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ORCIDDaniel I. Goldman
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2020 – today
- 2024
[j19]Daniel I. Goldman
, D. Zeb Rocklin:
Robot swarms meet soft matter physics. Sci. Robotics 9(86) (2024)- [c35]Velin Kojouharov, Tianyu Wang, Matthew Fernandez, Jiyeon Maeng, Daniel I. Goldman:
Anisotropic body compliance facilitates robotic sidewinding in complex environments. ICRA 2024: 11691-11697 - [c34]Deniz Kerimoglu, Daniel Soto, Malone Lincoln Hemsley, Joseph Brunner, Sehoon Ha, Tingnan Zhang, Daniel I. Goldman:
Learning manipulation of steep granular slopes for fast Mini Rover turning. ICRA 2024: 16985-16990 - [i27]Tianyu Wang, Nishanth Mankame, Matthew Fernandez, Velin Kojouharov, Daniel I. Goldman:
AquaMILR: Mechanical intelligence simplifies control of undulatory robots in cluttered fluid environments. CoRR abs/2407.01733 (2024) - [i26]Juntao He, Baxi Chong, Zhaochen Xu, Sehoon Ha, Daniel I. Goldman:
Learning to enhance multi-legged robot on rugged landscapes. CoRR abs/2409.09473 (2024) - [i25]Matthew Fernandez, Tianyu Wang, Galen Tunnicliffe, Donoven Dortilus, Peter Gunnarson, John O. Dabiri, Daniel I. Goldman:
AquaMILR+: Design of an untethered limbless robot for complex aquatic terrain navigation. CoRR abs/2409.18383 (2024) - [i24]Massimiliano Iaschi, Baxi Chong, Tianyu Wang, Jianfeng Lin, Juntao He, Daniel Soto, Zhaochen Xu, Daniel I. Goldman:
Addition of a peristaltic wave improves multi-legged locomotion performance on complex terrains. CoRR abs/2410.01046 (2024) - [i23]Esteban Flores, Baxi Chong, Daniel Soto, Dan Tatulescu, Daniel I. Goldman:
Steering Elongate Multi-legged Robots By Modulating Body Undulation Waves. CoRR abs/2410.01050 (2024) - [i22]Erik Teder, Baxi Chong, Juntao He, Tianyu Wang, Massimiliano Iaschi, Daniel Soto, Daniel I. Goldman:
Effective self-righting strategies for elongate multi-legged robots. CoRR abs/2410.01056 (2024) - [i21]Juntao He, Baxi Chong, Jianfeng Lin, Zhaochen Xu, Hosain Bagheri, Esteban Flores, Daniel I. Goldman:
Probabilistic approach to feedback control enhances multi-legged locomotion on rugged landscapes. CoRR abs/2411.07183 (2024) - 2023
- [j18]Baxi Chong, Tianyu Wang, Bo Lin, Shengkai Li, Pranav C. Muthukrishnan, Juntao He, Daniel Irvine, Howie Choset, Grigoriy Blekherman, Daniel I. Goldman:
Optimizing contact patterns for robot locomotion via geometric mechanics. Int. J. Robotics Res. 42(10): 859-873 (2023) - [j17]Tianyu Wang, Christopher Pierce, Velin Kojouharov, Baxi Chong, Kelimar Diaz, Hang Lu, Daniel I. Goldman:
Mechanical intelligence simplifies control in terrestrial limbless locomotion. Sci. Robotics 8(85) (2023) - [c33]Baxi Chong, Tianyu Wang, Daniel Irvine, Velin Kojouharov, Bo Lin, Howie Choset, Daniel I. Goldman, Grigoriy Blekherman:
Gait design for limbless obstacle aided locomotion using geometric mechanics. Robotics: Science and Systems 2023 - [i20]Baxi Chong, Di Luo, Tianyu Wang, Gabriel B. Margolis, Juntao He, Pulkit Agrawal, Marin Soljacic, Daniel I. Goldman:
Geometry of contact: contact planning for multi-legged robots via spin models duality. CoRR abs/2302.03019 (2023) - [i19]Baxi Chong, Tianyu Wang, Daniel Irvine, Velin Kojouharov, Bo Lin, Howie Choset, Daniel I. Goldman, Grigoriy Blekherman:
Gait design for limbless obstacle aided locomotion using geometric mechanics. CoRR abs/2302.06561 (2023) - [i18]Tianyu Wang, Christopher Pierce, Velin Kojouharov, Baxi Chong, Kelimar Diaz, Hang Lu, Daniel I. Goldman:
