Tianyu Wang | Georgia Institute of Technology

Tianyu Wang

I am a Postdoctoral Researcher in the Complex Rheology And Biomechanics (CRAB) Lab at Georgia Tech. I received my PhD in Robotics from Georgia Tech, advised by Prof. Daniel I. Goldman. I received my MS in Mechanical Engineering from Carnegie Mellon University, advised by Prof. Howie Choset, and my BS in Electrical and Computer Engineering from Shanghai Jiao Tong University, advised by Prof. Guoying Gu.

My research focuses on bio-inspired robots, mechanical intelligence, and locomotion in complex environments. I am particularly interested in how physical embodiment, compliant body mechanics, and robot-environment interactions can simplify sensing and control, enabling robust locomotion in complex terrestrial and aquatic environments.

My work has been recognized by several honors, including selection as an RSS Pioneer, NSF CPS Rising Star, Trailblazers in Engineering Fellow, an RSS Best Paper Finalist distinction, and multiple research fellowships and travel awards. I have published papers in journals and conferences including Science, Science Robotics, PNAS, IJRR, RSS, and ICRA. I serve on editoral board and as peer reviewer for academic journals and conferences, have co-organized workshops at major robotics conferences, and my work has been covered by various media outlets.

Email / CV / Google Scholar / LinkedIn / YouTube / Follow @robotianyuwang

News

[2026/7] Had a wonderful time at Trailblazers in Engineering program at Purdue University! Presented a poster and had a great visit to the Edwardson School of Industrial Engineering.

[2026/7] Excited to attend the RSS Pioneers Workshop 2026 and give a talk!

[2026/6] Glad to share that 2 co-authored papers are accepted to IROS 2026! Check out our preprints: Morphing MILR and Tactile Antenna.

[2026/6] Honored to be selected as a Trailblazer in Engineering join the 2026 cohort of 25 outstanding early-career scholars in engineering!

[2026/5] Glad to attend and give a talk at the MESH Network Kick-off Workshop.

[2026/5] Honored to be selected as an RSS Pioneer and join the 2026 cohort of 30 early-career robotics researchers!

[2026/2] Our new paper "Aubry-André localization transition for an active undulator" comes out in PNAS today!

[2025/11] I am grateful to announce that I successfully defended my PhD thesis on November 26, 2025!

[2025/9] Excited to be awarded the Topping Fellowship again from GT ME School!

[2025/5] Had some wonderful time at ICRA! Successfully held the mechanical intelligence workshop. Had 4 co-authored papers presented.

[2025/3] Honored to be selected as an NSF CPS Rising Star! Excited to join the 2025 cohort and attend 2025 CPS Rising Stars Workshop.

[2025/3] Excited to be awarded the Topping Fellowship from GT ME School!

[2025/3] Excited to receive the 2025 APS Graduate Research Excellence Travel Award!

[2025/3] Proud to receive the Ph.D. Research Excellence Award from GT ME School!

[2025/2] Glad to share that I have 4 co-authored papers accepted to ICRA 2025! Check out our preprints: AquaMILR, AquaMILR+, Self-righting, and Peristaltic.

[2024/12] Excited to announce that I will be co-organizing the workshop "Towards Agility and Robustness: Mechanical Intelligence in Robotics, Biology, and Smart Materials" at ICRA 2025! Check out our website here. We are calling for contribution! Please send us your poster and we are thrilled to host you at Atlanta.

[2024/5] We presented our new paper "Anisotropic body compliance facilitates robotic sidewinding in complex environments" at ICRA 2024 today!

[2023/12] Our new paper "Mechanical intelligence simplifies control in terrestrial limbless locomotion" comes out in Science Robotics today!

[2023/12] I will be co-organizing the workshop "Agile Movements" at ICRA 2024 again! Check out our website and stay tuned for information of invited speakers and call for contributions. Click here to review our previous success workshop at ICRA 2023!

