siddhartha Srinivasa},\n  year      = {2016},\n  month     = {July},\n  volume    = {1},\n  number    = {2},\n  pages     = {1044--1051},\n  journal   = {IEEE Robotics and Automation Letters},\n  keywords  = {Manipulation, Uncertainty, Planning, Hill Climbing},\n  url_Publisher = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7409985},\n  url_Video = {https://www.youtube.com/watch?v=bC1ATPrPPJc},\n  url_PDF   = {http://www.andrew.cmu.edu/user/amj1/papers/ConvergentPlanning.pdf}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"libby-johnson-changsiu-full-koditschek-comparativedesignscalingandcontrolofappendagesforinertialreorientation-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Thomas Libby;  Aaron M. Johnson;  Evan Chang-Siu;  Robert J. Full;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/tails_tr.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'libby-johnson-changsiu-full-koditschek-comparativedesignscalingandcontrolofappendagesforinertialreorientation-2016', 'http://kodlab.seas.upenn.edu/uploads/Aaron/tails_tr.pdf', event);\">\n    Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Robotics</i>, 32(6): 1380–1398.  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ieeexplore.ieee.org/document/7562541/\"\n     onclick=\"log_download('libby-johnson-changsiu-full-koditschek-comparativedesignscalingandcontrolofappendagesforinertialreorientation-2016', 'http://ieeexplore.ieee.org/document/7562541/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"https://repository.upenn.edu/ese_papers/752/\"\n     onclick=\"log_download('libby-johnson-changsiu-full-koditschek-comparativedesignscalingandcontrolofappendagesforinertialreorientation-2016', 'https://repository.upenn.edu/ese_papers/752/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"https://repository.upenn.edu/cgi/viewcontent.cgi?article=1808&amp;context=ese_papers\"\n     onclick=\"log_download('libby-johnson-changsiu-full-koditschek-comparativedesignscalingandcontrolofappendagesforinertialreorientation-2016', 'https://repository.upenn.edu/cgi/viewcontent.cgi?article=1808&amp;context=ese_papers', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/tails_tr.pdf\"\n     onclick=\"log_download('libby-johnson-changsiu-full-koditschek-comparativedesignscalingandcontrolofappendagesforinertialreorientation-2016', 'http://kodlab.seas.upenn.edu/uploads/Aaron/tails_tr.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation [pdf]\"\n       title=\" tech report\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> tech report</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/libby-johnson-changsiu-full-koditschek-comparativedesignscalingandcontrolofappendagesforinertialreorientation-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>11 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('libby-johnson-changsiu-full-koditschek-comparativedesignscalingandcontrolofappendagesforinertialreorientation-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:libby_tail_2016,\n  title     = {Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation},\n  author    = {Thomas Libby and Aaron M. Johnson and Evan Chang-Siu and Robert J. Full and D. E. Koditschek},\n  year      = {2016},\n  journal   = {IEEE Transactions on Robotics},\n  volume    = {32},\n  number    = {6},\n  pages     = {1380--1398},\n  _note     = {\\emph{Available as an arXiv Preprint arXiv:1511.05958 [cs.RO]}},\n  keywords  = {Tails, Robot Design, Control},\n  url_Publisher = {http://ieeexplore.ieee.org/document/7562541/},\n  url_Info  = {https://repository.upenn.edu/ese_papers/752/},\n  url_PDF   = {https://repository.upenn.edu/cgi/viewcontent.cgi?article=1808&amp;context=ese_papers},\n  url_Tech_Report = {http://kodlab.seas.upenn.edu/uploads/Aaron/tails_tr.pdf}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-burden-koditschek-ahybridsystemsmodelforsimplemanipulationandselfmanipulationsystems-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  Samuel E. Burden;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson-HybridSystems2015.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-burden-koditschek-ahybridsystemsmodelforsimplemanipulationandselfmanipulationsystems-2016', 'http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson-HybridSystems2015.pdf', event);\">\n    A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>International Journal of Robotics Research</i>, 35(11): 1354–1392. September 2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ijr.sagepub.com/content/35/11/1354.abstract\"\n     onclick=\"log_download('johnson-burden-koditschek-ahybridsystemsmodelforsimplemanipulationandselfmanipulationsystems-2016', 'http://ijr.sagepub.com/content/35/11/1354.abstract', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson-HybridSystems2015.pdf\"\n     onclick=\"log_download('johnson-burden-koditschek-ahybridsystemsmodelforsimplemanipulationandselfmanipulationsystems-2016', 'http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson-HybridSystems2015.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-burden-koditschek-ahybridsystemsmodelforsimplemanipulationandselfmanipulationsystems-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>21 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-burden-koditschek-ahybridsystemsmodelforsimplemanipulationandselfmanipulationsystems-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:johnson_hs_2016,\n  author        = {Aaron M. Johnson and Samuel E. Burden and D. E. Koditschek},\n  title         = {A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems},\n  year          = {2016},\n  month         = {September},\n  volume        = {35}, \n  number        = {11}, \n  pages         = {1354--1392}, \n  journal       = {International Journal of Robotics Research},\n  keywords      = {Hybrid Systems, Contact, Self-Manipulation, Modeling},\n  url_Publisher = {http://ijr.sagepub.com/content/35/11/1354.abstract},\n  url_PDF       = {http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson-HybridSystems2015.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2015\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2015')\"\n      onkeypress=\"toggleGroup('group_2015')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2015</span>\n      <span class=\"bibbase_group_count\">\n        \n        (5)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"brill-de-johnson-koditschek-tailassistedrigidandcompliantleggedleaping-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Anna L. Brill;  Avik De;  Aaron M. Johnson;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Avik/jerboa_leaping_preprint.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'brill-de-johnson-koditschek-tailassistedrigidandcompliantleggedleaping-2015', 'http://kodlab.seas.upenn.edu/uploads/Avik/jerboa_leaping_preprint.pdf', event);\">\n    Tail-Assisted Rigid and Compliant Legged Leaping.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems</i>, pages 6304–6311, Hamburg, Germany,  2015. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7354277\"\n     onclick=\"log_download('brill-de-johnson-koditschek-tailassistedrigidandcompliantleggedleaping-2015', 'http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7354277', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Tail-Assisted Rigid and Compliant Legged Leaping [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Avik/jerboa_leaping_preprint.pdf\"\n     onclick=\"log_download('brill-de-johnson-koditschek-tailassistedrigidandcompliantleggedleaping-2015', 'http://kodlab.seas.upenn.edu/uploads/Avik/jerboa_leaping_preprint.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Tail-Assisted Rigid and Compliant Legged Leaping [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/brill-de-johnson-koditschek-tailassistedrigidandcompliantleggedleaping-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('brill-de-johnson-koditschek-tailassistedrigidandcompliantleggedleaping-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:de_leaping_2015,\n  author        = {Anna L. Brill and Avik De and Aaron M. Johnson and D. E. Koditschek},\n  title         = {Tail-Assisted Rigid and Compliant Legged Leaping},\n  booktitle     = {IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems},\n  _month        = {September},\n  year          = {2015},\n  address       = {Hamburg, Germany},\n  pages         = {6304--6311},\n  keywords      = {Tails, Leaping, Contact, Topology},\n  url_Publisher = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7354277},\n  url_PDF       = {http://kodlab.seas.upenn.edu/uploads/Avik/jerboa_leaping_preprint.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"libby-johnson-full-koditschek-designandcomparativemorphologyforinertialreorientation-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Thomas Libby;  Aaron M. Johnson;  Robert J. Full;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Design and Comparative Morphology for Inertial Reorientation.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Robotics: Science and Systems Workshop on ``Robotic Uses for Tails''</i>, Rome, Italy, July 2015. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/libby-johnson-full-koditschek-designandcomparativemorphologyforinertialreorientation-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('libby-johnson-full-koditschek-designandcomparativemorphologyforinertialreorientation-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:libby-design-2015,\n  author = {Thomas Libby and Aaron M. Johnson and Robert J. Full and D. E. Koditschek},\n  title = {Design and Comparative Morphology for Inertial Reorientation},\n  booktitle = {Robotics: Science and Systems Workshop on &#x60;&#x60;Robotic Uses for Tails&#x27;&#x27;},\n  year = {2015},\n  month = {July},\n  address= {Rome, Italy},\n  keywords = {Tails, Robot Design},\n  type  = {workshop abstract}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"libby-johnson-full-koditschek-comparativemorphologyofinertialreorientation-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Thomas Libby;  Aaron M. Johnson;  Robert J. Full;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Comparative Morphology of Inertial Reorientation.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE International Conference on Robotics and Automation Workshop on ``Robotics-Inspired Biology''</i>, Seattle, WA, May 2015. