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Career

· Researcher, Columbia University Robotics Laboratory

Publications (26)

Locomotion of a multi-link non-holonomic snake robot with passive joints
Int. J. Robotics Res. · 2020
27
cited
Snakeboard motion planning with viscous friction and skidding
IEEE International Conference on Robotics and Automation · 2015
22
cited
Kinematic Cartography and the Efficiency of Viscous Swimming
IEEE Transactions on robotics · 2017
20
cited
Locomotive analysis of a single-input three-link snake robot
IEEE Conference on Decision and Control · 2016
15
cited
Geometric Motion Planning for a Three-Link Swimmer in a Three-Dimensional low Reynolds-Number Regime
American Control Conference · 2018
13
cited
MECHANICS AND CONTROL OF A TERRESTRIAL VEHICLE EXPLOITING A NONHOLONOMIC CONSTRAINT FOR FISHLIKE LOCOMOTION
2013
13
cited
The three-link nonholonomic snake as a hybrid kinodynamic system
American Control Conference · 2016
13
cited
Deep Reinforcement Learning for Snake Robot Locomotion
2020
12
cited
Robot-inspired biology: The compound-wave control template
IEEE International Conference on Robotics and Automation · 2015
10
cited
Snakeboard Motion Planning With Local Trajectory Information
2013
9
cited
Experimental Gait Analysis of Waveboard Locomotion
2016
8
cited
A physical parameter-based skidding model for the snakeboard
IEEE Conference on Decision and Control · 2016
7
cited
Optimal control for geometric motion planning of a robot diver
IEEE/RJS International Conference on Intelligent RObots and Systems · 2016
7
cited
Extensions of the Principal Fiber Bundle Model for Locomoting Robots
2018
5
cited
Guided Deep Reinforcement Learning for Articulated Swimming Robots
arXiv.org · 2023
4
cited
Locomotion of a Multi-Link Nonholonomic Snake Robot
2017
4
cited
Nonlinear dimensionality reduction for kinematic cartography with an application toward robotic locomotion
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems · 2014
3
cited
Motion Planning and Differential Flatness of Mechanical Systems on Principal Bundles
2015
2
cited
Swim: A General-Purpose, High-Performing, and Efficient Activation Function for Locomotion Control Tasks
arXiv.org · 2023
2
cited
Variations on the Role of Principal Connections in Robotic Locomotion
2016
2
cited
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