Mechanical Intelligence Simplifies Control in Terrestrial Limbless Locomotion. CoRR abs/2304.08652 (2023) - [i17]Baxi Chong, Juntao He, Daniel Soto, Tianyu Wang, Daniel Irvine, Grigoriy Blekherman, Daniel I. Goldman:
Multi-legged matter transport: a framework for locomotion on noisy landscapes. CoRR abs/2305.04773 (2023) - [i16]Bangyuan Liu, Tianyu Wang, Velin Kojouharov, Frank L. Hammond III, Daniel I. Goldman:
Robust self-propulsion in sand using simply controlled vibrating cubes. CoRR abs/2309.13174 (2023) - [i15]Velin Kojouharov, Tianyu Wang, Matthew Fernandez, Jiyeon Maeng, Daniel I. Goldman:
Anisotropic body compliance facilitates robotic sidewinding in complex environments. CoRR abs/2309.13532 (2023) - [i14]Deniz Kerimoglu, Daniel Soto, Malone Lincoln Hemsley, Joseph Brunner, Sehoon Ha, Tingnan Zhang, Daniel I. Goldman:
Learning manipulation of steep granular slopes for fast Mini Rover turning. CoRR abs/2310.01273 (2023) - 2022
- [j16]Andras Karsai, Deniz Kerimoglu, Daniel Soto, Sehoon Ha, Tingnan Zhang, Daniel I. Goldman:
Real-Time Remodeling of Granular Terrain for Robot Locomotion. Adv. Intell. Syst. 4(12) (2022) - [j15]Luyang Robby Huang, Alexander Zhu, Kathleen Wang, Daniel I. Goldman, Andy Ruina, Kirstin H. Petersen:
Construction and Excavation by Collaborative Double-Tailed SAW Robots. IEEE Robotics Autom. Lett. 7(2): 3742-3748 (2022) - [c32]Tianyu Wang, Baxi Chong, Yuelin Deng, Ruijie Fu, Howie Choset, Daniel I. Goldman:
Generalized Omega Turn Gait Enables Agile Limbless Robot Turning in Complex Environments. ICRA 2022: 1-7 - [i13]Tianyu Wang, Baxi Chong, Yuelin Deng, Ruijie Fu, Howie Choset, Daniel I. Goldman:
Generalized Omega Turn Gait Enables Agile Limbless Robot Turning in Complex Environments. CoRR abs/2202.01417 (2022) - [i12]Shengkai Li, Hussain N. Gynai, Steven Tarr, Pablo Laguna, Gongjie Li, Daniel I. Goldman:
Robophysical modeling of spacetime dynamics. CoRR abs/2202.04835 (2022) - 2021
- [j14]Baxi Chong, Yasemin Ozkan Aydin, Chaohui Gong, Guillaume Sartoretti, Yunjin Wu, Jennifer M. Rieser, Haosen Xing, Perrin E. Schiebel, Jeffery W. Rankin, Krijn B. Michel, Alfredo G. Nicieza, John R. Hutchinson, Daniel I. Goldman, Howie Choset:
Coordination of lateral body bending and leg movements for sprawled posture quadrupedal locomotion. Int. J. Robotics Res. 40(4-5) (2021) - [j13]Baxi Chong, Tianyu Wang, Jennifer M. Rieser, Bo Lin, Abdul Kaba, Grigoriy Blekherman, Howie Choset, Daniel I. Goldman:
Frequency modulation of body waves to improve performance of sidewinding robots. Int. J. Robotics Res. 40(12-14): 1547-1562 (2021) - [j12]Tianyu Wang, Bo Lin, Baxi Chong, Julian Whitman, Matthew J. Travers, Daniel I. Goldman, Greg Blekherman, Howie Choset:
Reconstruction of Backbone Curves for Snake Robots. IEEE Robotics Autom. Lett. 6(2): 3264-3270 (2021) - [j11]Nicholas D. Naclerio, Andras Karsai, Mason Murray-Cooper, Yasemin Ozkan Aydin, Enes Aydin, Daniel I. Goldman, Elliot W. Hawkes:
Controlling subterranean forces enables a fast, steerable, burrowing soft robot. Sci. Robotics 6(55): 2922 (2021) - [j10]Yasemin Ozkan Aydin, Daniel I. Goldman:
Self-reconfigurable multilegged robot swarms collectively accomplish challenging terradynamic tasks. Sci. Robotics 6(56): 1628 (2021) - [j9]Alexander H. Chang, Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames, Patricio A. Vela:
Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping. IEEE Trans. Control. Syst. Technol. 29(4): 1581-1596 (2021) - [c31]Daniel Soto, Kelimar Diaz, Daniel I. Goldman:
