Publications

 

Journal Articles

  1. On Developing and Performing with a 4-Foot SpiderHarp Instrument
    Chet Udell, Andrew Otto, Nathan Justus, and Ross Hatton. 
    Computer Music Journal, 1-18, 2025.
  2. Geometrically Modulable Gait Design for Quadrupeds
    Hari Krishna Hari Prasad, Ross L. Hatton, and Kaushik Jayaram. 
    IEEE Robotics and Automation Letters, 9, 7142-7149, 2024.
  3. Geometric phase predicts locomotion performance in undulating living systems across scales
    Jennifer M. Rieser, Baxi Chong, Chaohui Gong, Henry C. Astley, Perrin E. Schiebel, Kelimar Diaz, Christopher J. Pierce, Hang Lu, Ross L. Hatton, Howie Choset, and Daniel I. Goldman. 
    Proceedings of the National Academy of Sciences, 121, e2320517121, 2024.
  4. Optimal Control of Robotic Systems and Biased Riemannian Splines
    Alejandro Cabrera and Ross L. Hatton. 
    ESAIM: Control, Optimisation and Calculus of Variations, 30, 1–35, 2024.
  5. Optimal gaits for inertia-dominated swimmers with passive elastic joints
    Nathan Justus and Ross Hatton. 
    Phys. Rev. E, 109, 034602, 2024.
  6. Geometric analysis of gaits and optimal control for three-link kinematic swimmers
    Oren Wiezel, Suresh Ramasamy, Nathan Justus, Yizhar Or, and Ross L. Hatton. 
    Automatica, 158, 111223, 2023.
  7. Geometric Mechanics of Contact-Switching Systems
    Hari Krishna Hari Prasad, Ross L. Hatton, and Kaushik Jayaram. 
    IEEE Robotics and Automation Letters, 8, 8343-8349, 2023.
  8. Web Vibrations in Intraspecific Contests of Female Black Widow Spiders, Latrodectus hesperus
    Rodrigo Krugner, Crystal Espindola, Nathan Justus, and Ross L Hatton. 
    Environmental Entomology, 52, 169-174, 2023.
  9. Curvilinear Kirigami Skins Let Soft Bending Actuators Slither Faster
    Callie Branyan, Ahmad Rafsanjani, Katia Bertoldi, Ross L. Hatton, and Yiğit Mengüç. 
    Frontiers in Robotics and AI, 9, 2022.
  10. The Geometry of Optimal Gaits for Inertia-Dominated Kinematic Systems
    Ross L. Hatton, Zachary Brock, Shuoqi Chen, Howie Choset, Hossein Faraji, Ruijie Fu, Nathan Justus, and Suresh Ramasamy. 
    IEEE Transactions on Robotics, 38, 3279-3299, 2022.
  11. Validation of a Novel Stereo Vibrometry Technique for Spiderweb Signal Analysis
    Nathan Justus, Rodrigo Krugner, and Ross L. Hatton. 
    Insects, 13, 2022.
  12. Data-driven geometric system identification for shape-underactuated dissipative systems
    Brian Bittner, Ross L Hatton, and Shai Revzen. 
    Bioinspiration \& Biomimetics, 17, 026004, 2022.
  13. Optimal gaits for drag-dominated swimmers with passive elastic joints
    Suresh Ramasamy and Ross L Hatton. 
    Physical Review E, 103, 032605, 2021.
  14. Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model
    Kevin Green, Yesh Godse, Jeremy Dao, Ross L Hatton, Alan Fern, and Jonathan Hurst. 
    IEEE Robotics and Automation Letters, 6, 3926–3932, 2021.
  15. An Euler--Bernoulli beam model for soft robot arms bent through self-stress and external loads
    Gina Olson, Ross L Hatton, Julie A Adams, and Yiğit Mengüç. 
    International Journal of Solids and Structures, 207, 113–131, 2020.
  16. Snake-Inspired Kirigami Skin for Lateral Undulation of a Soft Snake Robot
    Callie Branyan, Ross L Hatton, and Yiğit Mengüç. 
    IEEE Robotics and Automation Letters, 5, 1728–1733, 2020.
  17. Surprising simplicities and syntheses in limbless self-propulsion in sand
    Henry C Astley, Joseph R Mendelson, Jin Dai, Chaohui Gong, Baxi Chong, Jennifer M Rieser, Perrin E Schiebel, Sarah S Sharpe, Ross L Hatton, Howie Choset, and others. 
    Journal of Experimental Biology, 223, 2020.
