Daniel E. Koditschek

ORCID

Publication Activity (10 Years)

Years Active: 1977-2023
Publications (10 Years): 77

Top Venues

CoRR

ICRA

IROS

Int. J. Robotics Res.

Publications

Timothy Greco, Daniel E. Koditschek
Anchoring Sagittal Plane Templates in a Spatial Quadruped. ICRA (2023)
J. Diego Caporale, Zeyuan Feng, Shane Rozen-Levy, Aja Mia Carter, Daniel E. Koditschek
Twisting Spine or Rigid Torso: Exploring Quadrupedal Morphology via Trajectory Optimization. ICRA (2023)
Jeffrey Duperret, Daniel E. Koditschek
Stability of a Groucho-Style Bounding Run in the Sagittal Plane. Robotics 12 (4) (2023)
Abriana Stewart-Height, Daniel E. Koditschek
Technical Report on: Tripedal Dynamic Gaits for a Quadruped Robot. CoRR (2023)
Wei-Hsi Chen, Woohyeok Yang, Lucien Peach, Daniel E. Koditschek, Cynthia R. Sung
Kinegami: Algorithmic Design of Compliant Kinematic Chains From Tubular Origami. IEEE Trans. Robotics 39 (2) (2023)
Vasileios Vasilopoulos, Georgios Pavlakos, Karl Schmeckpeper, Kostas Daniilidis, Daniel E. Koditschek
Reactive navigation in partially familiar planar environments using semantic perceptual feedback. Int. J. Robotics Res. 41 (1) (2022)
Avik De, T. Turner Topping, J. Diego Caporale, Daniel E. Koditschek
Mode-Reactive Template-Based Control in Planar Legged Robots. IEEE Access 10 (2022)
Vasileios Vasilopoulos, Sebastian Castro, William Vega-Brown, Daniel E. Koditschek, Nicholas Roy
A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments. ICRA (2022)
Timothy Greco, Daniel E. Koditschek
Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped. CoRR (2022)
Young-Joo Lee, Shivangi Misra, Wei-Hsi Chen, Daniel E. Koditschek, Cynthia Sung, Shu Yang
Tendon-Driven Auxetic Tubular Springs for Resilient Hopping Robots. Adv. Intell. Syst. 4 (4) (2022)
Vasileios Vasilopoulos, Sebastian Castro, William Vega-Brown, Daniel E. Koditschek, Nicholas Roy
Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments. CoRR (2022)
Daniel E. Koditschek
What Is Robotics? Why Do We Need It and How Can We Get It? Annu. Rev. Control. Robotics Auton. Syst. 4 (2021)
Paul Gustafson, Jared Culbertson, Daniel E. Koditschek
Hybrid dynamical type theories for navigation. CoRR (2021)
Matthew D. Kvalheim, Daniel E. Koditschek
Necessary conditions for feedback stabilization and safety. CoRR (2021)
Nicholas Roy, Ingmar Posner, Tim D. Barfoot, Philippe Beaudoin, Yoshua Bengio, Jeannette Bohg, Oliver Brock, Isabelle Depatie, Dieter Fox, Daniel E. Koditschek, Tomás Lozano-Pérez, Vikash Mansinghka, Christopher J. Pal, Blake A. Richards, Dorsa Sadigh, Stefan Schaal, Gaurav S. Sukhatme, Denis Thérien, Marc Toussaint, Michiel van de Panne
From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence. CoRR (2021)
Matthew D. Kvalheim, Paul Gustafson, Daniel E. Koditschek
Conley's Fundamental Theorem for a Class of Hybrid Systems. SIAM J. Appl. Dyn. Syst. 20 (2) (2021)
Paul B. Reverdy, Vasileios Vasilopoulos, Daniel E. Koditschek
Motivation Dynamics for Autonomous Composition of Navigation tasks. IEEE Trans. Robotics 37 (4) (2021)
Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas, Daniel E. Koditschek
Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments. ICRA (2021)
Sonia F. Roberts, Daniel E. Koditschek
Virtual Energy Management for Physical Energy Savings in a Legged Robot Hopping on Granular Media. Frontiers Robotics AI 8 (2021)
Vasileios Vasilopoulos, Georgios Pavlakos, Sean L. Bowman, J. Diego Caporale, Kostas Daniilidis, George J. Pappas, Daniel E. Koditschek
Technical Report: Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback. CoRR (2020)
Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas, Daniel E. Koditschek
Technical Report: Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments. CoRR (2020)
Wei-Hsi Chen, Shivangi Misra, Yuchong Gao, Young-Joo Lee, Daniel E. Koditschek, Shu Yang, Cynthia R. Sung