Enhancing Legged Robot Navigation of Rough Terrain via Tail Tapping. CLAWAR 2021: 213-225 - [c30]Baxi Chong, Tianyu Wang, Bo Lin, Shengkai Li, Howie Choset, Grigoriy Blekherman, Daniel I. Goldman:
Moving sidewinding forward: optimizing contact patterns for limbless robots via geometric mechanics. Robotics: Science and Systems 2021 - [i11]Pavel Chvykov, Thomas A. Berrueta, Akash Vardhan, William Savoie, Alexander Samland, Todd D. Murphey, Kurt Wiesenfeld, Daniel I. Goldman, Jeremy L. England:
Low rattling: A predictive principle for self-organization in active collectives. CoRR abs/2101.00683 (2021) - [i10]Baxi Chong, Yasemin Ozkan Aydin, Jennifer M. Rieser, Guillaume Sartoretti, Tianyu Wang, Julian Whitman, Abdul Kaba, Enes Aydin, Ciera McFarland, Howie Choset, Daniel I. Goldman:
A general locomotion control framework for serially connected multi-legged robots. CoRR abs/2112.00662 (2021) - 2020
- [j8]Siddharth Shrivastava, Andras Karsai, Yasemin Ozkan Aydin, Ross Pettinger, William Bluethmann, Robert O. Ambrose, Daniel I. Goldman:
Material remodeling and unconventional gaits facilitate locomotion of a robophysical rover over granular terrain. Sci. Robotics 5(42): 3499 (2020) - [c29]Bo Lin, Baxi Chong, Yasemin Ozkan Aydin, Enes Aydin, Howie Choset, Daniel I. Goldman, Greg Blekherman:
Optimizing coordinate choice for locomotion systems with toroidal shape spaces. IROS 2020: 7501-7506 - [c28]Tianyu Wang, Baxi Chong, Kelimar Diaz, Julian Whitman, Hang Lu, Matthew J. Travers, Daniel I. Goldman, Howie Choset:
The Omega Turn: A Biologically-Inspired Turning Strategy for Elongated Limbless Robots. IROS 2020: 7766-7771 - [c27]Perrin E. Schiebel, Marine C. Maisonneuve, Kelimar Diaz, Jennifer M. Rieser, Daniel I. Goldman:
Robophysical Modeling of Bilaterally Activated and Soft Limbless Locomotors. Living Machines 2020: 300-311 - [c26]Yasemin Ozkan Aydin, Baxi Chong, Enes Aydin, Daniel I. Goldman:
A systematic approach to creating terrain-capable hybrid soft/hard myriapod robots. RoboSoft 2020: 156-163 - [c25]Baxi Zhong, Tianyu Wang, Jennifer M. Rieser, Abdul Kaba, Howie Choset, Daniel I. Goldman:
Frequency Modulation of Body Waves to Improve Performance of Limbless Robots. Robotics: Science and Systems 2020 - [i9]Shengkai Li, Yasemin Ozkan Aydin, Gabriella Small, Charles Xiao, Jennifer M. Rieser, Hussain N. Gynai, Pablo Laguna, Daniel I. Goldman:
Self-propulsion on spandex: toward a robotic analog gravity system. CoRR abs/2004.03549 (2020) - [i8]Shengkai Li, Bahnisikha Dutta, Sarah Cannon, Joshua J. Daymude, Ram Avinery, Enes Aydin, Andréa W. Richa, Daniel I. Goldman, Dana Randall:
Programming Active Granular Matter with Mechanically Induced Phase Changes. CoRR abs/2009.05710 (2020) - [i7]Tianyu Wang, Bo Lin, Baxi Chong, Julian Whitman, Matthew J. Travers, Daniel I. Goldman, Greg Blekherman, Howie Choset:
Reconstruction of Backbone Curves for Snake Robots. CoRR abs/2012.04855 (2020)
2010 – 2019
- 2019
- [j7]William Savoie, Thomas A. Berrueta, Zachary Jackson, Ana Pervan, Ross Warkentin, Shengkai Li, Todd D. Murphey, Kurt Wiesenfeld, Daniel I. Goldman:
A robot made of robots: Emergent transport and control of a smarticle ensemble. Sci. Robotics 4(34) (2019) - [c24]Yasemin Ozkan Aydin, Mason Murray-Cooper, Enes Aydin, Erin N. McCaskey, Nicholas D. Naclerio, Elliot W. Hawkes, Daniel I. Goldman:
Nutation Aids Heterogeneous Substrate Exploration in a Robophysical Root. RoboSoft 2019: 172-177 - [c23]Bangyuan Liu, Yasemin Ozkan Aydin, Daniel I. Goldman, Frank L. Hammond:
