Laboratory for Robotics and Applied Mechanics

Olson G, Hatton RL, Adams JA, Mengüç Y.  2020.  An Euler–Bernoulli beam model for soft robot arms bent through self-stress and external loads. International Journal of Solids and Structures. 207:113–131.

Asselmeier M, Hatton RL, Mengüç Y, Olson G.  2020.  Evaluation of a Circumferential Extending Antagonist Actuator in a Soft Arm. IEEE International Conference on Soft Robotics (RoboSoft).

Green K, Godse Y, Dao J, Hatton RL, Fern A, Hurst J.  2020.  Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model.

Ramasamy S, Hatton RL.  2020.  Optimal Gaits for Drag-dominated Swimmers with Passive Elastic Joints.

Green K, Hatton RL, Hurst J.  2020.  Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running.

Branyan C, Hatton RL, Mengüç Y.  2020.  Snake-Inspired Kirigami Skin for Lateral Undulation of a Soft Snake Robot. IEEE Robotics and Automation Letters. 5:1728–1733.

Astley HC, Mendelson, III JR, Dai J, Gong C, Chong B, Rieser JM, Schiebel PE, Sharpe SS, Hatton RL, Choset H et al..  2020.  Surprising simplicities and syntheses in limbless self-propulsion in sand. Journal of Experimental Biology . 223

Lippincott K, Hatton RL, Grimm C.  2019.  Aesthetics of curvature bases for sketches. ACM/Eurographics Expressive.

Brock Z, Nelson J, Hatton RL.  2019.  A Comparison of Lateral Dynamic Models for Tractor-Trailer Systems. IEEE Intelligent Vehicles Symposium (IV).

Rieser JM, Gong C, Astley HC, Schiebel PE, Hatton RL, Choset H, Goldman DI.  2019.  Geometric phase and dimensionality reduction in locomoting living systems.

Ramasamy S, Hatton RL.  2019.  The Geometry of Optimal Gaits for Drag-Dominated Kinematic Systems. IEEE Transactions on Robotics. 35:1014–1033.

Bittner B, Hatton RL, Revzen S.  2018.  Geometrically optimal gaits: a data-driven approach. Nonlinear Dynamics. 94:1933–1948.

Otto AW, Elias DO, Hatton RL.  2018.  Modeling transverse vibration in spider webs using frequency-based dynamic substructuring. Dynamics of Coupled Structures. 4:143–155.

Rezazadeh S, Abate A, Hatton RL, Hurst JW.  2018.  Robot leg design: A constructive framework. IEEE Access. 6:54369–54387.

Ramasamy S, Hatton RL.  2017.  Geometric Gait Optimization Beyond Two Dimensions. American Control Conference. :642–648.

Hatton RL, Dear T, Choset H.  2017.  Kinematic Cartography and the Efficiency of Viscous Swimming. IEEE Transactions on Robotics. 33:523–535.

Branyan C, Fleming C, Remaley J, Kothari A, Tumer K, Hatton RL, Mengüç Y.  2017.  Soft snake robots: Mechanical design and geometric gait implementation. IEEE International Conference on Robotics and Biomimetics (ROBIO).

Faraji H, Tachella R, Hatton RL.  2016.  Aiming and Vaulting: Spider Inspired Leaping for Jumping Robots. IEEE International Conference on Robotics and Automation (ICRA).

Dai J, Faraji H, Gong C, Hatton RL, Goldman DI, Choset H.  2016.  Geometric Swimming on a Granular Surface. {Proceedings of the Robotics: Science and Systems Conference}. :1–8.

Abate A, Hurst JW, Hatton RL.  2016.  Mechanical Antagonism in Legged Robots. {Proceedings of the Robotics: Science and Systems Conference}. :1–8.

Aguilar J, Zhang T, Qian F, Kingsbury M, McInroe B, Mazouchova N, Li C, Maladen R, Gong C, Travers M et al..  2016.  A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems. Reports on Progress in Physics. 79:110001.