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/libby-johnson-full-koditschek-comparativemorphologyofinertialreorientation-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('libby-johnson-full-koditschek-comparativemorphologyofinertialreorientation-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:libby-comparative-2015,\n  author = {Thomas Libby and Aaron M. Johnson and Robert J. Full and D. E. Koditschek},\n  title = { Comparative Morphology of Inertial Reorientation},\n  booktitle = {IEEE International Conference on Robotics and Automation Workshop on &#x60;&#x60;Robotics-Inspired Biology&#x27;&#x27;},\n  year = {2015},\n  month = {May},\n  address= {Seattle, WA},\n  keywords = {Tails, Robot Design},\n  type  = {workshop abstract}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"libby-johnson-full-scalingofeffectivenessforinertialreorientation-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Thomas Libby;  Aaron M. Johnson;  and  Robert J. Full.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Scaling of Effectiveness for Inertial Reorientation.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Society for Integrative and Comparative Biology Annual Meeting</i>, West Palm Beach, FL, January 2015. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/libby-johnson-full-scalingofeffectivenessforinertialreorientation-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('libby-johnson-full-scalingofeffectivenessforinertialreorientation-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:libby-scaling-2015,\n  author = {Thomas Libby and Aaron M. Johnson and Robert J. Full},\n  title = {Scaling of Effectiveness for Inertial Reorientation},\n  booktitle = {Society for Integrative and Comparative Biology Annual Meeting},\n  year = {2015},\n  month = {January},\n  address= {West Palm Beach, FL},\n  keywords = {Tails, Robot Design},\n  type  = {workshop abstract}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wenger-johnson-taylor-koditschek-semiautonomousexplorationofmultifloorbuildingswithaleggedrobot-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Garrett J. Wenger;  Aaron M. Johnson;  Camillo J. Taylor;  and  Daniel E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Main/spie_stairclimbing_2015.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wenger-johnson-taylor-koditschek-semiautonomousexplorationofmultifloorbuildingswithaleggedrobot-2015', 'http://kodlab.seas.upenn.edu/uploads/Main/spie_stairclimbing_2015.pdf', event);\">\n    Semi-autonomous exploration of multi-floor buildings with a legged robot.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Unmanned Systems Technology XVII</i>, volume 9468, pages 94680B-8, Baltimore, MD, April 2015. SPIE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://dx.doi.org/10.1117/12.2179941\"\n     onclick=\"log_download('wenger-johnson-taylor-koditschek-semiautonomousexplorationofmultifloorbuildingswithaleggedrobot-2015', 'http://dx.doi.org/10.1117/12.2179941', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Semi-autonomous exploration of multi-floor buildings with a legged robot [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Main/spie_stairclimbing_2015.pdf\"\n     onclick=\"log_download('wenger-johnson-taylor-koditschek-semiautonomousexplorationofmultifloorbuildingswithaleggedrobot-2015', 'http://kodlab.seas.upenn.edu/uploads/Main/spie_stairclimbing_2015.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Semi-autonomous exploration of multi-floor buildings with a legged robot [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wenger-johnson-taylor-koditschek-semiautonomousexplorationofmultifloorbuildingswithaleggedrobot-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wenger-johnson-taylor-koditschek-semiautonomousexplorationofmultifloorbuildingswithaleggedrobot-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:stairs_spie_2015,\n  author = {Garrett J. Wenger and Aaron M. Johnson and Camillo J. Taylor and Daniel E. Koditschek},\n  title = {Semi-autonomous exploration of multi-floor buildings with a legged robot},\n  publisher = {SPIE},\n  year = {2015},\n  month = {April},\n  booktitle = {Unmanned Systems Technology XVII},\n  address = {Baltimore, MD},\n  volume = {9468},\n  pages = {94680B-8},\n  _doi = {10.1117/12.2179941},\n  keywords = {Stair Climbing, Perception},\n  url_Publisher = { http://dx.doi.org/10.1117/12.2179941},\n  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Main/spie_stairclimbing_2015.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2014\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2014')\"\n      onkeypress=\"toggleGroup('group_2014')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2014</span>\n      <span class=\"bibbase_group_count\">\n        \n        (6)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"roberts-duperret-johnson-vanpelt-zobeck-lancaster-koditschek-desertrhextechnicalreportjornadaandwhitesandstrip-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Sonia Roberts;  Jeff Duperret;  Aaron M. Johnson;  Scott Pelt;  Ted Zobeck;  Nick Lancaster;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Roberts/techreport_jornada_whitesands.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'roberts-duperret-johnson-vanpelt-zobeck-lancaster-koditschek-desertrhextechnicalreportjornadaandwhitesandstrip-2014', 'http://kodlab.seas.upenn.edu/uploads/Roberts/techreport_jornada_whitesands.pdf', event);\">\n    Desert RHex Technical Report: Jornada and White Sands Trip.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Technical Report University of Pennsylvania, Philadelphia, PA,  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repository.upenn.edu/ese_reports/12/\"\n     onclick=\"log_download('roberts-duperret-johnson-vanpelt-zobeck-lancaster-koditschek-desertrhextechnicalreportjornadaandwhitesandstrip-2014', 'https://repository.upenn.edu/ese_reports/12/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Desert RHex Technical Report: Jornada and White Sands Trip [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Roberts/techreport_jornada_whitesands.pdf\"\n     onclick=\"log_download('roberts-duperret-johnson-vanpelt-zobeck-lancaster-koditschek-desertrhextechnicalreportjornadaandwhitesandstrip-2014', 'http://kodlab.seas.upenn.edu/uploads/Roberts/techreport_jornada_whitesands.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Desert RHex Technical Report: Jornada and White Sands Trip [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=YsYY_4QlTBk\"\n     onclick=\"log_download('roberts-duperret-johnson-vanpelt-zobeck-lancaster-koditschek-desertrhextechnicalreportjornadaandwhitesandstrip-2014', 'https://www.youtube.com/watch?v=YsYY_4QlTBk', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Desert RHex Technical Report: Jornada and White Sands Trip [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/roberts-duperret-johnson-vanpelt-zobeck-lancaster-koditschek-desertrhextechnicalreportjornadaandwhitesandstrip-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('roberts-duperret-johnson-vanpelt-zobeck-lancaster-koditschek-desertrhextechnicalreportjornadaandwhitesandstrip-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{tr:desert-2014,\n  author       = {Sonia Roberts and Jeff Duperret and Aaron M. Johnson and Scott {van} Pelt and Ted Zobeck and Nick Lancaster and D. E. Koditschek},\n  title        = {Desert {RHex} Technical Report: {Jornada} and {White} {Sands} Trip},\n  institution  = {University of Pennsylvania},\n  year         = {2014},\n  address      = {Philadelphia, PA},\n  keywords     = {Robot Design, Sand, Proprioception,Environmental Monitoring},\n  url_Info     = {https://repository.upenn.edu/ese_reports/12/},\n  url_PDF      = {http://kodlab.seas.upenn.edu/uploads/Roberts/techreport_jornada_whitesands.pdf},\n  url_Video    = {https://www.youtube.com/watch?v=YsYY_4QlTBk}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-koditschek-cellulardecompositionandclassificationofahybridsystem-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/NERC2014.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-koditschek-cellulardecompositionandclassificationofahybridsystem-2014', 'http://www.andrew.cmu.edu/user/amj1/papers/NERC2014.pdf', event);\">\n    Cellular Decomposition and Classification of a Hybrid System.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Northeast Robotics Colloquium</i>, Providence, RI, October 2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/NERC2014.pdf\"\n     onclick=\"log_download('johnson-koditschek-cellulardecompositionandclassificationofahybridsystem-2014', 'http://www.andrew.cmu.edu/user/amj1/papers/NERC2014.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Cellular Decomposition and Classification of a Hybrid System [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/papers/nerc2014-Poster.pdf\"\n     onclick=\"log_download('johnson-koditschek-cellulardecompositionandclassificationofahybridsystem-2014', 'http://www.andrew.cmu.edu/user/amj1/papers/nerc2014-Poster.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Cellular Decomposition and Classification of a Hybrid System [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-koditschek-cellulardecompositionandclassificationofahybridsystem-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-koditschek-cellulardecompositionandclassificationofahybridsystem-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{abs:johnson-nerc-2014,\n  author = {Aaron M. Johnson and D. E. Koditschek},\n  title = {Cellular Decomposition and Classification of a Hybrid System},\n  booktitle = {Northeast Robotics Colloquium},\n  year = {2014},\n  month = {October},\n  address= {Providence, RI},\n  type  = {workshop poster},\n  keywords = {Hybrid Systems, Contact, Modeling, Topology},\n  url_PDF = {http://www.andrew.cmu.edu/user/amj1/papers/NERC2014.pdf},\n  url_Poster = {http://www.andrew.cmu.edu/user/amj1/papers/nerc2014-Poster.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-gaitdesignusingselfmanipulation-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/Pronk_RSS2014.