Kirigami Skin Improves Soft Earthworm Robot Anchoring and Locomotion Under Cohesive Soil. RoboSoft 2019: 828-833 - [c22]Baxi Chong, Yasemin Ozkan Aydin, Guillaume Sartoretti, Jennifer M. Rieser, Chaohui Gong, Haosen Xing, Howie Choset, Daniel I. Goldman:
A Hierarchical Geometric Framework to Design Locomotive Gaits for Highly Articulated Robots. Robotics: Science and Systems 2019 - [i6]Chen Li, Yang Ding, Nick Gravish, Ryan D. Maladen, Andrew Masse, Paul B. Umbanhowar, Haldun Komsuoglu, Daniel E. Koditschek, Daniel I. Goldman:
Towards a terramechanics for bio-inspired locomotion in granular environments. CoRR abs/1911.00075 (2019) - 2018
- [j6]William Savoie, Sarah Cannon, Joshua J. Daymude, Ross Warkentin, Shengkai Li, Andréa W. Richa, Dana Randall, Daniel I. Goldman:
Phototactic supersmarticles. Artif. Life Robotics 23(4): 459-468 (2018) - [c21]Jonathan R. Gosyne, Christian M. Hubicki, Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman:
Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods. Humanoids 2018: 994-1001 - [c20]Ross Warkentin, William Savoie, Daniel I. Goldman:
Locomoting Robots Composed of Immobile Robots. IRC 2018: 224-227 - [c19]Nicholas D. Naclerio, Christian M. Hubicki, Yasemin Ozkan Aydin, Daniel I. Goldman, Elliot W. Hawkes:
Soft Robotic Burrowing Device with Tip-Extension and Granular Fluidization. IROS 2018: 5918-5923 - [c18]Yasemin Ozkan Aydin, Jennifer L. Molnar, Daniel I. Goldman, Frank L. Hammond:
Design of a soft robophysical earthworm model. RoboSoft 2018: 83-87 - [c17]Baxi Chong, Yasemin Ozkan Aydin, Chaohui Gong, Guillaume Sartoretti, Yunjin Wu, Jennifer M. Rieser, Haosen Xing, Jeffery W. Rankin, Krijn B. Michel, Alfredo G. Nicieza, John R. Hutchinson, Daniel I. Goldman, Howie Choset:
Coordination of back bending and leg movements for quadrupedal locomotion. Robotics: Science and Systems 2018 - [i5]Ross Warkentin, William Savoie, Daniel I. Goldman:
Locomoting robots composed of immobile robots. CoRR abs/1802.05131 (2018) - 2017
- [c16]Alexander H. Chang, Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames, Patricio A. Vela:
Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression. ICRA 2017: 2154-2160 - [c15]Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman:
A stability region criterion for flat-footed bipedal walking on deformable granular terrain. IROS 2017: 4552-4559 - [c14]Yasemin Ozkan Aydin, Baxi Chong, Chaohui Gong, Jennifer M. Rieser, Jeffery W. Rankin, Krijn B. Michel, Alfredo G. Nicieza, John R. Hutchinson, Howie Choset, Daniel I. Goldman:
Geometric Mechanics Applied to Tetrapod Locomotion on Granular Media. Living Machines 2017: 595-603 - [c13]Perrin E. Schiebel, Jennifer M. Rieser, Alex M. Hubbard, Lillian Chen, Daniel I. Goldman:
Collisional Diffraction Emerges from Simple Control of Limbless Locomotion. Living Machines 2017: 611-618 - [i4]Sarah Cannon, Joshua J. Daymude, William Savoie, Ross Warkentin, Shengkai Li, Daniel I. Goldman, Dana Randall, Andréa W. Richa:
Phototactic Supersmarticles. CoRR abs/1711.01327 (2017) - [i3]Jennifer M. Rieser, Perrin E. Schiebel, Arman Pazouki, Feifei Qian, Zachary Goddard, Andrew Zangwill, Dan Negrut, Daniel I. Goldman:
Collision-induced scattering of a self-propelled slithering robot. CoRR abs/1712.00136 (2017) - 2016
- [j5]Vadim Linevich, Daria Monaenkova, Daniel I. Goldman:
Robophysical study of excavation in confined environments. Artif. Life Robotics 21(4): 460-465 (2016) - [j4]Chaohui Gong, Matthew J. Travers, Henry C. Astley, Lu Li, Joseph Mendelson, Daniel I. Goldman, Howie Choset:
