Publications and Presentations

Publications:


Geometric Motion Planning for Systems with Toroidal and Cylindrical Shape Spaces

C. Gong, J. Whitman, J. S. Grover, Z. Ren, B. Chong, and H. Choset

ASME Dynamic Systems and Control Conference (DSCC), October 2018


Snake Robot Urban Search After the 2017 Mexico City Earthquake

J. Whitman, N. Zevallos, M. Travers, and H. Choset

IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), August 2018


Shape-based coordination in locomotion control

M. Travers, J. Whitman, and H. Choset

The International Journal of Robotics Research, March 2018


Generating Gaits for Simultaneous Locomotion and Manipulation

J. Whitman, S. Su, S. Coros, A. Ansari, and H. Choset

IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2017


Modular Platforms for Advanced Inspection, Locomotion, and Manipulation

A. Ansari, J. Whitman, B. Saund, and H. Choset

Waste Management Symposium, March 2017


Shape-based Compliant Control with Variable Coordination Centralization on a Snake Robot

J. Whitman, F. Ruscelli, M. Travers, and H. Choset

IEEE Conference on Decision and Control, December 2016


Shape-Based Compliance in Locomotion

M. Travers, J. Whitman, P. Schiebel, D. Goldman, and H. Choset

Proceedings of Robotics: Science and Systems, June 2016


Improving energy efficiency in robot limbs through hydraulic dangle.

J. Whitman, M. Meller, and E. Garcia.

SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, International Society for Optics and Photonics, March 2015

Presentations:


Planning quadrupedal gaits in granular media with geometric mechanics

J. Whitman, B. Chong, Y. O. Aydin, C. Gong, J. M. Rieser, A. M. Hubbard, J. W. Rankin, K. Michel, G. Sartoretti, A. G. Nicieza, J. R. Hutchinson, D. I. Goldman, H. Choset

IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2017.


Generating Gaits for Simultaneous Locomotion and Manipulation

J. Whitman, S. Su, S. Coros, A. Ansari, and H. Choset

IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2017.


Shape-based Compliant Control with Variable Coordination Centralization on a Snake Robot

J. Whitman, F. Ruscelli, M. Travers, and H. Choset

IEEE Conference on Decision and Control, December 2016


A Dynamical Systems Approach to Obstacle Navigation for a Series-Elastic Hexapod Robot.

M. Travers, A. Ansari, and H. Choset.

IEEE Conference on Decision and Control, December 2016

(Presented in place of M. Travers)


Geometric Mechanics: A Framework for Studying Animal Locomotion

C. Gong, H. Astley, J. Dai, B. Mclnroe, P. E. Schiebel, M. Travers, D. I. Goldman, and H. Choset.

Society for Integrative and Comparative Biology Annual Meeting, January 2016

(Presented in place of C. Gong)


Improving energy efficiency in robot limbs through hydraulic dangle.

J. Whitman, M. Meller, and E. Garcia.

SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, International Society for Optics and Photonics, March 2015



Selected Courses:

Carnegie Mellon University, MS in Mechanical Engineering

  • Geometry of Locomotion
  • Linear Systems
  • Kinematics, Dynamics, and Control
  • Dynamic Optimization
  • Engineering Optimization
  • Robotics Systems and the Internet of Things
  • Nonlinear Control

Cornell University, BS in Mechanical Engineering, Minor in Entomology

  • Advanced Dynamics
  • Microelectromechanical Systems
  • Insect Physiology
  • Spider Biology


Teaching Experience:

Fundamentals of Mechanical Engineering, Teaching Assistant, Spring 2017

Fundamentals of Mechanical Engineering, Teaching Assistant, Fall 2017