Publications — Dan Goldman

PI: Daniel Goldman

Papers

Coming Soon

• Pierce, C. J., Irvine, D., Peng, L., Lu, X., Lu, H., & Goldman, D. I. (2024). Dispersion Relations for Active Undulators in Overdamped Environments. ArXiv.org. https://arxiv.org/abs/2407.13037
• Wang, T., Mankame, N., Fernandez, M., Kojouharov, V., & Goldman, D. I. (2024). AquaMILR: Mechanical intelligence simplifies control of undulatory robots in cluttered fluid environments. ArXiv.org. https://arxiv.org/abs/2407.01733
• Moreau, C., Walker, B. J., Poon, R. N., Soto, D., Goldman, D. I., Gaffney, E. A., & Wan, K. Y. (2024). State-dependent stiffness enhances wave propagation along elastic filaments. ArXiv.org. https://arxiv.org/abs/2402.13844
• Pierce, C. J., Ding, Y., Chong, B., Lu, H., & Goldman, D. I. (2024). Neuromechanical Phase Lags and Gait Adaptation in the NematodeC. elegans. BioRxiv (Cold Spring Harbor Laboratory). https://doi.org/10.1101/2024.05.06.592744
• Liu, B., Wang, T., Kojouharov, V., Frank, & Goldman, D. I. (2023). Robust self-propulsion in sand using simply controlled vibrating cubes. ArXiv.org. https://arxiv.org/abs/2309.13174
• Chong, B., Wang, T., Irvine, D., Kojouharov, V., Lin, B., Choset, H., Goldman, D. I., & Blekherman, G. (2023). Gait design for limbless obstacle aided locomotion using geometric mechanics. ArXiv.org. https://arxiv.org/abs/2302.06561
• Chong, B., Luo, D., Wang, T., Margolis, G., He, J., Agrawal, P., Soljačić, M., & Goldman, D. I. (2023). Geometry of contact: contact planning for multi-legged robots via spin models duality. ArXiv.org. https://arxiv.org/abs/2302.03019
• Levine, H., & Goldman, D. I. (2023). Physics of Smart Matter: integrating active matter and control to gain insights into living systems. ArXiv.org. https://arxiv.org/abs/2302.00234
• Diaz, K., Chong, B., Tarr, S., Erickson, E., & Goldman, D. I. (2022). Water surface swimming dynamics in lightweight centipedes. ArXiv.org. https://arxiv.org/abs/2210.09570
• Diaz, K., Erickson, E., Chong, B., Soto, D., & Goldman, D. I. (2022). Active and passive mechanics for rough terrain traversal in centipedes. BioRxiv (Cold Spring Harbor Laboratory). https://doi.org/10.1101/2022.06.17.496557
• Vardhan, A., Avinery, R., Kedia, H., Li, S., Wiesenfeld, K., & Goldman, D. I. (2022). Gliders in shape-changing active matter. ArXiv.org. https://arxiv.org/abs/2206.04782
• McCaskey, E., Taylor, I., Pierce, C., Ligon, J., Aydin, E., Hunner, C., Carmichael, A., Eserman, L., Emily E.D. Coffey, Benfey, P. N., & Goldman, D. I. (2022). The rhizodynamics robot: Automated imaging system for studying long-term dynamic root growth. BioRxiv (Cold Spring Harbor Laboratory). https://doi.org/10.1101/2022.04.15.488424
• Yasemin Ozkan-Aydin, Liu, B., Alexandra Carruthers Ferrero, Seidel, M., Hammond, F. L., & Goldman, D. I. (2021). Lateral Undulation Aids Biological and Robotic Earthworm Anchoring and Locomotion. BioRxiv (Cold Spring Harbor Laboratory). https://doi.org/10.1101/2021.02.02.429151