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-gaitdesignusingselfmanipulation-2014', 'http://kodlab.seas.upenn.edu/uploads/Aaron/Pronk_RSS2014.pdf', event);\">\n    Gait Design Using Self-Manipulation.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Robotics: Science and Systems Workshop on ``Dynamic Locomotion''</i>, Berkeley, CA, July 2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/Pronk_RSS2014.pdf\"\n     onclick=\"log_download('johnson-gaitdesignusingselfmanipulation-2014', 'http://kodlab.seas.upenn.edu/uploads/Aaron/Pronk_RSS2014.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Gait Design Using Self-Manipulation [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=rDwV2RWq0LY\"\n     onclick=\"log_download('johnson-gaitdesignusingselfmanipulation-2014', 'https://www.youtube.com/watch?v=rDwV2RWq0LY', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Gait Design Using Self-Manipulation [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-gaitdesignusingselfmanipulation-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-gaitdesignusingselfmanipulation-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{ws:johnson-gait-2014,\n  author = {Aaron M. Johnson},\n  title = {Gait Design Using Self-Manipulation},\n  booktitle = {Robotics: Science and Systems Workshop on &#x60;&#x60;Dynamic Locomotion&#x27;&#x27;},\n  year = {2014},\n  month = {July},\n  address= {Berkeley, CA},\n  type  = {workshop abstract},\n  keywords = {Control, Self-Manipulation},\n  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Aaron/Pronk_RSS2014.pdf},\n  url_Video = {https://www.youtube.com/watch?v=rDwV2RWq0LY}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"de-johnson-koditschek-planarhoppingwithalegandatail-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Avik De;  Aaron M. Johnson;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Avik/dw2014final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'de-johnson-koditschek-planarhoppingwithalegandatail-2014', 'http://kodlab.seas.upenn.edu/uploads/Avik/dw2014final.pdf', event);\">\n    Planar Hopping with a Leg and a Tail.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, Zurich, Switzerland, June 2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Avik/dw2014final.pdf\"\n     onclick=\"log_download('de-johnson-koditschek-planarhoppingwithalegandatail-2014', 'http://kodlab.seas.upenn.edu/uploads/Avik/dw2014final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Planar Hopping with a Leg and a Tail [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Avik/dw2014_poster.pdf\"\n     onclick=\"log_download('de-johnson-koditschek-planarhoppingwithalegandatail-2014', 'http://kodlab.seas.upenn.edu/uploads/Avik/dw2014_poster.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Planar Hopping with a Leg and a Tail [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/de-johnson-koditschek-planarhoppingwithalegandatail-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('de-johnson-koditschek-planarhoppingwithalegandatail-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:de_dw_2014,\n  title      = {Planar Hopping with a Leg and a Tail},\n  booktitle  = {Dynamic Walking},\n  year       = {2014},\n  author     = {Avik De and Aaron M. Johnson and D. E. Koditschek},\n  month      = {June},\n  address    = {Zurich, Switzerland} ,\n  type       = {workshop abstract},\n  keywords   = {Tails, Robot Design, Control},\n  url_PDF    = {http://kodlab.seas.upenn.edu/uploads/Avik/dw2014final.pdf},\n  url_Poster = {http://kodlab.seas.upenn.edu/uploads/Avik/dw2014_poster.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-axinn-actingvsbeingmoralthelimitsoftechnologicalmoralactors-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  and  Sidney Axinn.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/acting_moral.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-axinn-actingvsbeingmoralthelimitsoftechnologicalmoralactors-2014', 'http://kodlab.seas.upenn.edu/uploads/Aaron/acting_moral.pdf', event);\">\n    Acting vs. Being Moral: The Limits of Technological Moral Actors.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE Intl.\\ Symposium on Ethics in Engineering, Science, and Technology</i>, Chicago, IL, May 2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ieeexplore.ieee.org/document/6893396/\"\n     onclick=\"log_download('johnson-axinn-actingvsbeingmoralthelimitsoftechnologicalmoralactors-2014', 'http://ieeexplore.ieee.org/document/6893396/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Acting vs. Being Moral: The Limits of Technological Moral Actors [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/acting_moral.pdf\"\n     onclick=\"log_download('johnson-axinn-actingvsbeingmoralthelimitsoftechnologicalmoralactors-2014', 'http://kodlab.seas.upenn.edu/uploads/Aaron/acting_moral.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Acting vs. Being Moral: The Limits of Technological Moral Actors [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-axinn-actingvsbeingmoralthelimitsoftechnologicalmoralactors-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-axinn-actingvsbeingmoralthelimitsoftechnologicalmoralactors-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:johnson_ethics_2014,\n  author = {Aaron M. Johnson and Sidney Axinn},\n  title = {Acting vs. Being Moral: {The} Limits of Technological Moral Actors},\n  booktitle = {IEEE Intl.\\ Symposium on Ethics in Engineering, Science, and Technology},\n  month = {May},\n  year = {2014},\n  address = {Chicago, IL},\n  keywords = {Philosophy},\n  url_Publisher = {http://ieeexplore.ieee.org/document/6893396/},\n  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Aaron/acting_moral.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-selfmanipulationanddynamictransitionsforaleggedrobot-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonAaronThesis.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-selfmanipulationanddynamictransitionsforaleggedrobot-2014', 'http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonAaronThesis.pdf', event);\">\n    Self-Manipulation and Dynamic Transitions for a Legged Robot.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, Electrical & Systems Engineering, University of Pennsylvania, Philadelphia, PA,  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repository.upenn.edu/edissertations/1322/\"\n     onclick=\"log_download('johnson-selfmanipulationanddynamictransitionsforaleggedrobot-2014', 'https://repository.upenn.edu/edissertations/1322/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Self-Manipulation and Dynamic Transitions for a Legged Robot [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonAaronThesis.pdf\"\n     onclick=\"log_download('johnson-selfmanipulationanddynamictransitionsforaleggedrobot-2014', 'http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonAaronThesis.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Self-Manipulation and Dynamic Transitions for a Legged Robot [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-selfmanipulationanddynamictransitionsforaleggedrobot-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>12 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-selfmanipulationanddynamictransitionsforaleggedrobot-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{thesis:johnson-2014,\n   author = {Aaron M. Johnson},\n   title = {Self-Manipulation and Dynamic Transitions for a Legged Robot},\n   school = {Electrical \\&amp; Systems Engineering, University of Pennsylvania},\n   year = {2014},\n   address= {Philadelphia, PA},\n   keywords = {Self-Manipulation, Hybrid Systems, Contact, Leaping, Modeling},\n   url_Info = {https://repository.upenn.edu/edissertations/1322/},\n   url_PDF = {http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonAaronThesis.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2013\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2013')\"\n      onkeypress=\"toggleGroup('group_2013')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2013</span>\n      <span class=\"bibbase_group_count\">\n        \n        (5)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"johnson-axinn-themoralityofautonomousrobots-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  and  Sidney Axinn.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/JME2013.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-axinn-themoralityofautonomousrobots-2013', 'http://kodlab.seas.upenn.edu/uploads/Aaron/JME2013.pdf', event);\">\n    The Morality of Autonomous Robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>Journal of Military Ethics</i>, 12(2): 129–141.  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.tandfonline.com/doi/abs/10.1080/15027570.2013.818399\"\n     onclick=\"log_download('johnson-axinn-themoralityofautonomousrobots-2013', 'http://www.tandfonline.com/doi/abs/10.1080/15027570.2013.818399', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Morality of Autonomous Robots [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/JME2013.pdf\"\n     onclick=\"log_download('johnson-axinn-themoralityofautonomousrobots-2013', 'http://kodlab.seas.upenn.edu/uploads/Aaron/JME2013.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"The Morality of Autonomous Robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-axinn-themoralityofautonomousrobots-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-axinn-themoralityofautonomousrobots-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:johnson_jme_2013,\n  author = {Aaron M. Johnson and Sidney Axinn},\n  title = {The Morality of Autonomous Robots},\n  journal = {Journal of Military Ethics},\n  volume = {12},\n  number = {2},\n  pages = {129--141},\n  year = {2013},\n  _doi = {10.1080/15027570.2013.818399},\n  keywords = {Philosophy},\n  url_Publisher = {http://www.tandfonline.com/doi/abs/10.1080/15027570.2013.818399},\n  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Aaron/JME2013.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-koditschek-robotparkourthegroundreactioncomplexdynamictransitions-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson-dw13.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-koditschek-robotparkourthegroundreactioncomplexdynamictransitions-2013', 'http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson-dw13.pdf', event);\">\n    Robot Parkour: The Ground Reaction Complex & Dynamic Transitions.