Publications and Presentations

Publications:


Reconstruction of Backbone Curves for Snake Robots

T. Wang, B. Lin, B. Chong, J. Whitman, M. Travers, D. Goldman, G. Blekherman, and H. Choset

Accepted to IEEE Robotics and Automation Letters, February 2021


Modular mobile robot design selection with deep reinforcement learning

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

Machine Learning for Engineering Modeling, Simulation, and Design Workshop, at Neural Information Processing Systems (NeurIPS), December 2020


The Omega Turn: A Biologically-Inspired Turning Strategy for Elongated Limbless Robots

T. Wang, B. Zhong, K. Diaz, J. Whitman, H. Lu, D. Goldman, M. Travers, and H. Choset

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2020


Directional Compliance in Obstacle-Aided Navigation for Snake Robots

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

2020 American Control Conference, July 2020


Modular Robot Design Synthesis with Deep Reinforcement Learning

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

Thirty-Fourth AAAI Conference on Artificial Intelligence, February 2020


Task-specific manipulator design and trajectory synthesis

J. Whitman and H. Choset

IEEE Robotics and Automation Letters, December 2018


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


Long-range near-optimal path planning for gliders in complex high-energy environments.

D. A, Sofge and J. S. Whitman

Autonomous Underwater Vehicles (AUV), 2010 IEEE/OES. IEEE, 2010.

Presentations:


Learning Modular Robot Control Policies for Locomoting Systems

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

Virtual talk at ACC 2021 workshop "Fielding Legged Robotics off the Beaten Path"


Modular mobile robot design selection with deep reinforcement learning

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

Poster presentation at the Machine Learning for Engineering Modeling, Simulation, and Design Workshop, at Neural Information Processing Systems (NeurIPS) 2020


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


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

Poster presentation at the 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

Oral presentation at the 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

Oral presentation at the 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.

Oral presentation at the 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.

Oral presentation at the 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.

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