  18. The Geometry of Optimal Gaits for Drag-Dominated Kinematic Systems
    Suresh Ramasamy and Ross L. Hatton. 
    IEEE Transactions on Robotics, 35, 1014–1033, 2019.
  19. Robot Leg Design: A Constructive Framework
    S. Rezazadeh, A. Abate, R. L. Hatton, and J. W. Hurst. 
    IEEE Access, 6, 54369–54387, 2018.
  20. Geometrically optimal gaits: a data-driven approach
    Brian Bittner, Ross L. Hatton, and Shai Revzen. 
    Nonlinear Dynamics, 2018.
  21. Kinematic Cartography and the Efficiency of Viscous Swimming
    Ross L. Hatton, Tony Dear, and Howie Choset. 
    IEEE Transactions on Robotics, 33, 523–535, 2017.
  22. 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 and Daniel I. Goldman. 
    Reports on Progress in Physics, 79, 110001, 2016.
  23. Nonconservativity and Noncommutativity in Locomotion
    Ross L. Hatton and Howie Choset. 
    European Physical Journal Special Topics: Dynamics of Animal Systems, 224, 3141–3174, 2015.
  24. Why the seahorse tail is square
    Michael M. Porter, Dominique Adriaens, Ross L. Hatton, Marc A. Meyers, and Joanna McKittrick. 
    Science, 349, 2015.
  25. Evaluation of linear and revolute underactuated grippers for steel foundry operations
    Ryan Carpenter, Ross L. Hatton, and Ravi Balasubramanian. 
    Industrial Robot: An International Journal, 42, 314–323, 2015.
  26. 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, 224–229, 2014.
  27. Geometric Swimming at Low and High Reynolds Numbers
    Ross L. Hatton and Howie Choset. 
    IEEE Transactions on Robotics, 29, 615–624, 2013.
  28. Geometric Visualization of Self-Propulsion in a Complex Medium
    R. L. Hatton, H. Choset, Y. Ding, and D. I. Goldman. 
    Physical Review Letters, 110, 078101, 2013.
  29. Geometric Motion Planning: The Local Connection, Stokes' Theorem, and the Importance of Coordinate Choice
    Ross L. Hatton and Howie Choset. 
    International Journal of Robotics Research, 30, 988–1014, 2011.
  30. Two-link swimming using buoyant orientation
    Lisa J. Burton, Ross L. Hatton, Howie Choset, and Anette E. Hosoi. 
    Physics of Fluids, 22, 091703, 2010.
  31. Generating Gaits for Snake Robots: Annealed Chain Fitting and Keyframe Wave Extraction
    Ross L. Hatton and Howie Choset. 
    Autonomous Robots, Special Issue on Locomotion, 28, 271–281, 2010.
  32. Parameterized and Scripted Gaits for Modular Snake Robots
    Matthew Tesch, Kevin Lipkin, Isaac Brown, Ross Hatton, Aaron Peck, Justine Rembisz, and Howie Choset. 
    Advanced Robotics, 23, 1131–1158, 2009.

Refereed Conference Proceedings

  1. Geometric Gait Optimization for Kinodynamic Systems Using a Lie Group Integrator
    Yanhao Yang and Ross L. Hatton. 
    2025 Robotics: Science and Systems (RSS) conference, 2025.
  2. Geometric Design and Gait Co-Optimization for Soft Continuum Robots Swimming at Low and High Reynolds Numbers
    Yanhao Yang and Ross L. Hatton. 
    2025 IEEE International Conference on Robotics and Automation (ICRA), 2025.
  3. Optimal Control Approach for Gait Transition with Riemannian Splines
    Jinwoo Choi and Ross L. Hatton. 
    2024 IEEE 63rd Conference on Decision and Control (CDC), 3585-3591, 2024.
  4. Towards Geometric Motion Planning for High-Dimensional Systems: Gait-Based Coordinate Optimization and Local Metrics
    Yanhao Yang, Capprin Bass, and Ross L. Hatton. 
    2024 IEEE International Conference on Robotics and Automation (ICRA), 18494-18500, 2024.
  5. Geometric Gait Optimization for Inertia-Dominated Systems With Nonzero Net Momentum
    Yanhao Yang and Ross L. Hatton. 
    IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023.
  6. HISSbot: Sidewinding with a Soft Snake Robot
    Farhan Rozaidi, Emma Waters, Olivia Dawes, Jennifer Yang, Joseph R. Davidson, and Ross L. Hatton. 