A Programmably Compliant Origami Mechanism for Dynamically Dexterous Robots. IEEE Robotics Autom. Lett. 5 (2) (2020)
Cristina Wilson, Feifei Qian, Doug Jerolmack, Thomas F. Shipley, Sonia F. Roberts, Jonathan Ham, Daniel E. Koditschek
Data Foraging: Spatiotemporal Data Collection Decisions in Disciplinary Field Science. CogSci (2020)
Wei-Hsi Chen, Shivangi Misra, J. Diego Caporale, Daniel E. Koditschek, Shu Yang, Cynthia R. Sung
A Tendon-Driven Origami Hopper Triggered by Proprioceptive Contact Detection. RoboSoft (2020)
B. Deniz Ilhan, Aaron M. Johnson, Daniel E. Koditschek
Autonomous Stairwell Ascent. Robotica 38 (1) (2020)
Shane Rozen-Levy, Daniel E. Koditschek
Technical Report: A New Hopping Controller for Highly Dynamical Bipeds. CoRR (2020)
Matthew D. Kvalheim, Paul Gustafson, Daniel E. Koditschek
Conley's fundamental theorem for a class of hybrid systems. CoRR (2020)
Vasileios Vasilopoulos, Georgios Pavlakos, Sean L. Bowman, J. Diego Caporale, Kostas Daniilidis, George J. Pappas, Daniel E. Koditschek
Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback. IEEE Robotics Autom. Lett. 5 (3) (2020)
Sonia F. Roberts, Daniel E. Koditschek, Lisa J. Miracchi
Examples of Gibsonian Affordances in Legged Robotics Research Using an Empirical, Generative Framework. Frontiers Neurorobotics 14 (2020)
Feifei Qian, Daniel E. Koditschek
An obstacle disturbance selection framework: emergent robot steady states under repeated collisions. Int. J. Robotics Res. 39 (13) (2020)
J. Diego Caporale, Benjamin W. McInroe, Chenze Ning, Thomas Libby, Robert J. Full, Daniel E. Koditschek
Coronal Plane Spine Twisting Composes Shape To Adjust the Energy Landscape for Grounded Reorientation. ICRA (2020)
Vasileios Vasilopoulos, Georgios Pavlakos, Karl Schmeckpeper, Kostas Daniilidis, Daniel E. Koditschek
Reactive Navigation in Partially Familiar Planar Environments Using Semantic Perceptual Feedback. CoRR (2020)
Divya Ramesh, Anmol Kathail, Daniel E. Koditschek, Feifei Qian
Modulation of Robot Orientation Via Leg-Obstacle Contact Positions. IEEE Robotics Autom. Lett. 5 (2) (2020)
Sonia F. Roberts, Daniel E. Koditschek
Mitigating energy loss in a robot hopping on a physically emulated dissipative substrate. ICRA (2019)
T. Turner Topping, Vasileios Vasilopoulos, Avik De, Daniel E. Koditschek
Composition of Templates for Transitional Pedipulation Behaviors. ISRR (2019)
Chen Li, Yang Ding, Nick Gravish, Ryan D. Maladen, Andrew Masse, Paul B. Umbanhowar, Haldun Komsuoglu, Daniel E. Koditschek, Daniel I. Goldman
Towards a terramechanics for bio-inspired locomotion in granular environments. CoRR (2019)
Avik De, Abriana Stewart-Height, Daniel E. Koditschek
Task-Based Control and Design of a BLDC Actuator for Robotics. IEEE Robotics Autom. Lett. 4 (3) (2019)
Ömür Arslan, Daniel E. Koditschek
Sensor-based reactive navigation in unknown convex sphere worlds. Int. J. Robotics Res. 38 (2-3) (2019)
Jared Culbertson, Paul Gustafson, Daniel E. Koditschek, Peter F. Stiller
Formal composition of hybrid systems. CoRR (2019)
Wei-Hsi Chen, Shivangi Misra, Yuchong Gao, Young-Joo Lee, Daniel E. Koditschek, Shu Yang, Cynthia R. Sung
A Tunably Compliant Origami Mechanism for Dynamically Dexterous Robots. CoRR (2019)
Vasileios Vasilopoulos, T. Turner Topping, William Vega-Brown, Nicholas Roy, Daniel E. Koditschek
Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator. IROS (2018)
B. Deniz Ilhan, Aaron M. Johnson, Daniel E. Koditschek
Autonomous legged hill ascent. J. Field Robotics 35 (5) (2018)
Avik De, Daniel E. Koditschek
Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting. Int. J. Robotics Res. 37 (7) (2018)
Vasileios Vasilopoulos, Daniel E. Koditschek
Technical Report: Reactive Navigation in Partially Known Non-Convex Environments. CoRR (2018)
Ömür Arslan, Hancheng Min, Daniel E. Koditschek
