Goldman Lab

PI: Daniel Goldman

 

Papers

2016
  • A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems, Jeffrey Aguilar,Tingnan Zhang, Feifei Qian, Mark Kingsbury, Benjamin McInroe, Nicole Mazouchova, Chen Li, Ryan Maladen, Chaohui Gong, Matt Travers, Ross L. Hatton, Howie Choset, Paul B. Umbanhowar, and Daniel I. Goldman, Reports on Progress in Physics, in press (2016)
  • X-ray computed tomography reveals the response of root system architecture to soil texture, Eric Rogers, Daria Monaenkova, Medhavinee Mijar, Apoorva Nori, Daniel I. Goldman, and Philip Benfey, Plant Physiology, (In review).
2015
  • Robophysical study of jumping dynamics on granular media, Jeffrey Aguilar and Daniel I. Goldman, Nature Physics, 12, 278-283 (2016).
  • Glass-like dynamics in confined and congested ant traffic, Nick Gravish, Gregory Gold, Andrew Zangwill, Michael A. D. Goodisman and Daniel I. Goldman, Soft Matter, 11, 6552-6561 (2015).
  • Behavioral and mechanical determinants of collective subsurface nest excavation, Daria Monaenkova, Nick Gravish, Greggory Rodriguez, Rachel Kutner, Michael A. D. Goodisman and Daniel I. Goldman, J. Exp. Biol. 218, 1295-1305 (2015).
  • Modulation of orthogonal body waves enables high maneuverability in sidewinding locomotion, Henry C. Astley, Chaohui Gong, Jin Dai, Matthew Travers, Miguel M. Serrano, Patricio A. Vela, Howie Choset, Joseph R. Mendelson III, David L. Hu, and Daniel I. Goldman, PNAS, 112, 6200 (2015).
  • Beneath our feet: strategies for locomotion in granular media, A.E. Hosoi and Daniel I. Goldman, Annual Review of Fluid Mechanics, 47, 431-453 (2015)
  • Robophysical Study of Excavation in the Confined Environments, Vadim Linevich, Daria Monaenkova and Daniel I. Goldman, SWARM 2015 conference paper (2015)
  • Smarticles: design and construction of smart particles to aid discovery of principles of smart, active granular matter, William Savoie, Arman Pazouki, Dan Negrut, and Daniel I. Goldman, SWARM 2015 conference paper (2015)
  • Locomotor benefits of being a slender and slick sand-swimmer, Sarah S. Sharpe, Stephan A. Koehler, Robyn Kuckuk, Miguel Serrano, Patricio Vela, Joseph Mendelson III, and Daniel I. Goldman, Journal of Experimental Biology, 218, 440-450 (2015)
  • Controlled preparation of wet granular media reveals limits to lizard burial ability, Sarah S. Sharpe, Robyn Kuckuk, and Daniel I. Goldman, Physical Biology, 12, 046009 (2015)
  • Principles of appendage design in robots and animals determining terradynamic performance on flowable ground, Feifei Qian, Tingnan Zhang, Wyatt L. Korff, Paul B. Umbanhowar, Robert J. Full, and Daniel I. Goldman, Bioinspiration & Biomimetics (2015)
  • Kinematic gait synthesis for snake robots, Chaohui Gong, Matthew J. Travers, Henry C. Astley, Lu Li, Joseph R. Mendelson III, Daniel I. Goldman, and Howie Choset, IJRR (2015)
  • Anticipatory control using substrate manipulation enables trajectory control of legged locomotion on heterogeneous granular media, Feifei Qian and Daniel I. Goldman, SPIE (2015)
  • The dynamics of legged locomotion in heterogeneous terrain: universal scattering and sensitivity to initial conditions, Feifei Qian and Daniel I. Goldman, Robotics: Science & Systems (RSS), accepted (2015)
2014
  • The effectiveness of resistive force theory in granular locomotion, Tingnan Zhang and Daniel I. Goldman, Physics of Fluids, 26, 101308 (2014)
  • Sidewinding with minimal slip: snake and robot ascent of sandy slopes, Hamidreza Marvi, Chaohui Gong, Nick Gravish, Henry Astley, Matthew Travers, Ross L. Hatton, Joseph R. Mendelson III, Howie Choset, David L. Hu, and Daniel I. Goldman, Science, 346, 224 (2014)
  • The effect of volume fraction on granular avalanche dynamics, Nick Gravish, and Daniel I. Goldman, Physical Review E, 90, 032202 (2014)
  • Force and flow at the onset of drag in plowed granular media, Nick Gravish, Paul B Umbanhowar, and Daniel I. Goldman, Physical Review E, 89, 042202 (2014) 
  • Colloquium: Biophysical principles of undulatory self-propulsion in granular media, Daniel I. Goldman, Reviews of Modern Physics, 86, 943 (2014)
  • Conditioned basis array factorization: an approach to gait pattern extraction, Chaohui Gong, Matthew Travers, Henry Astley, Lu Li, Joe Mendelson, David Hu, Daniel I. Goldman, Howie Choset, RSS (2014)
2013
  • Swimming in the desert, Yang Ding, Chen Li, and Daniel I. Goldman, Physics Today, November, pg. 68 (2013)