2024

2023

2022

• Andras Karsai, Deniz Kerimoglu, Soto, D., Ha, S., Zhang, T., & Goldman, D. I. (2022). Real‐Time Remodeling of Granular Terrain for Robot Locomotion. Advanced Intelligent Systems, 4(12). https://doi.org/10.1002/aisy.202200119
• Tuazon, H., Kaufman, E., Goldman, D. I., & M Saad Bhamla. (2022). Oxygenation-Controlled Collective Dynamics in Aquatic Worm Blobs. Integrative and Comparative Biology, 62(4), 890–896. https://doi.org/10.1093/icb/icac089
• Li, S., Wang, T., Kojouharov, V. H., McInerney, J., Aydin, E., Yasemin Ozkan-Aydin, Goldman, D. I., & D. Zeb Rocklin. (2022). Robotic swimming in curved space via geometric phase. Proceedings of the National Academy of Sciences, 119(31). https://doi.org/10.1073/pnas.2200924119
• Li, S., Yasemin Ozkan-Aydin, Xiao, C., Small, G., Gynai, H. N., Li, G., Rieser, J. M., Laguna, P., & Goldman, D. I. (2022). Field-mediated locomotor dynamics on highly deformable surfaces. Proceedings of the National Academy of Sciences, 119(30). https://doi.org/10.1073/pnas.2113912119
• Chong, B., Wang, T., Erickson, E., Bergmann, P. J., & Goldman, D. I. (2022). Coordinating tiny limbs and long bodies: Geometric mechanics of lizard terrestrial swimming. Proceedings of the National Academy of Sciences, 119(27). https://doi.org/10.1073/pnas.2118456119
• Chong, B., Aydin, Y. O., Rieser, J. M., Guillaume Sartoretti, Wang, T., Whitman, J., Kaba, A., Aydin, E., McFarland, C., Kelimar Diaz Cruz, Rankin, J. W., Michel, K. B., Nicieza, A., Hutchinson, J. R., Howie Choset, & Goldman, D. I. (2022). A general locomotion control framework for multi-legged locomotors. Bioinspiration & Biomimetics, 17(4), 046015–046015. https://doi.org/10.1088/1748-3190/ac6e1b
• Aina, K. O., Ram Avinery, Kuan, H.-S., Betterton, M. D., Michael, & Goldman, D. I. (2022). Toward Task Capable Active Matter: Learning to Avoid Clogging in Confined Collectives via Collisions. Frontiers in Physics, 10. https://doi.org/10.3389/fphy.2022.735667
• Wang, T., Chong, B., Deng, Y., Fu, R., Howie Choset, & Goldman, D. I. (2022). Generalized Omega Turn Gait Enables Agile Limbless Robot Turning in Complex Environments. 2022 International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra46639.2022.9811929
• Wang, G., Phan, T. V., Li, S., Wang, J., Peng, Y., Chen, G., Qu, J., Goldman, D. I., Levin, S. A., Pienta, K., Amend, S., Austin, R. H., & Liu, L. (2022). Robots as models of evolving systems. Proceedings of the National Academy of Sciences, 119(12). https://doi.org/10.1073/pnas.2120019119
• Luyang Robby Huang, Zhu, A., Wang, K., Goldman, D. I., Ruina, A., & Petersen, K. H. (2022). Construction and Excavation by Collaborative Double-Tailed SAW Robots. IEEE Robotics and Automation Letters, 7(2), 3742–3748. https://doi.org/10.1109/lra.2022.314656
• Chong, B., Wang, T., Erickson, E., Bergmann, P. J., & Goldman, D. I. (2022). Coordinating tiny limbs and long bodies: Geometric mechanics of lizard terrestrial swimming. Proceedings of the National Academy of Sciences, 119(27). https://doi.org/10.1073/pnas.211845611