Voronoi-Based Coverage Control of Pan/Tilt/Zoom Camera Networks. ICRA (2018)
Dan P. Guralnik, Daniel E. Koditschek
Iterated Belief Revision Under Resource Constraints: Logic as Geometry. CoRR (2018)
Vasileios Vasilopoulos, Daniel E. Koditschek
Reactive Navigation in Partially Known Non-convex Environments. WAFR (2018)
Sonia F. Roberts, Daniel E. Koditschek
Reactive velocity control reduces energetic cost of jumping with a virtual leg spring on simulated granular media. ROBIO (2018)
Vincent Pacelli, Ömür Arslan, Daniel E. Koditschek
Integration of Local Geometry and Metric Information in Sampling-Based Motion Planning. ICRA (2018)
Santiago Paternain, Daniel E. Koditschek, Alejandro Ribeiro
Navigation Functions for Convex Potentials in a Space With Convex Obstacles. IEEE Trans. Autom. Control. 63 (9) (2018)
Abdulaziz Shamsah, Avik De, Daniel E. Koditschek
Analytically-Guided Design of a Tailed Bipedal Hopping Robot. IROS (2018)
Avik De, Samuel A. Burden, Daniel E. Koditschek
A hybrid dynamical extension of averaging and its application to the analysis of legged gait stability. Int. J. Robotics Res. 37 (2-3) (2018)
Vasileios Vasilopoulos, William Vega-Brown, Ömür Arslan, Nicholas Roy, Daniel E. Koditschek
Sensor-Based Reactive Symbolic Planning in Partially Known Environments. ICRA (2018)
Paul Reverdy, Daniel E. Koditschek
A Dynamical System for Prioritizing and Coordinating Motivations. SIAM J. Appl. Dyn. Syst. 17 (2) (2018)
Gavin D. Kenneally, Wei-Hsi Chen, Daniel E. Koditschek
Actuator Transparency and the Energetic Cost of Proprioception. ISER (2018)
Ömür Arslan, Vincent Pacelli, Daniel E. Koditschek
Sensory steering for sampling-based motion planning. IROS (2017)
T. Turner Topping, Gavin D. Kenneally, Daniel E. Koditschek
Quasi-static and dynamic mismatch for door opening and stair climbing with a legged robot. ICRA (2017)
Vasileios Vasilopoulos, Ömür Arslan, Avik De, Daniel E. Koditschek
Sensor-based legged robot homing using range-only target localization. ROBIO (2017)
Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek
Discriminative measures for comparison of phylogenetic trees. Discret. Appl. Math. 217 (2017)
Simon Wilshin, G. Clark Haynes, Jack Porteous, Daniel E. Koditschek, Shai Revzen, Andrew J. Spence
Morphology and the gradient of a symmetric potential predict gait transitions of dogs. Biol. Cybern. 111 (3-4) (2017)
Vasileios Vasilopoulos, William Vega-Brown, Ömür Arslan, Nicholas Roy, Daniel E. Koditschek
Sensor-Based Reactive Symbolic Planning in Partially Known Environments. CoRR (2017)
Ömür Arslan, Daniel E. Koditschek
Smooth extensions of feedback motion planners via reference governors. ICRA (2017)
Jeffrey Duperret, Daniel E. Koditschek
Empirical validation of a spined sagittal-plane quadrupedal model. ICRA (2017)
Jeffrey Duperret, Daniel E. Koditschek
Towards Reactive Control of Transitional Legged Robot Maneuvers. ISRR (2017)
Gavin D. Kenneally, Avik De, Daniel E. Koditschek
Design Principles for a Family of Direct-Drive Legged Robots. IEEE Robotics Autom. Lett. 1 (2) (2016)
Avik De, Samuel A. Burden, Daniel E. Koditschek
A Hybrid Dynamical Extension of Averaging. CoRR (2016)
Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek
Coordinated Robot Navigation via Hierarchical Clustering. IEEE Trans. Robotics 32 (2) (2016)
Thomas Libby, Aaron M. Johnson, Evan Chang-Siu, Robert J. Full, Daniel E. Koditschek
Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation. IEEE Trans. Robotics 32 (6) (2016)
Ömür Arslan, Daniel E. Koditschek
On the Optimality of Napoleon Triangles. J. Optim. Theory Appl. 170 (1) (2016)
Aaron M. Johnson, Samuel A. Burden, Daniel E. Koditschek
A hybrid systems model for simple manipulation and self-manipulation systems. Int. J. Robotics Res. 35 (11) (2016)
Garrett Wenger, Avik De, Daniel E. Koditschek