    2023 IEEE International Conference on Soft Robotics (RoboSoft), 1-7, 2023.
  7. Linear Kinematics for General Constant Curvature and Torsion Manipulators
    Bill Fan, Farhan Rozaidi, Capprin Bass, Gina Olson, Melinda Malley, and Ross L Hatton. 
    2023 IEEE International Conference on Soft Robotics (RoboSoft), 1-7, 2023.
  8. Modular Sensor Integration into Soft Robots using Stretchable Wires for Nuclear Infrastructure Inspection and Radiation Spectroscopy
    Calder Wilson, Joseph Karam, Callen Votzke, Farhan Rozaidi, Camille J. Palmer, Ross L. Hatton, and Matthew L. Johnston. 
    2023 IEEE International Conference on Soft Robotics (RoboSoft), 1-6, 2023.
  9. Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning
    Ryan Batke, Fangzhou Yu, Jeremy Dao, Jonathan Hurst, Ross L. Hatton, Alan Fern, and Kevin Green. 
    2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 714-721, 2022.
  10. Amoeba-inspired swimming through isoperimetric modulation of body shape
    Curtis Sparks, Nathan Justus, Ross Hatton, and Nick Gravish. 
    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2685-2692, 2022.
  11. Motion Planning for Agile Legged Locomotion using Failure Margin Constraints
    Kevin Green, John Warila, Ross L. Hatton, and Jonathan Hurst. 
    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 10350-10355, 2022.
  12. Optimal Gait Families using Lagrange Multiplier Method
    Jinwoo Choi, Capprin Bass, and Ross L. Hatton. 
    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 8873-8878, 2022.
  13. Characterizing Error in Noncommutative Geometric Gait Analysis
    Capprin Bass, Suresh Ramasamy, and Ross L. Hatton. 
    2022 International Conference on Robotics and Automation (ICRA), 9845-9851, 2022.
  14. Enhancing Maneuverability via Gait Design
    Siming Deng, Ross L. Hatton, and Noah J. Cowan. 
    2022 International Conference on Robotics and Automation (ICRA), 5799-5805, 2022.
  15. Geometric Motion Planning for a System on the Cylindrical Surface
    Shuoqi Chen, Ruijie Fu, Ross Hatton, and Howie Choset. 
    2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3643-3649, 2021.
  16. Planning for the unexpected: Explicitly optimizing motions for ground uncertainty in running
    Kevin Green, Ross L Hatton, and Jonathan Hurst. 
    2020 IEEE International Conference on Robotics and Automation (ICRA), 1445–1451, 2020.
  17. Evaluation of a Circumferential Extending Antagonist Actuator in a Soft Arm
    Max Asselmeier, Ross L Hatton, Yi{\u{g}}it Mengü{\c{c}}, and Gina Olson. 
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 402–409, 2020.
  18. A comparison of lateral dynamic models for tractor-trailer systems
    Zachary Brock, James Nelson, and Ross L Hatton. 
    2019 IEEE Intelligent Vehicles Symposium (IV), 2052–2059, 2019.
  19. Aesthetics of curvature bases for sketches
    Keith Lippincott, Ross L Hatton, and Cindy Grimm. 
    Proceedings of the 8th ACM/Eurographics Expressive Symposium on Computational Aesthetics and Sketch Based Interfaces and Modeling and Non-Photorealistic Animation and Rendering, 101–110, 2019.
  20. Modeling Transverse Vibration in Spider Webs Using Frequency-based Dynamic Substructuring
    Andrew W. Otto, Damian O. Elias, and Ross L. Hatton. 
    Proceedings of the Society for Experimental Mechanics IMAC XXXVI, 2018.
  21. Soft snake robots: Mechanical design and geometric gait implementation
    C. Branyan, C. Fleming, J. Remaley, A. Kothari, K. Tumer, R. L. Hatton, and Y. Mengüç. 
    2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 282–289, 2017.
  22. Geometric Gait Optimization Beyond Two Dimensions
    Suresh Ramasamy and Ross L. Hatton. 
    American Control Conference, 642–648, 2017.
  23. Soap-bubble Optimization of Gaits
    Suresh Ramasamy and Ross L. Hatton. 
    The Proceedings of the IEEE Conference on Decision and Control, 1056–1062, 2016.
  24. Geometric Swimming on a Granular Surface
    Jin Dai, Hossein Faraji, Chaohui Gong, Ross L. Hatton, Daniel I. Goldman, and Howie Choset. 
    Proceedings of the Robotics: Science and Systems Conference, 1–8, 2016.
  25. Mechanical Antagonism in Legged Robots
    Andy Abate, Jonathan W. Hurst, and Ross L. Hatton. 