2021

• Ko, H., Cassidy, G. J., Shishkov, O., Aydin, E., Hu, D. L., & Goldman, D. I. (2021). Air-Fluidized Aggregates of Black Soldier fly Larvae. Frontiers in Physics, 9. https://doi.org/10.3389/fphy.2021.734447
• Yasemin Ozkan-Aydin, Liu, B., Alexandra Carruthers Ferrero, Seidel, M., Hammond, F. L., & Goldman, D. I. (2021). Lateral bending and buckling aids biological and robotic earthworm anchoring and locomotion. Bioinspiration & Biomimetics, 17(1), 016001–016001. https://doi.org/10.1088/1748-3190/ac24bf
• Diaz, K., Robinson, T. L., Yasemin Ozkan Aydin, Aydin, E., Goldman, D. I., & Wan, K. Y. (2021). A minimal robophysical model of quadriflagellate self-propulsion. Bioinspiration & Biomimetics, 16(6), 066001–066001. https://doi.org/10.1088/1748-3190/ac1b6e
• Swapnil Pravin, Chang, B., Han, E., London, L., Goldman, D. I., Jaeger, H. M., & S. Tonia Hsieh. (2021). Effect of two parallel intruders on total work during granular penetrations. Physical Review. E, 104(2). https://doi.org/10.1103/physreve.104.024902
• Y. Ozkan-Aydin, and D.I. Goldman, “Self-reconfigurable multilegged robot swarms collectively accomplish challenging terradynamic tasks,” Science Robotics 6(56), (2021).
• N.D. Naclerio, A. Karsai, M. Murray-Cooper, Y. Ozkan-Aydin, E. Aydin, D.I. Goldman, and E.W. Hawkes, “Controlling subterranean forces enables a fast, steerable, burrowing soft robot,” Science Robotics 6(55), (2021).
• S. Li, B. Dutta, S. Cannon, J.J. Daymude, R. Avinery, E. Aydin, A.W. Richa, D.I. Goldman, and D. Randall, “Programming active cohesive granular matter with mechanically induced phase changes,” Science Advances 7(17), (2021).
• S. Agarwal, A. Karsai, D.I. Goldman, and K. Kamrin, “Surprising simplicity in the modeling of dynamic granular intrusion,” Science Advances 7(17), (2021).
• B. Chong, Y.O. Aydin, C. Gong, G. Sartoretti, Y. Wu, J.M. Rieser, H. Xing, P.E. Schiebel, J.W. Rankin, K.B. Michel, A. Nicieza, J.R. Hutchinson, D.I. Goldman, and H. Choset, “Coordination of lateral body bending and leg movements for sprawled posture quadrupedal locomotion,” The International Journal of Robotics Research 40(4–5), 747–763 (2021).
• Wang, G., Phan, T. V., Li, S., Wombacher, M., Qu, J., Peng, Y., Chen, G., Goldman, D. I., Levin, S. A., Austin, R. H., & Liu, L. (2021). Emergent Field-Driven Robot Swarm States. Physical Review Letters, 126(10). https://doi.org/10.1103/physrevlett.126.108002
• Wang, T., Lin, B., Chong, B., Whitman, J., Travers, M., Goldman, D. I., Blekherman, G., & Howie Choset. (2021). Reconstruction of Backbone Curves for Snake Robots. IEEE Robotics and Automation Letters, 6(2), 3264–3270. https://doi.org/10.1109/lra.2021.3062331
• Taylor, I., Lehner, K., McCaskey, E., Niba Nirmal, Yasemin Ozkan-Aydin, Murray-Cooper, M., Jain, R., Hawkes, E. W., Ronald, P. C., Goldman, D. I., & Benfey, P. N. (2021). Mechanism and function of root circumnutation. Proceedings of the National Academy of Sciences, 118(8). https://doi.org/10.1073/pnas.2018940118
• Rieser, J. M., Li, T.-D., Tingle, J. L., Goldman, D. I., & Mendelson, J. R. (2021). Functional consequences of convergently evolved microscopic skin features on snake locomotion. Proceedings of the National Academy of Sciences, 118(6). https://doi.org/10.1073/pnas.2018264118
• Yasemin Ozkan-Aydin, Goldman, D. I., & M. Saad Bhamla. (2021). Collective dynamics in entangled worm and robot blobs. Proceedings of the National Academy of Sciences, 118(6). https://doi.org/10.1073/pnas.2010542118
• Agarwal, S., Andras Karsai, Goldman, D. I., & Kamrin, K. (2021). Efficacy of simple continuum models for diverse granular intrusions. Soft Matter, 17(30), 7196–7209. https://doi.org/10.1039/d1sm00130b
• P. Chvykov, T.A. Berrueta, A. Vardhan, W. Savoie, A. Samland, T.D. Murphey, K. Wiesenfeld, D.I. Goldman, and J.L. England, “Low rattling: A predictive principle for self-organization in active collectives,” Science 371(6524), 90–95 (2021).