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Dynamic Walking</i>, Pittsburgh, PA, June 2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson-dw13.pdf\"\n     onclick=\"log_download('johnson-koditschek-robotparkourthegroundreactioncomplexdynamictransitions-2013', 'http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson-dw13.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Robot Parkour: The Ground Reaction Complex &amp; Dynamic Transitions [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=ntlI-pDUxPE\"\n     onclick=\"log_download('johnson-koditschek-robotparkourthegroundreactioncomplexdynamictransitions-2013', 'https://www.youtube.com/watch?v=ntlI-pDUxPE', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robot Parkour: The Ground Reaction Complex &amp; Dynamic Transitions [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-koditschek-robotparkourthegroundreactioncomplexdynamictransitions-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-koditschek-robotparkourthegroundreactioncomplexdynamictransitions-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:johnson_dw_2013,\n  title     = {Robot Parkour: {The} Ground Reaction Complex \\&amp; Dynamic Transitions},\n  booktitle = {Dynamic Walking},\n  year      = {2013},\n  author    = {Aaron M. Johnson and D. E. Koditschek},\n  month     = {June},\n  address   = {Pittsburgh, PA},\n  type      = {workshop abstract},\n  keywords  = {Contact, Leaping, Topology},\n  url_PDF   = {http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson-dw13.pdf},\n  url_Video = {https://www.youtube.com/watch?v=ntlI-pDUxPE}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-koditschek-leggedselfmanipulation-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson_Legged_Self-Manipulation.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-koditschek-leggedselfmanipulation-2013', 'http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson_Legged_Self-Manipulation.pdf', event);\">\n    Legged Self-Manipulation.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  <i>IEEE Access</i>, 1: 310–334. May 2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/LeggedSelfManipulation\"\n     onclick=\"log_download('johnson-koditschek-leggedselfmanipulation-2013', 'http://www.andrew.cmu.edu/user/amj1/LeggedSelfManipulation', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Legged Self-Manipulation [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6516555\"\n     onclick=\"log_download('johnson-koditschek-leggedselfmanipulation-2013', 'http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6516555', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Legged Self-Manipulation [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson_Legged_Self-Manipulation.pdf\"\n     onclick=\"log_download('johnson-koditschek-leggedselfmanipulation-2013', 'http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson_Legged_Self-Manipulation.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Legged Self-Manipulation [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"http://www.andrew.cmu.edu/user/amj1/LeggedSelfManipulation/Legged_Self_Manipulation_Errata.pdf\"\n     onclick=\"log_download('johnson-koditschek-leggedselfmanipulation-2013', 'http://www.andrew.cmu.edu/user/amj1/LeggedSelfManipulation/Legged_Self_Manipulation_Errata.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Legged Self-Manipulation [pdf]\"\n       title=\" errata\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> errata</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=ON5B4ILcF-8\"\n     onclick=\"log_download('johnson-koditschek-leggedselfmanipulation-2013', 'https://www.youtube.com/watch?v=ON5B4ILcF-8', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Legged Self-Manipulation [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-koditschek-leggedselfmanipulation-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>10 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-koditschek-leggedselfmanipulation-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{paper:johnson_selfmanip_2013,\n  title     = {Legged Self-Manipulation},\n  author    = {Aaron M. Johnson and D. E. Koditschek},\n  journal   = {IEEE Access},\n  year      = {2013},\n  month     = {May},\n  volume    = {1},\n  _doi      = {10.1109/ACCESS.2013.2263192},\n  pages     = {310--334},\n  keywords  = {Self-Manipulation, Contact, Modeling, Control},\n  url_Info  = {http://www.andrew.cmu.edu/user/amj1/LeggedSelfManipulation},\n  url_Publisher = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6516555},\n  url_PDF   = {http://kodlab.seas.upenn.edu/uploads/Aaron/Johnson_Legged_Self-Manipulation.pdf},\n  url_Errata = {http://www.andrew.cmu.edu/user/amj1/LeggedSelfManipulation/Legged_Self_Manipulation_Errata.pdf},\n  url_Video = {https://www.youtube.com/watch?v=ON5B4ILcF-8}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-koditschek-towardavocabularyofleggedleaping-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonLeaping.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-koditschek-towardavocabularyofleggedleaping-2013', 'http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonLeaping.pdf', event);\">\n    Toward a Vocabulary of Legged Leaping.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE Intl.\\ Conference on Robotics and Automation</i>, pages 2553–2560, Karlsruhe, Germany, May 2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6630928\"\n     onclick=\"log_download('johnson-koditschek-towardavocabularyofleggedleaping-2013', 'http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6630928', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Toward a Vocabulary of Legged Leaping [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonLeaping.pdf\"\n     onclick=\"log_download('johnson-koditschek-towardavocabularyofleggedleaping-2013', 'http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonLeaping.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Toward a Vocabulary of Legged Leaping [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=kV9J-oayCBU\"\n     onclick=\"log_download('johnson-koditschek-towardavocabularyofleggedleaping-2013', 'https://www.youtube.com/watch?v=kV9J-oayCBU', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Toward a Vocabulary of Legged Leaping [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-koditschek-towardavocabularyofleggedleaping-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-koditschek-towardavocabularyofleggedleaping-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:johnson-icra-2013,\n  author        = {Aaron M. Johnson and D. E. Koditschek},\n  title         = {Toward a Vocabulary of Legged Leaping},\n  booktitle     = {IEEE Intl.\\ Conference on Robotics and Automation},\n  month         = {May},\n  year          = {2013},\n  pages         = {2553--2560},\n  _doi          = {10.1109/ICRA.2013.6630928},\n  address       = {Karlsruhe, Germany},\n  keywords      = {Leaping, Modeling, Topology, Contact, Hybrid Systems},\n  url_Publisher = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6630928},\n  url_PDF       = {http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonLeaping.pdf},\n  url_Video     = {https://www.youtube.com/watch?v=kV9J-oayCBU}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ordonez-shill-johnson-clark-collins-terrainidentificationforrhextyperobots-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Camilo Ordonez;  Jacob Shill;  Aaron M. Johnson;  Jonathan Clark;  and  Emmanuel Collins.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/terrain-id-SPIE2013.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ordonez-shill-johnson-clark-collins-terrainidentificationforrhextyperobots-2013', 'http://kodlab.seas.upenn.edu/uploads/Aaron/terrain-id-SPIE2013.pdf', event);\">\n    Terrain Identification for RHex-type Robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Unmanned Systems Technology XV</i>, volume 8741, pages 87410Q, Baltimore, MD,  2013. SPIE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://proceedings.spiedigitallibrary.org/proceeding.aspx?articleid=1689675\"\n     onclick=\"log_download('ordonez-shill-johnson-clark-collins-terrainidentificationforrhextyperobots-2013', 'http://proceedings.spiedigitallibrary.org/proceeding.aspx?articleid=1689675', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Terrain Identification for RHex-type Robots [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/terrain-id-SPIE2013.pdf\"\n     onclick=\"log_download('ordonez-shill-johnson-clark-collins-terrainidentificationforrhextyperobots-2013', 'http://kodlab.seas.upenn.edu/uploads/Aaron/terrain-id-SPIE2013.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Terrain Identification for RHex-type Robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ordonez-shill-johnson-clark-collins-terrainidentificationforrhextyperobots-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ordonez-shill-johnson-clark-collins-terrainidentificationforrhextyperobots-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:terrain_spie_2013,\n  author = {Camilo Ordonez and Jacob Shill and Aaron M. Johnson and Jonathan Clark and Emmanuel Collins},\n  title = {Terrain Identification for {RHex}-type Robots},\n  publisher = {SPIE},\n  year = {2013},\n  booktitle = {Unmanned Systems Technology XV},\n  volume = {8741},\n  number = {1},\n  address = {Baltimore, MD},\n  pages = {87410Q},\n  _doi = {10.1117/12.2016169},\n  keywords = {Proprioception, Learning},\n  url_Publisher = {http://proceedings.spiedigitallibrary.org/proceeding.aspx?articleid=1689675},\n  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Aaron/terrain-id-SPIE2013.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2012\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2012')\"\n      onkeypress=\"toggleGroup('group_2012')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2012</span>\n      <span class=\"bibbase_group_count\">\n        \n        (5)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"johnson-koditschek-parametricjumpingdatasetontherhexrobot-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/leap_tr.