Publication
(*equal contribution)

	Optimal swimming with body compliance in an overdamped medium Jianfeng Lin, Tianyu Wang, Baxi Chong, Matthew Fernandez, Zhaochen Xu, Daniel I. Goldman Physical Review Applied, 2026 pdf / video / arxiv / @article{lin2026optimal, title={Optimal swimming with body compliance in an overdamped medium}, author={Lin, Jianfeng and Wang, Tianyu and Chong, Baxi and Fernandez, Matthew and Xu, Zhaochen and Goldman, Daniel I}, journal={Physical Review Applied}, volume={25}, number={5}, pages={054068}, year={2026}, publisher={APS} } This work makes compliant undulatory swimming analytically tractable: by extending Purcell's three-link swimmer with series-connected springs at the joints and deriving the body dynamics with resistive force theory, geometric mechanics can predict how a compliant body will move and identify the gaits that maximize displacement. Experiments on a cable-driven limbless robot in granular media confirm the predictions across a range of programmed, state-dependent compliance, turning compliance into a modelable design parameter that can be exploited for robust movement.
	Aubry-André localization transition for an active undulator Christopher J. Pierce, Tianyu Wang, Dmitri Kalinin, Andrew Zangwill, Daniel I. Goldman Proceedings of the National Academy of Sciences (PNAS), 2026 pdf / video / arxiv / @article{pierce2026aubry, title={Aubry--Andr{\'e} localization transition for an active undulator}, author={Pierce, Christopher J and Wang, Tianyu and Kalinin, Dmitri and Zangwill, Andrew and Goldman, Daniel I}, journal={Proceedings of the National Academy of Sciences}, volume={123}, number={8}, pages={e2519118123}, year={2026}, publisher={National Academy of Sciences} } This work shows that a limbless undulatory robot moving through a one-dimensional array of boulders arranged according to the Aubry-André potential undergoes a localization transition strikingly similar to the one seen for quantum waves and cold atoms in the same potential, and a generalized resistive force theory that lets drag anisotropy vary in space reproduces this transition and reveals it to be driven by large fluctuations in the torques needed for self-propulsion.
	AquaMILR+: Design of an untethered limbless robot for complex aquatic terrain navigation Matthew Fernandez, Tianyu Wang, Galen Tunnicliffe, Donoven Dortilus, Peter Gunnarson, John O. Dabiri, Daniel I. Goldman IEEE International Conference on Robotics and Automation (ICRA), 2025 pdf / video / arxiv / @inproceedings{fernandez2025aquamilr+, title={Aquamilr+: Design of an untethered limbless robot for complex aquatic terrain navigation}, author={Fernandez, Matthew and Wang, Tianyu and Tunnicliffe, Galen and Dortilus, Donoven and Gunnarson, Peter and Dabiri, John O and Goldman, Daniel I}, booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)}, pages={12316--12322}, year={2025}, organization={IEEE} } This work presents AquaMILR+, an untethered, fully waterproof limbless robot that combines bilateral cable-driven actuation and a novel syringe-based depth control system to achieve agile undulatory swimming, turning, and obstacle navigation in cluttered 3D aquatic environments.
	AquaMILR: Mechanical intelligence simplifies control of undulatory robots in cluttered fluid environments Tianyu Wang, Nishanth Mankame, Matthew Fernandez, Velin Kojouharov, Daniel I. Goldman IEEE International Conference on Robotics and Automation (ICRA)*, 2025 pdf / video / arxiv / @inproceedings{wang2025aquamilr, title={Aquamilr: Mechanical intelligence simplifies control of undulatory robots in cluttered fluid environments}, author={Wang, Tianyu and Mankame, Nishanth and Fernandez, Matthew and Kojouharov, Velin and Goldman, Daniel I}, booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)}, pages={14671--14677}, year={2025}, organization={IEEE} } This work introduces AquaMILR, an untethered limbless swimming robot with bilateral cable-driven actuation and programmable body compliance, showing that mechanical intelligence enables emergent obstacle navigation in cluttered aquatic environments, while a decentralized feedback controller extends performance at higher frequencies by integrating computational intelligence.
	Addition of a peristaltic wave improves multi-legged locomotion performance on complex terrains Massimiliano Iaschi, Baxi Chong, Tianyu Wang, Jianfeng Lin, Juntao He, Daniel Soto, Zhaochen Xu, Daniel I. Goldman IEEE International Conference on Robotics and Automation (ICRA), 2025 pdf / video / arxiv / @inproceedings{iaschi2025addition, title={Addition of a peristaltic wave improves multi-legged locomotion performance on complex terrains}, author={Iaschi, Massimiliano and Chong, Baxi and Wang, Tianyu and Lin, Jianfeng and He, Juntao and Soto, Daniel and Xu, Zhaochen and Goldman, Daniel I}, booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)}, pages={2925--2931}, year={2025}, organization={IEEE} } This work shows that adding a phase-synchronized peristaltic body wave to a cable-driven, multi-legged robot substantially boosts obstacle-climbing and traversal on rugose terrains, improving robustness and efficiency beyond vertical-wave-only gaits.