    Proceedings of the Robotics: Science and Systems Conference, 1–8, 2016.
  26. Aiming and Vaulting: Spider-Inspired Leaping for Jumping Robots
    Hossein Faraji and Ross L. Hatton. 
    Proceedings of the IEEE International Conference on Robotics and Automation, 2082–2087, 2016.
  27. Impulse Redirection of a Tethered Projectile
    Hossein Faraji, Stephanie Veile, Samantha Hemleben, Pavel Zaytsev, Joel Wright, Hans Luchsinger, and Ross L. Hatton. 
    Proceedings of the ASME Dynamic Systems and Controls Conference (DSCC), V003T43A002, 2015.
  28. Passive-Dynamic Leg Design for Agile Robots
    Andy Abate, Ross L. Hatton, and Jonathan Hurst. 
    Proceedings of the IEEE International Conference on Robotics and Automation, 4519–4524, 2015.
  29. Wrapping a Target with a Tethered Projectile
    Lucas Hill, Thomas Woodward, Hitoshi Arisumi, and Ross L. Hatton. 
    Proceedings of the IEEE International Conference on Robotics and Automation, 1442–1447, 2015.
  30. Nonlinear Dimensionality Reduction for Kinematic Cartography with an Application Toward Robotic Locomotion
    Tony Dear, Ross L. Hatton, and Howie Choset. 
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3604–3609, 2014.
  31. Comparison of contact capabilities for underactuated parallel jaw grippers for use on industrial robots
    Ryan Carpenter, Ross Hatton, and Ravi Balasubramanian. 
    Proceedings of the ASME 2014 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference, V05BT08A026, 2014.
  32. Snakeboard Motion Planning with Local Trajectory Information
    Tony Dear, Ross L. Hatton, Matthew A. Travers, and Howie Choset. 
    Proceedings of the ASME Dynamic Systems and Controls Conference (DSCC), V002T33A002, 2013.
  33. Minimum Perturbation Coordinates on $SO(3)$
    Matthew A. Travers, Ross L. Hatton, and Howie Choset. 
    Proceedings of the American Controls Conference (ACC), 2006–2012, 2013.
  34. Snakes on a Plan: Toward Combining Planning and Control
    Ross L. Hatton, Ross A. Knepper, Howie Choset, David Rollinson, Chaohui Gong, and Enric Galceran. 
    Proceedings of the IEEE International Conference on Robotics and Automation, 5174–5181, 2013.
  35. Conical Sidewinding
    Chaohui Gong, Ross L. Hatton, and Howie Choset. 
    IEEE International Conference on Robotics and Automation, 4222–4227, 2012.
  36. Geometric Maneuverability, with Applications to Low Reynolds Number Swimming
    Ross L. Hatton, Lisa J. Burton, Anette E. Hosoi, and Howie Choset. 
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 3893–3898, 2011.
  37. Kinematic Cartography for Locomotion at Low Reynolds Numbers
    Ross L. Hatton and Howie Choset. 
    Proceedings of Robotics: Science and Systems VII, 1–8, 2011.
  38. Connection Vector Fields and Optimized Coordinates for Swimming Systems at Low and High Reynolds Numbers
    Ross L. Hatton and Howie Choset. 
    Proceedings of the ASME Dynamic Systems and Controls Conference (DSCC), 817–824, 2010.
  39. Optimizing Coordinate Choice for Locomoting Systems
    Ross L. Hatton and Howie Choset. 
    Proceedings of the IEEE International Conference on Robotics and Automation, 4493–4498, 2010.
  40. Sidewinding on Slopes
    Ross L. Hatton and Howie Choset. 
    Proceedings of the IEEE International Conference on Robotics and Automation, 691–696, 2010.
  41. Generating Gaits for Snake Robots by Annealed Chain Fitting and Keyframe Wave Extraction
    Ross L. Hatton and Howie Choset. 
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 840–845, 2009.
  42. Approximating Displacement with the Body Velocity Integral
    Ross L. Hatton and Howie Choset. 
    Proceedings of Robotics: Science and Systems V, 1–8, 2009.
  43. Connection Vector Fields for Underactuated Systems
    Ross L. Hatton and Howie Choset. 
    Proceedings of the IEEE BioRobotics Conference, 451-456, 2008.
  44. Design of a Modular Snake Robot
    Cornell Wright, Aaron Johnson, Aaron Peck, Zachary McCord, Allison Naaktgeboren, Philip Gianfortoni, Manuel Gonzalez-Rivero, Ross L. Hatton, and Howie Choset. 
    Proceedigns of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2609–2614, 2007.