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-koditschek-parametricjumpingdatasetontherhexrobot-2012', 'http://kodlab.seas.upenn.edu/uploads/Aaron/leap_tr.pdf', event);\">\n    Parametric jumping dataset on the RHex Robot.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Technical Report University of Pennsylvania, Philadelphia, PA,  2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repository.upenn.edu/ese_reports/20/\"\n     onclick=\"log_download('johnson-koditschek-parametricjumpingdatasetontherhexrobot-2012', 'https://repository.upenn.edu/ese_reports/20/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Parametric jumping dataset on the RHex Robot [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/leap_tr.pdf\"\n     onclick=\"log_download('johnson-koditschek-parametricjumpingdatasetontherhexrobot-2012', 'http://kodlab.seas.upenn.edu/uploads/Aaron/leap_tr.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Parametric jumping dataset on the RHex Robot [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-koditschek-parametricjumpingdatasetontherhexrobot-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-koditschek-parametricjumpingdatasetontherhexrobot-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{tr:jumpdataset,\n  author       = {Aaron M. Johnson and D. E. Koditschek},\n  title        = {Parametric jumping dataset on the {RHex} Robot},\n  institution  = {University of Pennsylvania},\n  year         = {2012},\n  address      = {Philadelphia, PA},\n  keywords     = {Leaping},\n  url_Info     = {https://repository.upenn.edu/ese_reports/20/},\n  url_PDF      = {http://kodlab.seas.upenn.edu/uploads/Aaron/leap_tr.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-haynes-koditschek-standingselfmanipulationforaleggedrobot-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  G. Clark Haynes;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonIROS12-1.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-haynes-koditschek-standingselfmanipulationforaleggedrobot-2012', 'http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonIROS12-1.pdf', event);\">\n    Standing Self-Manipulation for a Legged Robot.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems</i>, pages 272–279, Algarve, Portugal, October 2012. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6386214\"\n     onclick=\"log_download('johnson-haynes-koditschek-standingselfmanipulationforaleggedrobot-2012', 'http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6386214', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Standing Self-Manipulation for a Legged Robot [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonIROS12-1.pdf\"\n     onclick=\"log_download('johnson-haynes-koditschek-standingselfmanipulationforaleggedrobot-2012', 'http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonIROS12-1.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Standing Self-Manipulation for a Legged Robot [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=JyeDmQhwfgQ\"\n     onclick=\"log_download('johnson-haynes-koditschek-standingselfmanipulationforaleggedrobot-2012', 'https://www.youtube.com/watch?v=JyeDmQhwfgQ', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Standing Self-Manipulation for a Legged Robot [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-haynes-koditschek-standingselfmanipulationforaleggedrobot-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>11 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-haynes-koditschek-standingselfmanipulationforaleggedrobot-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:johnson-iros-2012,\n  author        = {Aaron M. Johnson and G. Clark Haynes and D. E. Koditschek},\n  title         = {Standing Self-Manipulation for a Legged Robot},\n  booktitle     = {IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems},\n  month         = {October},\n  year          = {2012},\n  address       = {Algarve, Portugal},\n  _doi          = {10.1109/IROS.2012.6386214}, \n  pages         = {272--279},\n  keywords      = {Self-Manipulation, Contact, Modeling, Control},\n  url_Publisher = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6386214},\n  url_PDF       = {http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonIROS12-1.pdf},\n  url_Video     = {https://www.youtube.com/watch?v=JyeDmQhwfgQ}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-libby-changsiu-tomizuka-full-koditschek-tailassisteddynamicselfrighting-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  Thomas Libby;  Evan Chang-Siu;  Masayoshi Tomizuka;  Robert J. Full;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/tails_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-libby-changsiu-tomizuka-full-koditschek-tailassisteddynamicselfrighting-2012', 'http://kodlab.seas.upenn.edu/uploads/Aaron/tails_final.pdf', event);\">\n    Tail Assisted Dynamic Self Righting.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Intl.\\ Conference on Climbing and Walking Robots</i>, pages 611–620, Baltimore, MD, July 2012. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/tails_final.pdf\"\n     onclick=\"log_download('johnson-libby-changsiu-tomizuka-full-koditschek-tailassisteddynamicselfrighting-2012', 'http://kodlab.seas.upenn.edu/uploads/Aaron/tails_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Tail Assisted Dynamic Self Righting [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=6-h1dAt_JJk\"\n     onclick=\"log_download('johnson-libby-changsiu-tomizuka-full-koditschek-tailassisteddynamicselfrighting-2012', 'https://www.youtube.com/watch?v=6-h1dAt_JJk', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Tail Assisted Dynamic Self Righting [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/Tails_tr.pdf\"\n     onclick=\"log_download('johnson-libby-changsiu-tomizuka-full-koditschek-tailassisteddynamicselfrighting-2012', 'http://kodlab.seas.upenn.edu/uploads/Aaron/Tails_tr.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Tail Assisted Dynamic Self Righting [pdf]\"\n       title=\" tech report\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> tech report</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-libby-changsiu-tomizuka-full-koditschek-tailassisteddynamicselfrighting-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-libby-changsiu-tomizuka-full-koditschek-tailassisteddynamicselfrighting-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:johnson_clawar_2012,\n  Author = {Aaron M. Johnson and Thomas Libby and Evan Chang-Siu and Masayoshi Tomizuka and Robert J. Full and D. E. Koditschek},\n  booktitle = {Intl.\\ Conference on Climbing and Walking Robots},\n  title = {Tail Assisted Dynamic Self Righting},\n  month = {July},\n  address = {Baltimore, MD},\n  year = {2012},\n  pages = {611--620},\n  keywords = {Tails, Robot Design, Control},\n  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Aaron/tails_final.pdf},\n  url_Video = {https://www.youtube.com/watch?v=6-h1dAt_JJk},\n  url_Tech_Report = {http://kodlab.seas.upenn.edu/uploads/Aaron/Tails_tr.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ordonez-gupta-collins-clark-johnson-powermodelingofthexrlhexapedalrobotanditsapplicationtoenergyefficientmotionplanning-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Camilo Ordonez;  N. Gupta;  E. G. Collins;  J. Clark;  and  Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/ordonez12.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ordonez-gupta-collins-clark-johnson-powermodelingofthexrlhexapedalrobotanditsapplicationtoenergyefficientmotionplanning-2012', 'http://kodlab.seas.upenn.edu/uploads/Aaron/ordonez12.pdf', event);\">\n    Power Modeling of the XRL Hexapedal Robot and its Application to Energy Efficient Motion Planning.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Intl.\\ Conference on Climbing and Walking Robots</i>, pages 689–696, Baltimore, MD, July 2012. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/ordonez12.pdf\"\n     onclick=\"log_download('ordonez-gupta-collins-clark-johnson-powermodelingofthexrlhexapedalrobotanditsapplicationtoenergyefficientmotionplanning-2012', 'http://kodlab.seas.upenn.edu/uploads/Aaron/ordonez12.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Power Modeling of the XRL Hexapedal Robot and its Application to Energy Efficient Motion Planning [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ordonez-gupta-collins-clark-johnson-powermodelingofthexrlhexapedalrobotanditsapplicationtoenergyefficientmotionplanning-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ordonez-gupta-collins-clark-johnson-powermodelingofthexrlhexapedalrobotanditsapplicationtoenergyefficientmotionplanning-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:ordonez_clawar_2012,\n  Author = {Camilo Ordonez and N. Gupta and E. G. Collins and J. Clark and Aaron M. Johnson},\n  booktitle = {Intl.\\ Conference on Climbing and Walking Robots},\n  title = {Power Modeling of the {XRL} Hexapedal Robot and its Application to Energy Efficient Motion Planning},\n  year = {2012},\n  month = {July},\n  address = {Baltimore, MD},\n  pages = {689--696},\n  keywords = {Planning, Modeling},\n  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Aaron/ordonez12.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"haynes-pusey-knopf-johnson-koditschek-laboratoryonlegsanarchitectureforadjustablemorphologywithleggedrobots-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   G. Clark Haynes;  Jason Pusey;  Ryan Knopf;  Aaron M. Johnson;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Main/spie12.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'haynes-pusey-knopf-johnson-koditschek-laboratoryonlegsanarchitectureforadjustablemorphologywithleggedrobots-2012', 'http://kodlab.seas.upenn.edu/uploads/Main/spie12.pdf', event);\">\n    Laboratory on legs: An architecture for adjustable morphology with legged robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Unmanned Systems Technology XIV</i>, volume 8387, pages 83870W,  2012. SPIE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://spie.org/x648.html?product_id=920678\"\n     onclick=\"log_download('haynes-pusey-knopf-johnson-koditschek-laboratoryonlegsanarchitectureforadjustablemorphologywithleggedrobots-2012', 'http://spie.org/x648.html?product_id=920678', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Laboratory on legs: An architecture for adjustable morphology with legged robots [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Main/spie12.pdf\"\n     onclick=\"log_download('haynes-pusey-knopf-johnson-koditschek-laboratoryonlegsanarchitectureforadjustablemorphologywithleggedrobots-2012', 'http://kodlab.seas.upenn.edu/uploads/Main/spie12.