2020

• ”Comparative study of snake lateral undulation kinematics in model heterogeneous terrain”, Perrin E. Schiebel, Alex M. Hubbard, Daniel I. Goldman, Integrative and Comparative Biology, in review 2020.
•  “Self-propulsion on spandex: toward a robotic analog gravity system”, Shengkai Li, Yasemin Ozkan Aydin, Gabriella Small, Charles Xiao, Jennifer M. Rieser, Hussain N. Gynai, Pablo Laguna, and Daniel I. Goldman, Science Robotics, in review, 2020.
•  “Side-Impact Collision: Mechanics of Obstacle Negotiation in Sidewinding Snakes”, Henry C. Astley, Jennifer M. Rieser, Abdul Kaba, Veronica M. Paez, Ian Tomkinson, Joseph R. Mendelson III, and Daniel I. Goldman, Bioinspiration & Biomimetics, in review 2020.
•  “Geometric phase predicts high performance self-propulsion in undulating living systems”, Jennifer M. Rieser, Chaohui Gong, Henry C. Astley, Perrin E. Schiebel, Ross L. Hatton, Howie Choset, Daniel I. Goldman, Nature Physics, in revision 2020.
•  “Material remodeling on granular terrain yields robustness benefits for a robophysical rover”, Siddharth Shrivastava, Andras Karsai, Yasemin Ozkan Aydin, Ross Pettinger, William Bluethmann, Robert O. Ambrose, Daniel I. Goldman, Science Robotics, accepted 2020.
•  “Mitigating memory effects during undulatory locomotion on hysteretic materials”, Perrin E. Schiebel, Henry C. Astley, Jennifer M. Rieser, Shashank Agarwal, Christian Hubicki, Alex M. Hubbard, Kelimar Diaz, Joseph Mendelson III, Ken Kamrin, Daniel I. Goldman, elife, accepted 2020.
•  “Coordination of Lateral Body Bending and Leg Movements for Sprawled Posture Quadrupedal Locomotion”, Baxi Chong, Yasemin Ozkan Aydin, Chaohui Gong, Guillaume Sartoretti, Yunjin Wu, Jennifer M Rieser, Haosen Xing, Perrin E Schiebel, Jeffery W. Rankin, Krijn B Michel, Alfredo Nicieza, John R Hutchinson, Daniel I Goldman, and Howie Choset, International Journal of Robotic Research, accepted, 2020.
• “Surprising simplicities and syntheses in limbless self-propulsion in sand”, Henry C. Astley, Joseph R. Mendelson III, Jin Dai, Chaohui Gong, Baxi Chong, Jennifer M. Rieser, Perrin E. Schiebel, Sarah S. Sharpe, Ross L. Hatton, Howie Choset, Daniel I. Goldman, Journal of Experimental Biology (2020).

2019

•  “Modeling of the interaction of rigid wheels with dry granular media”, Shashank Agarwal, Carmine Senatore, Tingnan Zhang, Mark Kingsbury, Karl Iagnemma, Daniel I. Goldman, Ken Kamrin, Journal of Terramechanics (2019), Vol.85, Pages 1-14.
• “A robot made of robots: Emergent transport and control of a smarticle ensemble”, William Savoie, Thomas A. Berrueta, Zachary Jackson, Ana Pervan, Ross Warkentin, Shengkai Li, Todd D. Murphey, Kurt Wiesenfeld and Daniel I. Goldman, Science Robotics (2019), Vol.4, Issue 34.
• “Dynamics of scattering in undulatory active collisions”, Jennifer M. Rieser, Perrin E. Schiebel, Arman Pazouki, Feifei Qian, Zachary Goddard, Kurt Wiesenfeld, Andrew Zangwill, Dan Negrut, and Daniel I. Goldman, Physical Review E, Volume 99, Issue 2, 022606 (2019).
• ”Mechanical diffraction reveals the role of passive dynamics in a slithering snake”, Perrin E. Schiebel, Jennifer M. Rieser, Alex M. Hubbard, Lillian Chen, D. Zeb Rocklin, and Daniel I Goldman, Proceedings of the National Academy of Sciences (2019).

2018

•  “Collective clog control: Optimizing traffic flow in confined biological and robophysical excavation”, J. Aguilar, D. Monaenkova, V. Linevich, W. Savoie, B. Dutta, H.S. Kuan, M. D. Betterton, M. A. D. Goodisman, D. I. Goldman, Science, Volume 361, Issue 6403, pp. 672-677 (2018).
• ”Phototactic Supersmarticles”, William Savoie, Sarah Cannon, Joshua J. Daymude, Ross Warkentin, Shengkai Li, Andréa W. Richa, Dana Randall, Daniel I. Goldman Artificial Life and Robotics Volume 23, Issue 4, pp 459–468 (2018).

2017

• “Collisional Diffraction Emerges from Simple Control of Limbless Locomotion”, Perrin E Schiebel, Jennifer M Rieser, Alex Hubbard, Lillian Chen, and Daniel I. Goldman, in Conference on Biomimetic and Biohybrid Systems (611-618), Springer (2017)

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, 171, 2028-2040 (2016).
• “Tail use improves soft substrate performance in models of early vertebrate land locomotors”, Benjamin McInroe, Henry C. Astley, Chaohui Gong, Sandy M. Kawano, Perrin E. Schiebel, Jennifer M. Rieser, Howie Choset, Richard W. Blob, Daniel I. Goldman, Science, 353, 154-158, (2016).

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)