Ramasamy S, Hatton RL.  2016.  Soap-bubble Optimization of Gaits. The Proceedings of the IEEE Conference on Decision and Control. :1056–1062.

Carpenter R, Hatton R, Balasubramanian R.  2015.  Evaluation of linear and revolute underactuated grippers for steel foundry operations. Industrial Robot: An International Journal. 42:314-323.

Faraji H, Veile S, Hemleben S, Zaytsev P, Wright J, Luchsinger H, Hatton RL.  2015.  Impulse Redirection of a Tethered Projectile. Proceedings of the ASME Dynamic Systems and Controls Conference (DSCC).

Hatton RL, Choset H.  2015.  Nonconservativity and Noncommutativity in Locomotion. European Physical Journal Special Topics: Dynamics of Animal Systems. 224:3141–3174.

Abate A, Hatton RL, Hurst J.  2015.  Passive-Dynamic Leg Design for Agile Robots. Proceedings of the IEEE International Conference on Robotics and Automation.

Porter MM, Adriaens D, Hatton RL, Meyers MA, McKittrick J.  2015.  Why the seahorse tail is square. Science. 349

Hill L, Woodward T, Arisumi H, Hatton RL.  2015.  Wrapping a Target with a Tethered Projectile. Proceedings of the IEEE International Conference on Robotics and Automation.

Carpenter R, Hatton R, Balasubramanian R.  2014.  Comparison of contact capabilities for underactuated parallel jaw grippers for use on industrial robots. Proceedings of the ASME 2014 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference.

Dear T, Hatton RL, Choset H.  2014.  Nonlinear Dimensionality Reduction for Kinematic Cartography with an Application Toward Robotic Locomotion. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Marvi H, Gong C, Gravish N, Astley H, Travers M, Hatton RL, Mendelson, III JR, Choset H, Hu DL, Goldman DI.  2014.  Sidewinding with minimal slip: snake and robot ascent of sandy slopes. Science. 346:224–229.

Hatton RL, Choset H.  2013.  Geometric Swimming at Low and High Reynolds Numbers. IEEE Transactions on Robotics. 29:615–624.

Hatton R.L, Choset H., Ding Y., Goldman D.I.  2013.  Geometric Visualization of Self-Propulsion in a Complex Medium. Physical Review Letters. 110:078101.

Dear T, Hatton RL, Travers MA, Choset H.  2013.  Snakeboard Motion Planning with Local Trajectory Information. Proceedings of the ASME Dynamic Systems and Controls Conference (DSCC).

Hatton RL, Knepper RA, Choset H, Rollinson D, Gong C, Galceran E.  2013.  Snakes on a Plan: Toward Combining Planning and Control. Proceedings of the IEEE International Conference on Robotics and Automation.

Gong C, Hatton RL, Choset H.  2012.  Conical Sidewinding. IEEE International Conference on Robotics and Autmation.

Hatton RL, Burton LJ, Hosoi AE, Choset H.  2011.  Geometric Maneuverability, with Applications to Low Reynolds Number Swimming. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

Hatton RL, Choset H.  2011.  Geometric Motion Planning: The Local Connection, Stokes' Theorem, and the Importance of Coordinate Choice. International Journal of Robotics Research. 30:988-1014.

Hatton RL, Choset H.  2011.  Kinematic Cartography for Locomotion at Low Reynolds Numbers. Proceedings of Robotics: Science and Systems VII.

Hatton RL, Choset H.  2010.  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).

Hatton RL, Choset H.  2010.  Generating Gaits for Snake Robots: Annealed Chain Fitting and Keyframe Wave Extraction. Autonomous Robots, Special Issue on Locomotion. 28:271–281.

Hatton RL, Choset H.  2010.  Optimizing Coordinate Choice for Locomoting Systems. Proceedings of the IEEE International Conference on Robotics and Automation. :4493–4498.

Hatton RL, Choset H.  2010.  Sidewinding on Slopes. Proceedings of the IEEE International Conference on Robotics and Automation. :691–696.