Frontal plane stabilization and hopping with a 2DOF tail. IROS (2016)
Ömür Arslan, Daniel E. Koditschek
Sensor-Based Reactive Navigation in Unknown Convex Sphere Worlds. WAFR (2016)
Ömür Arslan, Daniel E. Koditschek
Voronoi-based coverage control of heterogeneous disk-shaped robots. ICRA (2016)
Jeffrey Duperret, Benjamin Kramer, Daniel E. Koditschek
Core Actuation Promotes Self-manipulability on a Direct-Drive Quadrupedal Robot. ISER (2016)
Paul Reverdy, Daniel E. Koditschek
Mobile robots as remote sensors for spatial point process models. IROS (2016)
Ömür Arslan, Daniel E. Koditschek
Exact robot navigation using power diagrams. ICRA (2016)
Samuel A. Burden, S. Shankar Sastry, Daniel E. Koditschek, Shai Revzen
Event-Selected Vector Field Discontinuities Yield Piecewise-Differentiable Flows. SIAM J. Appl. Dyn. Syst. 15 (2) (2016)
Avik De, Daniel E. Koditschek
Parallel composition of templates for tail-energized planar hopping. ICRA (2015)
Gavin D. Kenneally, Daniel E. Koditschek
Leg design for energy management in an electromechanical robot. IROS (2015)
Ömür Arslan, Daniel E. Koditschek
Voronoi-Based Coverage Control of Heterogeneous Disk-Shaped Robots. CoRR (2015)
Jeffrey M. Duperret, Daniel E. Koditschek
An empirical investigation of legged transitional maneuvers leveraging Raibert's Scissor algorithm. ROBIO (2015)
Avik De, Daniel E. Koditschek
The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates. CoRR (2015)
Paul Reverdy, B. Deniz Ilhan, Daniel E. Koditschek
A drift-diffusion model for robotic obstacle avoidance. IROS (2015)
Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek
Coordinated Robot Navigation via Hierarchical Clustering. CoRR (2015)
Aaron M. Johnson, Samuel A. Burden, Daniel E. Koditschek
A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems. CoRR (2015)
Avik De, Daniel E. Koditschek
Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped. ISRR (2) (2015)
Thomas Libby, Aaron M. Johnson, Evan Chang-Siu, Robert J. Full, Daniel E. Koditschek
Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation. CoRR (2015)
Anna L. Brill, Avik De, Aaron M. Johnson, Daniel E. Koditschek
Tail-assisted rigid and compliant legged leaping. IROS (2015)
Dan P. Guralnik, Daniel E. Koditschek
Universal Memory Architectures for Autonomous Machines. CoRR (2015)
C. Serkan Karagöz, H. Isil Bozma, Daniel E. Koditschek
Coordinated Navigation of Multiple Independent Disk-Shaped Robots. IEEE Trans. Robotics 30 (6) (2014)
Ömür Arslan, Daniel E. Koditschek
Anytime Hierarchical Clustering. CoRR (2014)
Jeffrey Duperret, Gavin D. Kenneally, J. L. Pusey, Daniel E. Koditschek
Towards a Comparative Measure of Legged Agility. ISER (2014)
Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek
Navigation of Distinct Euclidean Particles via Hierarchical Clustering. WAFR (2014)
Avik De, Karl S. Bayer, Daniel E. Koditschek
Active sensing for dynamic, non-holonomic, robust visual servoing. ICRA (2014)
Avik De, Alejandro Ribeiro, William Moran, Daniel E. Koditschek
Convergence of Bayesian histogram filters for location estimation. CDC (2013)
Aaron M. Johnson, Daniel E. Koditschek
Legged Self-Manipulation. IEEE Access 1 (2013)
Avik De, Daniel E. Koditschek
Toward dynamical sensor management for reactive wall-following. ICRA (2013)
Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek
Discriminative Measures for Comparison of Phylogenetic Trees. CoRR (2013)
Aaron M. Johnson, Daniel E. Koditschek
Toward a vocabulary of legged leaping. ICRA (2013)
Dan P. Guralnik, Daniel E. Koditschek
Toward a memory model for autonomous topological mapping and navigation: The case of binary sensors and discrete actions. Allerton Conference (2012)

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Publication Activity (10 Years)

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Daniel E. Koditschek