  • Emergence of the advancing neuromechanical phase lag in a resistive force dominated medium, Yang Ding, Sarah S. Sharpe, Kurt Wiesenfeld, and Daniel I. Goldman, PNAS, 110, 10123-10128 (2013) 
  • Climbing, falling and jamming during ant locomotion in confined environments, Nick Gravish, Daria Monaenkova, Michael A. D. Goodisman, and Daniel I. Goldman, PNAS, 110, 9746-9751 (2013)
  • A terradynamics of legged locomotion on granular media, Chen Li, Tingnan Zhang, and Daniel I. Goldman, Science, 339, 1408 (2013) 
  • Geometric visualization of self-propulsion in a complex medium, Ross Hatton, Yang Ding, Howie Choset, and Daniel I. Goldman, Physical Review Letters 110, 078101 (2013)
  • Flipper driven terrestrial locomotion of a sea turtle inspired robot, Nicole Mazouchova, Paul B. Umbanhowar, and Daniel I. Goldman, Bioinspiration & Biomimetics, 8, 026007 (2013)
  • Ground fluidization promotes rapid running of a lightweight robot, Tingnan Zhang, Feifei Qian, Chen Li, Pierangelo Masarati, Paul Birkmeyer, Andrew Pullin, Aaron Hoover, Ronald S. Fearing, and Daniel I. Goldman, International Journal of Robotics Research, 32, 859 (2013)
  • An automated system for systematic testing of locomotion on heterogeneous granular media, Feifei Qian, Tingnan Zhang, Kevin Daffon, and Daniel I. Goldman, CLAWAR (2013)
2012
  • Environmental interaction influences muscle activation strategy during sand-swimming in the sandfish lizard (Scincus scincus), Sarah S. Sharpe, Yang Ding, and Daniel I. Goldman, Journal of Experimental Biology, 216, 260 (2012)
  • Mechanics of undulatory swimming in a frictional fluid, Yang Ding, Sarah S. Sharpe, Andrew Masse, and Daniel I. Goldman, PLoS Computational Biology, 8(12): e1002810 (2012)
  • Lift-off dynamics in a simple jumping robot, Jeffrey Aguilar, Alex Lesov, Kurt Wiesenfeld and Daniel I. Goldman, Physical Review Letters, 109, 174301 (2012)
  • Entangled granular media, Nick Gravish, Scott V. Franklin, David L. Hu, and Daniel I. Goldman, Physical Review Letters, 108, 208001 (2012)
  • Effects of worker size on the dynamics of fire ant tunnel construction, Nick Gravish, Mateo Garcia, Nicole Mazouchova, Laura Levy, Paul B. Umbanhowar, Michael A. D. Goodisman, and Daniel I. Goldman, Journal of the Royal Society Interface, 9, 3312 (2012)
  • Multi-functional foot use during running of the zebra-tailed lizard (Callisaurus draconoides), Chen Li, S. Tonia Hsieh, and Daniel I. Goldman, Journal of Experimental Biology, 215, 3293, (2012)
  • Walking and running on yielding and fluidizing ground, Feifei Qian, Tingnan Zhang, Chen Li, Pierangelo Masarati, Paul Birkmeyer, Andrew Pullin, Aaron Hoover, Ronald S. Fearing, and Daniel I. Goldman, Robotics: Science and Systems (RSS) conference (2012)
  • Using computational and mechanical models to study animal locomotion, Laura A. Miller, Daniel I. Goldman, Tyson L. Hedrick, Eric D. Tytell, Jane Wang, Jeannette Yen, and Silas Alben, Integrative and Comparative Biology, 52, 553 (2012)
  • Geometric mechanics for sand swimming, Ross Hatton, Yang Ding, Howie Choset, and Daniel I. Goldman, CLAWAR (2012) (Runner-up for Best Paper Award)
  • A resistive force model for legged locomotion on granular media, Chen Li, Tingnan Zhang, and Daniel I. Goldman, CLAWAR (2012)
  • Towards a terramechanics for bio-inspired locomotion in granular environments, Chen Li, Yang Ding, Nick Gravish, Paul B. Umbanhowar, Haldun Komsuoglu, Daniel E. Koditschek, and Daniel I. Goldman, ASCE, Earth and Space 2012 conference (2012)
2011
  • Mechanical models of sandfish locomotion reveal principles of high performance subsurface sand-swimming, Ryan D. Maladen, Yang Ding, Paul B. Umbanhowar, Adam Kamor, and Daniel I. Goldman, Journal of the Royal Society Interface, 8, 1332-1345 (2011)
  • Drag induced lift in granular media, Yang Ding, Nick Gravish and Daniel I. Goldman, Physical Review Letters, 106, 028001 (2011)
  • Granular lift forces predict vertical motion of a sand-swimming robot, Ryan D. Maladen, Paul B. Umbanhowar, Yang Ding, Andrew Masse and Daniel I. Goldman, ICRA, (2011)
  • Undulatory swimming in sand: experimental and simulation studies of a robotic sandfish, Ryan D. Maladen, Yang Ding, Paul B. Umbanhowar, and Daniel I. Goldman, International Journal of Robotic Research, 30, 793-805 (2011)
  • Comparative studies reveal principles of movement on and within granular media, Yang Ding, Nick Gravish, Chen Li, Ryan D. Maladen, Nicole Mazouchova, Sarah S. Sharpe, Paul B. Umbanhowar, and Daniel I. Goldman, IMA Workshop on Locomotion (2011)

 

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