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Laboratory on legs: An architecture for adjustable morphology with legged robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/haynes-pusey-knopf-johnson-koditschek-laboratoryonlegsanarchitectureforadjustablemorphologywithleggedrobots-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('haynes-pusey-knopf-johnson-koditschek-laboratoryonlegsanarchitectureforadjustablemorphologywithleggedrobots-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:xrhex_canid_spie_2012,\n  author = {G. Clark Haynes and Jason Pusey and Ryan Knopf and Aaron M. Johnson and D. E. Koditschek},\n  title = {Laboratory on legs: {An} architecture for adjustable morphology with legged robots},\n  publisher = {SPIE},\n  year = {2012},\n  booktitle = {Unmanned Systems Technology XIV},\n  volume = {8387},\n  number = {1},\n  pages = {83870W},\n  location = {Baltimore, MD},\n  _doi = {10.1117/12.920678},\n  keywords = {Robot Design},\n  url_Publisher = {http://spie.org/x648.html?product_id=920678},\n  url_PDF = {http://kodlab.seas.upenn.edu/uploads/Main/spie12.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2011\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2011')\"\n      onkeypress=\"toggleGroup('group_2011')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2011</span>\n      <span class=\"bibbase_group_count\">\n        \n        (4)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"johnson-hale-haynes-koditschek-autonomousleggedhillandstairwellascent-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  Matthew T. Hale;  G. C. Haynes;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/ssrr11.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-hale-haynes-koditschek-autonomousleggedhillandstairwellascent-2011', 'http://kodlab.seas.upenn.edu/uploads/Aaron/ssrr11.pdf', event);\">\n    Autonomous Legged Hill and Stairwell Ascent.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE Intl.\\ Workshop on Safety, Security, & Rescue Robotics</i>, pages 134–142, Kyoto, Japan, November 2011. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/6106785/\"\n     onclick=\"log_download('johnson-hale-haynes-koditschek-autonomousleggedhillandstairwellascent-2011', 'https://ieeexplore.ieee.org/document/6106785/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Autonomous Legged Hill and Stairwell Ascent [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/ssrr11.pdf\"\n     onclick=\"log_download('johnson-hale-haynes-koditschek-autonomousleggedhillandstairwellascent-2011', 'http://kodlab.seas.upenn.edu/uploads/Aaron/ssrr11.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Autonomous Legged Hill and Stairwell Ascent [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-hale-haynes-koditschek-autonomousleggedhillandstairwellascent-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-hale-haynes-koditschek-autonomousleggedhillandstairwellascent-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:johnson_2011_ssrr,\n  title     = {Autonomous Legged Hill and Stairwell Ascent},\n  booktitle = {IEEE Intl.\\ Workshop on Safety, Security, \\&amp; Rescue Robotics},\n  year      = {2011},\n  month     = {November},\n  author    = {Aaron M. Johnson and Matthew T. Hale and G. C. Haynes and D. E. Koditschek},\n  pages     = {134--142},\n  _doi      = {10.1109/SSRR.2011.6106785},\n  address   = {Kyoto, Japan},\n  keywords  = {Hill Climbing, Stair Climbing, Control, Proprioception, Perception},\n  url_Publisher = {https://ieeexplore.ieee.org/document/6106785/},\n  url_PDF   = {http://kodlab.seas.upenn.edu/uploads/Aaron/ssrr11.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-axinn-themoralityofautonomousrobots-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  and  Sidney Axinn.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  The Morality of Autonomous Robots.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Florida Philosophy Association Annual Meeting</i>, Ft. Lauderdale, FL, November 2011. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-axinn-themoralityofautonomousrobots-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-axinn-themoralityofautonomousrobots-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:johnson_morality_2011,\n  author = {Aaron M. Johnson and Sidney Axinn},\n  title = {The Morality of Autonomous Robots},\n  booktitle = {Florida Philosophy Association Annual Meeting},\n  year = {2011},\n  month = {November},\n  address = {Ft. Lauderdale, FL},\n  keywords = {Philosophy},\n  type = {workshop abstract}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-wrightiii-tesch-lipkin-choset-anovelarchitectureformodularsnakerobots-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  Cornell Wright III;  Matthew Tesch;  Kevin Lipkin;  and  Howie Choset.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.ri.cmu.edu/pub_files/2011/8/journal08.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-wrightiii-tesch-lipkin-choset-anovelarchitectureformodularsnakerobots-2011', 'http://www.ri.cmu.edu/pub_files/2011/8/journal08.pdf', event);\">\n    A Novel Architecture for Modular Snake Robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Technical Report CMU-RI-TR-11-29, Robotics Institute, Pittsburgh, PA, August 2011.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ri.cmu.edu/publications/a-novel-architecture-for-modular-snake-robots/\"\n     onclick=\"log_download('johnson-wrightiii-tesch-lipkin-choset-anovelarchitectureformodularsnakerobots-2011', 'http://ri.cmu.edu/publications/a-novel-architecture-for-modular-snake-robots/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Novel Architecture for Modular Snake Robots [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"http://www.ri.cmu.edu/pub_files/2011/8/journal08.pdf\"\n     onclick=\"log_download('johnson-wrightiii-tesch-lipkin-choset-anovelarchitectureformodularsnakerobots-2011', 'http://www.ri.cmu.edu/pub_files/2011/8/journal08.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Novel Architecture for Modular Snake Robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-wrightiii-tesch-lipkin-choset-anovelarchitectureformodularsnakerobots-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-wrightiii-tesch-lipkin-choset-anovelarchitectureformodularsnakerobots-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{tr:johnson_tr_2011,\n   author = {Aaron M. Johnson and Cornell {Wright III} and Matthew Tesch and Kevin Lipkin and Howie Choset},\n   title = {A Novel Architecture for Modular Snake Robots},\n   booktitle = {},\n   institution = {Robotics Institute},\n   month = {August},\n   year = {2011},\n   number = {CMU-RI-TR-11-29},\n   address = {Pittsburgh, PA},\n   keywords = {Robot Design},\n   url_Info = {http://ri.cmu.edu/publications/a-novel-architecture-for-modular-snake-robots/},\n   url_PDF = {http://www.ri.cmu.edu/pub_files/2011/8/journal08.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"de-lynch-johnson-koditschek-motorsizingforleggedrobotsusingdynamictaskspecification-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Avik De;  Goran Lynch;  Aaron M. Johnson;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Avik/tepra11-online.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'de-lynch-johnson-koditschek-motorsizingforleggedrobotsusingdynamictaskspecification-2011', 'http://kodlab.seas.upenn.edu/uploads/Avik/tepra11-online.pdf', event);\">\n    Motor Sizing for Legged Robots Using Dynamic Task Specification.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE Intl.\\ Conference on Technologies for Practical Robot Applications</i>, pages 64–69, Boston, MA, April 2011. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5753483\"\n     onclick=\"log_download('de-lynch-johnson-koditschek-motorsizingforleggedrobotsusingdynamictaskspecification-2011', 'http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5753483', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Motor Sizing for Legged Robots Using Dynamic Task Specification [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Avik/tepra11-online.pdf\"\n     onclick=\"log_download('de-lynch-johnson-koditschek-motorsizingforleggedrobotsusingdynamictaskspecification-2011', 'http://kodlab.seas.upenn.edu/uploads/Avik/tepra11-online.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Motor Sizing for Legged Robots Using Dynamic Task Specification [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/de-lynch-johnson-koditschek-motorsizingforleggedrobotsusingdynamictaskspecification-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('de-lynch-johnson-koditschek-motorsizingforleggedrobotsusingdynamictaskspecification-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:de-tepra-2011,\n  author        = {Avik De and Goran Lynch and Aaron M. Johnson and D. E. Koditschek},\n  title         = {Motor Sizing for Legged Robots Using Dynamic Task Specification},\n  booktitle     = {IEEE Intl.\\ Conference on Technologies for Practical Robot Applications},\n  year          = {2011},\n  address       = {Boston, MA},\n  month         = {April},\n  pages         = {64--69}, \n  _doi          = {10.1109/TEPRA.2011.5753483},\n  keywords      = {Robot Design, Optimization},\n  url_Publisher = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5753483},\n  url_PDF       = {http://kodlab.seas.upenn.edu/uploads/Avik/tepra11-online.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2010\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2010')\"\n      onkeypress=\"toggleGroup('group_2010')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2010</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"galloway-haynes-ilhan-johnson-knopf-lynch-plotnick-white-etal-xrhexahighlymobilehexapedalrobotforsensorimotortasks-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Kevin C. Galloway;  G. C. Haynes;  B. Deniz Ilhan;  Aaron M. Johnson;  Ryan Knopf;  Goran Lynch;  Benjamin Plotnick;  Mackenzie White;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Main/xrhextechreport.