Kinematic gait synthesis for snake robots. Int. J. Robotics Res. 35(1-3): 100-113 (2016) - [c12]Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames:
Tractable terrain-aware motion planning on granular media: An impulsive jumping study. IROS 2016: 3887-3892 - [c11]Jin Dai, Hossein Faraji, Chaohui Gong, Ross L. Hatton, Daniel I. Goldman, Howie Choset:
Geometric Swimming on a Granular Surface. Robotics: Science and Systems 2016 - [c10]Chaohui Gong, Daniel I. Goldman, Howie Choset:
Simplifying Gait Design via Shape Basis Optimization. Robotics: Science and Systems 2016 - [c9]Matthew J. Travers, Julian Whitman, Perrin E. Schiebel, Daniel I. Goldman, Howie Choset:
Shape-Based Compliance in Locomotion. Robotics: Science and Systems 2016 - [i2]Jeffrey Aguilar, Tingnan Zhang, Feifei Qian, Mark Kingsbury, Benjamin McInroe, Nicole Mazouchova, Chen Li, Ryan D. Maladen, Chaohui Gong, Matthew J. Travers, Ross L. Hatton, Howie Choset, Paul B. Umbanhowar, Daniel I. Goldman:
A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems. CoRR abs/1602.04712 (2016) - 2015
- [c8]Chaohui Gong, Matthew J. Travers, Henry C. Astley, Daniel I. Goldman, Howie Choset:
Limbless locomotors that turn in place. ICRA 2015: 3747-3754 - [c7]Jin Dai, Matthew J. Travers, Tony Dear, Chaohui Gong, Henry C. Astley, Daniel I. Goldman, Howie Choset:
Robot-inspired biology: The compound-wave control template. ICRA 2015: 5879-5884 - [c6]Feifei Qian, Daniel I. Goldman:
The dynamics of legged locomotion in heterogeneous terrain: universality in scattering and sensitivity to initial conditions. Robotics: Science and Systems 2015 - 2014
- [c5]Chaohui Gong, Matthew J. Travers, Henry C. Astley, Lu Li, Joseph Mendelson, David Hu, Daniel I. Goldman, Howie Choset:
Conditioned Basis Array Factorization: An Approach to Gait Pattern Extraction. Robotics: Science and Systems 2014 - 2013
- [j3]Tingnan Zhang, Feifei Qian, Chen Li, Pierangelo Masarati, Aaron M. Hoover, Paul Birkmeyer, Andrew O. Pullin, Ronald S. Fearing, Daniel I. Goldman:
Ground fluidization promotes rapid running of a lightweight robot. Int. J. Robotics Res. 32(7): 859-869 (2013) - 2012
- [j2]Yang Ding, Sarah S. Sharpe, Andrew Masse, Daniel I. Goldman:
Mechanics of Undulatory Swimming in a Frictional Fluid. PLoS Comput. Biol. 8(12) (2012) - [c4]Feifei Qian, Tingnan Zhang, Chen Li, Aaron M. Hoover, Pierangelo Masarati, Paul Birkmeyer, Andrew O. Pullin, Ronald S. Fearing, Daniel I. Goldman:
Walking and running on yielding and fluidizing ground. Robotics: Science and Systems 2012 - [i1]Jeffrey Aguilar, Alex Lesov, Kurt Wiesenfeld, Daniel I. Goldman:
Lift-off dynamics in a simple jumping robot. CoRR abs/1208.6289 (2012) - 2011
- [j1]Ryan D. Maladen, Yang Ding, Paul Umbanhowar, Daniel I. Goldman:
Undulatory swimming in sand: experimental and simulation studies of a robotic sandfish. Int. J. Robotics Res. 30(7): 793-805 (2011) - [c3]Ryan D. Maladen, Paul Umbanhowar, Yang Ding, Andrew Masse, Daniel I. Goldman:
Granular lift forces predict vertical motion of a sand-swimming robot. ICRA 2011: 1398-1403 - 2010
- [c2]Ryan D. Maladen, Yang Ding, Paul Umbanhowar, Adam Kamor, Daniel I. Goldman:
Biophysically inspired development of a sand-swimming robot. Robotics: Science and Systems 2010
2000 – 2009
- 2007
- [c1]Jonathan E. Clark, Daniel I. Goldman, Pei-Chun Lin, Goran Lynch, Tao Chen, Haldun Komsuoglu, Robert J. Full, Daniel E. Koditschek:
Design of a Bio-inspired Dynamical Vertical Climbing Robot. Robotics: Science and Systems 2007
Coauthor Index
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