Geometric Maneuverability, with Applications to Low Reynolds Number Swimming. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.
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2011. Connection Vector Fields and Optimized Coordinates for Swimming Systems at Low and High Reynolds Numbers. Proceedings of the ASME Dynamic Systems and Controls Conference (DSCC).
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2010. Nonconservativity and Noncommutativity in Locomotion. European Physical Journal Special Topics: Dynamics of Animal Systems. 224:3141–3174.
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2015. Geometric Motion Planning: The Local Connection, Stokes' Theorem, and the Importance of Coordinate Choice. International Journal of Robotics Research. 30:988-1014.
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2011. Geometric Swimming at Low and High Reynolds Numbers. IEEE Transactions on Robotics. 29:615–624.
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2013. Sidewinding on Slopes. Proceedings of the IEEE International Conference on Robotics and Automation. :691–696.
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2010. Snakes on a Plan: Toward Combining Planning and Control. Proceedings of the IEEE International Conference on Robotics and Automation.
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2013. Optimizing Coordinate Choice for Locomoting Systems. Proceedings of the IEEE International Conference on Robotics and Automation. :4493–4498.
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2010. Kinematic Cartography for Locomotion at Low Reynolds Numbers. Proceedings of Robotics: Science and Systems VII.
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2011. Generating Gaits for Snake Robots: Annealed Chain Fitting and Keyframe Wave Extraction. Autonomous Robots, Special Issue on Locomotion. 28:271–281.
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2010. Kinematic Cartography and the Efficiency of Viscous Swimming. IEEE Transactions on Robotics. 33:523–535.
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2017.