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'galloway-haynes-ilhan-johnson-knopf-lynch-plotnick-white-etal-xrhexahighlymobilehexapedalrobotforsensorimotortasks-2010', 'http://kodlab.seas.upenn.edu/uploads/Main/xrhextechreport.pdf', event);\">\n    X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  Technical Report University of Pennsylvania, Philadelphia, PA,  2010.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repository.upenn.edu/ese_reports/8/\"\n     onclick=\"log_download('galloway-haynes-ilhan-johnson-knopf-lynch-plotnick-white-etal-xrhexahighlymobilehexapedalrobotforsensorimotortasks-2010', 'https://repository.upenn.edu/ese_reports/8/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks [link]\"\n       title=\" info\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> info</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Main/xrhextechreport.pdf\"\n     onclick=\"log_download('galloway-haynes-ilhan-johnson-knopf-lynch-plotnick-white-etal-xrhexahighlymobilehexapedalrobotforsensorimotortasks-2010', 'http://kodlab.seas.upenn.edu/uploads/Main/xrhextechreport.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=VL0aiQAm4RU\"\n     onclick=\"log_download('galloway-haynes-ilhan-johnson-knopf-lynch-plotnick-white-etal-xrhexahighlymobilehexapedalrobotforsensorimotortasks-2010', 'https://www.youtube.com/watch?v=VL0aiQAm4RU', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/galloway-haynes-ilhan-johnson-knopf-lynch-plotnick-white-etal-xrhexahighlymobilehexapedalrobotforsensorimotortasks-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('galloway-haynes-ilhan-johnson-knopf-lynch-plotnick-white-etal-xrhexahighlymobilehexapedalrobotforsensorimotortasks-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{tr:kod-xrhex-2010,\n  author       = {Kevin C. Galloway and G. C. Haynes and B. Deniz Ilhan and \n                  Aaron M. Johnson and Ryan Knopf and Goran Lynch and \n                  Benjamin Plotnick and Mackenzie White and D. E. Koditschek},\n  title        = {X-{RHex}: {A} Highly Mobile Hexapedal Robot for Sensorimotor Tasks},\n  institution  = {University of Pennsylvania},\n  year         = {2010},\n  address      = {Philadelphia, PA},\n  keywords     = {Robot Design},\n  url_Info     = {https://repository.upenn.edu/ese_reports/8/},\n  url_PDF      = {http://kodlab.seas.upenn.edu/uploads/Main/xrhextechreport.pdf},\n  url_Video    = {https://www.youtube.com/watch?v=VL0aiQAm4RU}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-haynes-koditschek-disturbancedetectionidentificationandrecoverybygaittransitioninleggedrobots-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  G. Clark Haynes;  and  D. E. Koditschek.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonAaronDisturbanceIROS2010.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johnson-haynes-koditschek-disturbancedetectionidentificationandrecoverybygaittransitioninleggedrobots-2010', 'http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonAaronDisturbanceIROS2010.pdf', event);\">\n    Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems</i>, pages 5347–5353, Taipei, Taiwan, October 2010. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5651061\"\n     onclick=\"log_download('johnson-haynes-koditschek-disturbancedetectionidentificationandrecoverybygaittransitioninleggedrobots-2010', 'http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5651061', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonAaronDisturbanceIROS2010.pdf\"\n     onclick=\"log_download('johnson-haynes-koditschek-disturbancedetectionidentificationandrecoverybygaittransitioninleggedrobots-2010', 'http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonAaronDisturbanceIROS2010.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=8lvh0pfCoLI\"\n     onclick=\"log_download('johnson-haynes-koditschek-disturbancedetectionidentificationandrecoverybygaittransitioninleggedrobots-2010', 'https://www.youtube.com/watch?v=8lvh0pfCoLI', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-haynes-koditschek-disturbancedetectionidentificationandrecoverybygaittransitioninleggedrobots-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>6 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-haynes-koditschek-disturbancedetectionidentificationandrecoverybygaittransitioninleggedrobots-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:johnson2010disturbance,\n  author        = {Aaron M. Johnson and G. Clark Haynes and D. E. Koditschek},\n  title         = {Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots},\n  booktitle     = {IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems},\n  month         = {October},\n  year          = {2010},\n  address       = {Taipei, Taiwan},\n  _doi          = {10.1109/IROS.2010.5651061}, \n  pages         = {5347--5353},\n  keywords      = {Proprioception, Contact},\n  url_Publisher = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5651061},\n  url_PDF       = {http://kodlab.seas.upenn.edu/uploads/Aaron/JohnsonAaronDisturbanceIROS2010.pdf},\n  url_Video     = {https://www.youtube.com/watch?v=8lvh0pfCoLI}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2008\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2008')\"\n      onkeypress=\"toggleGroup('group_2008')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2008</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"woo-marinelli-kong-johnson-buchan-coltin-scheiner-feng-etal-investigatingpowermanagementinarobotcolony-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Kevin Woo;  Eugene Marinelli;  James Kong;  Aaron M. Johnson;  Austin Buchan;  Brian Coltin;  Justin Scheiner;  Siyuan Feng;  Christopher Mar;  and  Bradford Neuman.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Investigating Power Management in a Robot Colony.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Meeting of the Minds</i>, Carnegie Mellon University, Pittsburgh, PA, May 2008. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/woo-marinelli-kong-johnson-buchan-coltin-scheiner-feng-etal-investigatingpowermanagementinarobotcolony-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('woo-marinelli-kong-johnson-buchan-coltin-scheiner-feng-etal-investigatingpowermanagementinarobotcolony-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{poster:woo-mom-2008,\n  author       = {Kevin Woo and Eugene Marinelli and James Kong and Aaron M. Johnson and\n                  Austin Buchan and Brian Coltin and Justin Scheiner and Siyuan Feng and\n                  Christopher Mar and Bradford Neuman},\n  title        = {Investigating Power Management in a Robot Colony},\n  booktitle    = {Meeting of the Minds},\n  year         = {2008},\n  month        = {May},\n  keywords     = {Multi-robot Systems},\n  address      = {Carnegie Mellon University, Pittsburgh, PA},\n  type         = {workshop poster}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-chen-visionbasedrelativeslam-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson;  and  Tsuhan Chen.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Vision-Based Relative SLAM.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Meeting of the Minds</i>, Carnegie Mellon University, Pittsburgh, PA, May 2008. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-chen-visionbasedrelativeslam-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-chen-visionbasedrelativeslam-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{poster:johnson-mom-2008,\n  author       = {Aaron M. Johnson and Tsuhan Chen},\n  title        = {Vision-Based Relative SLAM},\n  booktitle    = {Meeting of the Minds},\n  year         = {2008},\n  month        = {May},\n  keywords     = {Multi-robot Systems, Perception},\n  address      = {Carnegie Mellon University, Pittsburgh, PA},\n  type         = {workshop poster}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2007\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2007')\"\n      onkeypress=\"toggleGroup('group_2007')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2007</span>\n      <span class=\"bibbase_group_count\">\n        \n        (3)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"wright-johnson-peck-mccord-naaktgeboren-gianfortoni-gonzalezrivero-hatton-etal-designofamodularsnakerobot-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Cornell G. Wright;  Aaron M. Johnson;  Aaron Peck;  Zachary McCord;  Allison Naaktgeboren;  Philip Gianfortoni;  Manuel Gonzalez-Rivero;  Ross Hatton;  and  Howie Choset.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.cs.cmu.edu/~biorobotics/papers/IROS07_Wright_1345.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wright-johnson-peck-mccord-naaktgeboren-gianfortoni-gonzalezrivero-hatton-etal-designofamodularsnakerobot-2007', 'http://www.cs.cmu.edu/~biorobotics/papers/IROS07_Wright_1345.pdf', event);\">\n    Design of a Modular Snake Robot.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems</i>, pages 2609–2614, San Diego, CA, October 2007. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4399617\"\n     onclick=\"log_download('wright-johnson-peck-mccord-naaktgeboren-gianfortoni-gonzalezrivero-hatton-etal-designofamodularsnakerobot-2007', 'http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4399617', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design of a Modular Snake Robot [link]\"\n       title=\" publisher\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> publisher</span></a>\n  &nbsp;\n  \n  <a href=\"http://www.cs.cmu.edu/~biorobotics/papers/IROS07_Wright_1345.pdf\"\n     onclick=\"log_download('wright-johnson-peck-mccord-naaktgeboren-gianfortoni-gonzalezrivero-hatton-etal-designofamodularsnakerobot-2007', 'http://www.cs.cmu.edu/~biorobotics/papers/IROS07_Wright_1345.