Affiliated Labs

TUTORIALS

• IROS 2017

• SBPL (Search Based Planning Lab at Carnegie Melon Robotics Institute)

PUBLICATIONS

• Austin, M., Brown, J., Nicholson, J., and Clark, J. (November 8, 2022). "Dyno-Kinematic Leg Design for High Energy Robotic Locomotion." ASME. J. Mechanisms Robotics. June 2023; 15(3): 031001.

• M. Austin, A. Chase, B. Van Stratum, and J. E. Clark, “Aquaclimber: a limbed swimming and climbing robot based on reduced order models,” Bioinspiration & Biomimetics, 2022.

• Gallentine, J, Barth, EJ, Galloway, K, Van Stratum, B, Clark, J, & Shoele, K. "A Multimodal Climbing-Swimming Soft Robotic Lamprey." Proceedings of the BATH/ASME 2022 Symposium on Fluid Power and Motion Control. BATH/ASME 2022 Symposium on Fluid Power and Motion Control. Bath, UK. September 14–16, 2022.

• M. Austin et al., "Optimizing Dynamic Legged Locomotion in Mixed, Resistive Media," 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2022, pp. 1482-1488

• M. P. Austin and J. E. Clark, "The Fluid Field SLIP Model: Terrestrial-Aquatic Dynamic Legged Locomotion," 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 4948-4954, doi: 10.1109/ICRA48506.2021.9561102.

• S. Gart, R. Alicea, W. Gao, J. Pusey, J. V. Nicholson, and J. E. Clark, “Legged locomotion in resistive terrains,” Bioinspiration & Biomimetics, vol. 16, no. 2, p. 025001, 2021.

• J. V. Nicholson, S. Gart, J. Pusey and J. E. Clark, "Evaluating the Efficacy of Parallel Elastic Actuators on High-Speed, Variable Stiffness Running," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 3641-3648

• J. Hackett, W. Gao, M. Daley, J. Clark and C. Hubicki, "Risk-constrained Motion Planning for Robot Locomotion: Formulation and Running Robot Demonstration," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 3633-3640

• St Pierre, R., Gao, W., Clark, J. E., & Bergbreiter, S. (2020). Viscoelastic legs for open-loop control of gram-scale robots. Bioinspiration & Biomimetics, 15(5), 055005.

• J. M. Brown, D. Peterson, J. Schmitt, N. Gravish, and J. E. Clark, “Impact of slope on dynamics of running and climbing,” Bioinspiration & biomimetics, vol. 15, no. 5, p. 056005, 2020.

• W. Gao, C. Young, J. Nicholson, C. Hubicki and J. Clark, "Fast, Versatile, and Open-loop Stable Running Behaviors with Proprioceptive-only Sensing using Model-based Optimization," 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 483-489

• Van Stratum, B., Clark, J., & Shoele, K. (2020). The Effects of Internal Damping on Locomotion in Frictional Environments. In APS Division of Fluid Dynamics Meeting Abstracts (pp. Q03-030).

• J. Nicholson et al., "LLAMA: Design and Control of an Omnidirectional Human Mission Scale Quadrupedal Robot," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 3951-3958

• Harper, M. et al. (2020). Model Refinement for Terrain Responsive Planning on a Dynamic Running Quadruped. In: Xiao, J., Kröger, T., Khatib, O. (eds) Proceedings of the 2018 International Symposium on Experimental Robotics. ISER 2018. Springer Proceedings in Advanced Robotics, vol 11. Springer, Cham.

• M. P. Austin, M. Y. Harper, J. M. Brown, E. G. Collins and J. E. Clark, "Navigation for Legged Mobility: Dynamic Climbing," in IEEE Transactions on Robotics, vol. 36, no. 2, pp. 537-544, April 2020

• R. Alicea, K. Ladyko and J. Clark, "Lift Your Leg: Mechanics of Running Through Fluids," 2019 International Conference on Robotics and Automation (ICRA), 2019, pp. 7455-7461

• C. Lenon, M. Childers, M. Harper, C. Ordonez, N. Gupta, J. Pace, R. Kopinsky, A. Sharma, E. Collins, and J. Clark, “US Army Research Laboratory (ARL) Assessment of Energy-Efficient and Model-Based Control,” ARL-TR-8042, June 2017. [bib | pdf] 

• E. Baum, M. Harper, R. Alicea, C. Ordonez, "Sound Identification for Fire-Fighting Mobile Robots," IEEE IRC 2018, Laguna, CA, Jan. 31 - Feb. 2, 2018. [bib | pdf]

• N. Gupta, G. Francis, J. Ospina, A. Newaz, E. G. Collins, Jr., O. Faruque, R. Meeker and M. Harper, "Cost Optimal Control of Microgrids Having Solar Power and Energy Storage," submitted to IEEE Power & Energy Society Transmission & Distribution Conference & Exposition 2018 (IEEE PES T&D 2018]). [bib | pdf]