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