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Design of a Modular Snake Robot [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=T62E-_pQt3c\"\n     onclick=\"log_download('wright-johnson-peck-mccord-naaktgeboren-gianfortoni-gonzalezrivero-hatton-etal-designofamodularsnakerobot-2007', 'https://www.youtube.com/watch?v=T62E-_pQt3c', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design of a Modular Snake Robot [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wright-johnson-peck-mccord-naaktgeboren-gianfortoni-gonzalezrivero-hatton-etal-designofamodularsnakerobot-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wright-johnson-peck-mccord-naaktgeboren-gianfortoni-gonzalezrivero-hatton-etal-designofamodularsnakerobot-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:Wright-IROS-2007,\n  author        = {Cornell G. Wright and Aaron M. Johnson and Aaron Peck and Zachary McCord and \n                  Allison Naaktgeboren and Philip Gianfortoni and Manuel Gonzalez-Rivero and \n                  Ross Hatton and Howie Choset},\n  title         = {Design of a Modular Snake Robot},\n  booktitle     = {IEEE/RSJ Intl.\\ Conference on Intelligent Robots and Systems},\n  year          = {2007},\n  address       = {San Diego, CA},\n  month         = {October},\n  pages         = {2609--2614},\n  _doi          = {10.1109/IROS.2007.4399617},\n  keywords      = {Robot Design},\n  url_Publisher = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4399617},\n  url_PDF       = {http://www.cs.cmu.edu/~biorobotics/papers/IROS07_Wright_1345.pdf},\n  url_Video     = {https://www.youtube.com/watch?v=T62E-_pQt3c}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"duvallet-woo-kong-johnson-buchan-scheiner-qureshi-mar-etal-controlofarobotcolony-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Felix Duvallet;  Kevin Woo;  James Kong;  Aaron M. Johnson;  Austin Buchan;  Justin Scheiner;  Aneeb Qureshi;  Christopher Mar;  Eugene Marinelli;  Suresh Nidhiry;  Brian Coltin;  Siyuan Feng;  Ben Berkowitz;  and  Duncan Alexander.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Control of a Robot Colony.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Meeting of the Minds</i>, Carnegie Mellon University, Pittsburgh, PA, May 2007. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/duvallet-woo-kong-johnson-buchan-scheiner-qureshi-mar-etal-controlofarobotcolony-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('duvallet-woo-kong-johnson-buchan-scheiner-qureshi-mar-etal-controlofarobotcolony-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{poster:duvallet-mom-2007,\n  author       = {Felix Duvallet and Kevin Woo and James Kong and Aaron M. Johnson and \n                  Austin Buchan and Justin Scheiner and Aneeb Qureshi and Christopher Mar and\n                  Eugene Marinelli and Suresh Nidhiry and Brian Coltin and Siyuan Feng and\n                  Ben Berkowitz and Duncan Alexander},\n  title        = {Control of a Robot Colony},\n  booktitle    = {Meeting of the Minds},\n  year         = {2007},\n  month        = {May},\n  keywords     = {Multi-robot Systems, Control},\n  address      = {Carnegie Mellon University, Pittsburgh, PA},\n  type         = {workshop poster}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johnson-afriendlyvoipbox-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Aaron M. Johnson.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A friendly VoIP box.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Meeting of the Minds</i>, Carnegie Mellon University, Pittsburgh, PA, May 2007. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johnson-afriendlyvoipbox-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johnson-afriendlyvoipbox-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{poster:johnson-mom-2007,\n  author       = {Aaron M. Johnson},\n  title        = {A friendly VoIP box},\n  booktitle    = {Meeting of the Minds},\n  year         = {2007},\n  month        = {May},\n  keywords     = {Robot Design},\n  address      = {Carnegie Mellon University, Pittsburgh, PA},\n  type         = {workshop poster}\n}\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2006\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2006')\"\n      onkeypress=\"toggleGroup('group_2006')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2006</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"duvallet-johnson-kellogg-kong-marinelli-andsureshnidhiry-proctor-tress-etal-aroboticplatformforexploringemergentbehavior-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Felix Duvallet;  Aaron M. Johnson;  Ryan Kellogg;  James Kong;  Eugene Marinelli;  Alexander May Nidhiry;  Iain Proctor;  Gregory Tress;  and  Kevin Woo.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Robotic Platform for Exploring Emergent Behavior.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Meeting of the Minds</i>, Carnegie Mellon University, Pittsburgh, PA, May 2006. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/duvallet-johnson-kellogg-kong-marinelli-andsureshnidhiry-proctor-tress-etal-aroboticplatformforexploringemergentbehavior-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('duvallet-johnson-kellogg-kong-marinelli-andsureshnidhiry-proctor-tress-etal-aroboticplatformforexploringemergentbehavior-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{poster:duvallet-mom-2006,\n  author       = {Felix Duvallet and Aaron M. Johnson and Ryan Kellogg and James Kong and\n                  Eugene Marinelli and Alexander May an dSuresh Nidhiry and Iain Proctor and\n                  Gregory Tress and Kevin Woo},\n  title        = {A Robotic Platform for Exploring Emergent Behavior},\n  booktitle    = {Meeting of the Minds},\n  year         = {2006},\n  month        = {May},\n  keywords     = {Multi-robot Systems, Robot Design},\n  address      = {Carnegie Mellon University, Pittsburgh, PA},\n  type         = {workshop poster}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2005\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2005')\"\n      onkeypress=\"toggleGroup('group_2005')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2005</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"naaktgeboren-kang-shamlian-johnson-kellogg-proctor-killfoile-juchniewicz-etal-relativelocalizationincolonyrobots-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Allison Naaktgeboren;  Jessica Kang;  Steven Shamlian;  Aaron M. Johnson;  Ryan Kellogg;  Iain Proctor;  Kate Killfoile;  Richard Juchniewicz;  Prasanna Velagapudi;  Suresh Nidhiry;  Justine Rembisz;  Sungjoon Won;  Felix Duvallet;  and  Christopher Atwood.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Relative Localization in Colony Robots.\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Meeting of the Minds</i>, Carnegie Mellon University, Pittsburgh, PA, May 2005. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/naaktgeboren-kang-shamlian-johnson-kellogg-proctor-killfoile-juchniewicz-etal-relativelocalizationincolonyrobots-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('naaktgeboren-kang-shamlian-johnson-kellogg-proctor-killfoile-juchniewicz-etal-relativelocalizationincolonyrobots-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{poster:naaktgeboren-mom-2005,\n  author       = {Allison Naaktgeboren and Jessica Kang and Steven Shamlian and Aaron M. Johnson and\n                  Ryan Kellogg and Iain Proctor and Kate Killfoile and Richard Juchniewicz and \n                  Prasanna Velagapudi and Suresh Nidhiry and Justine Rembisz and Sungjoon Won and\n                  Felix Duvallet and Christopher Atwood},\n  title        = {Relative Localization in Colony Robots},\n  booktitle    = {Meeting of the Minds},\n  year         = {2005},\n  month        = {May},\n  keywords     = {Multi-robot Systems, Perception},\n  address      = {Carnegie Mellon University, Pittsburgh, PA},\n  type         = {workshop poster}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"atwood-duvallet-johnson-juchniewicz-kellogg-killfoile-naaktgeboren-nidhiry-etal-relativelocalizationincolonyrobots-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_author\">\n   Chris Atwood;  Felix Duvallet;  Aaron M. Johnson;  Richard Juchniewicz;  Ryan Kellogg;  Katherine Killfoile;  Alison Naaktgeboren;  Suresh Nidhiry;  Iain Proctor;  Justine Rembisz;  Steven Shamlian;  and  Prasanna Velagapudi.\n</span>\n\n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/colony_NCUR2005.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'atwood-duvallet-johnson-juchniewicz-kellogg-killfoile-naaktgeboren-nidhiry-etal-relativelocalizationincolonyrobots-2005', 'http://kodlab.seas.upenn.edu/uploads/Aaron/colony_NCUR2005.pdf', event);\">\n    Relative Localization in Colony Robots.\n  </a>\n  \n  \n  \n</span>\n\n  \n\n</span>\n\n  In <i>Natl. Conference on Undergraduate Research</i>, Lexington, VA, April 2005. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://kodlab.seas.upenn.edu/uploads/Aaron/colony_NCUR2005.pdf\"\n     onclick=\"log_download('atwood-duvallet-johnson-juchniewicz-kellogg-killfoile-naaktgeboren-nidhiry-etal-relativelocalizationincolonyrobots-2005', 'http://kodlab.seas.upenn.edu/uploads/Aaron/colony_NCUR2005.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Relative Localization in Colony Robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/atwood-duvallet-johnson-juchniewicz-kellogg-killfoile-naaktgeboren-nidhiry-etal-relativelocalizationincolonyrobots-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>6 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('atwood-duvallet-johnson-juchniewicz-kellogg-killfoile-naaktgeboren-nidhiry-etal-relativelocalizationincolonyrobots-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{paper:atwood-ncur-2005,\n  author       = {Chris Atwood and Felix Duvallet and Aaron M. Johnson and Richard Juchniewicz and\n                  Ryan Kellogg and Katherine Killfoile and Alison Naaktgeboren and Suresh Nidhiry and\n                  Iain Proctor and Justine Rembisz and Steven Shamlian and Prasanna Velagapudi},\n  title        = {Relative Localization in Colony Robots},\n  booktitle    = {Natl. Conference on Undergraduate Research},\n  year         = {2005},\n  address      = {Lexington, VA},\n  month        = {April},\n  keywords     = {Multi-robot Systems, Perception},\n  url_PDF      = {http://kodlab.seas.upenn.edu/uploads/Aaron/colony_NCUR2005.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n\n\n\n  </div>\n\n\n  <!-- Modal -->\n\n  <!-- <iframe id=\"bibbase_network_frame\" -->\n  <!--         src=\"//bibbase.org/network/control\" -->\n  <!--         style=\"display: none;\"> -->\n  <!-- </iframe> -->\n\n</div>\n"}; document.write(bibbase_data.data);