	Effective self-righting strategies for elongate multi-legged robots Erik Teder, Baxi Chong, Juntao He, Tianyu Wang, Massimiliano Iaschi, Daniel Soto, Daniel I. Goldman IEEE International Conference on Robotics and Automation (ICRA), 2025 pdf / arxiv / @inproceedings{teder2025effective, title={Effective self-righting strategies for elongate multi-legged robots}, author={Teder, Erik and Chong, Baxi and He, Juntao and Wang, Tianyu and Iaschi, Massimiliano and Soto, Daniel and Goldman, Daniel I}, booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)}, pages={2918--2924}, year={2025}, organization={IEEE} } This work develops and validates general self-righting strategies for centipede-like robots by combining biological observations with robophysical models, showing that superimposed lateral and vertical body waves enable robust recovery from tipping, thereby enhancing mobility and robustness on complex terrain.
	Robust self-propulsion in sand using simply controlled vibrating cubes Bangyuan Liu, Tianyu Wang, Deniz Kerimoglu, Velin Kojouharov, Frank L. Hammond III, Daniel I. Goldman Frontiers in Robotics and AI, 2024 pdf / video / arxiv / @inproceedings{liu2024robust, title={Robust self-propulsion in sand using simply controlled vibrating cubes}, author={Liu, Bangyuan and Wang, Tianyu and Kojouharov, Velin and Hammond III, Frank L. and Goldman, Daniel I.}, journal={Frontiers in Robotics and AI}, volume={11} year={2024}, url={https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2024.1298676}, DOI={10.3389/frobt.2024.1298676}, ISSN={2296-9144} } This work explores how simple vibration-based mechanisms enable robust locomotion on granular terrains. This research presents a minimalistic yet highly effective design—a cube-shaped robot that propels itself via self-vibration, offering insights for simple robotic locomotion methods in harsh environments.
	Anisotropic body compliance facilitates robotic sidewinding in complex environments Velin Kojouharov, Tianyu Wang, Matthew Fernandez, Jiyeon Maeng, Daniel I. Goldman IEEE International Conference on Robotics and Automation (ICRA), 2024 pdf / video / arxiv / @inproceedings{kojouharov2024anisotropic, title={Anisotropic body compliance facilitates robotic sidewinding in complex environments}, author={Kojouharov, Velin and Wang, Tianyu and Fernandez, Matthew and Maeng, Jiyeon and Goldman, Daniel I.}, booktitle={2024 International Conference on Robotics and Automation (ICRA)}, year={2024}, organization={IEEE} } This work incorporates programmable body compliance into the sidewinding gait template and highlights the emergence of mechanical intelligence when the robot is equipped with an appropriate level of body compliance. This allows the robot to locomote more energetically efficiently, and to navigate through terrain heterogeneities all achieved in an open-loop manner.
	Mechanical intelligence simplifies control in terrestrial limbless locomotion Tianyu Wang, Christopher Pierce, Velin Kojouharov, Baxi Chong, Kelimar Diaz, Hang Lu, Daniel I. Goldman Science Robotics, 2023 project page / pdf / supplementary materials / video / arxiv / @article{wang2023mechanical, title = {Mechanical intelligence simplifies control in terrestrial limbless locomotion}, author = {Tianyu Wang and Christopher Pierce and Velin Kojouharov and Baxi Chong and Kelimar Diaz and Hang Lu and Daniel I. Goldman}, journal = {Science Robotics}, volume = {8}, number = {85}, pages = {eadi2243}, year = {2023}, doi = {10.1126/scirobotics.adi2243}, URL = {https://www.science.org/doi/abs/10.1126/scirobotics.adi2243}, eprint = {https://www.science.org/doi/pdf/10.1126/scirobotics.adi2243} } Research highlight in Nature Reviews Electrical Engineering / News article in The Conversation Article in American Scientist / News article in Georgia Tech Research News Interview article by DeepTech and MIT Technology Review (Chinese) This work conducts a comparative biological and robotic study to uncover principles of how mechanical intelligence aids limbless locomotion in heterogeneous terradynamic regimes, providing insights into how limbless organisms can leverage mechanical intelligence via appropriately tuned bilateral actuation to locomote in complex environments and demonstrating a design and control paradigm for limbless robots.
	Gait design for limbless obstacle aided locomotion using geometric mechanics Baxi Chong, Tianyu Wang, Daniel Irvine, Velin Kojouharov, Bo Lin, Howie Choset, Daniel I. Goldman, Grigoriy Blekherman Robotics: Science and Systems (RSS), 2023 pdf / video / arxiv / @inproceedings{chong2023gait, title={Gait design for limbless obstacle aided locomotion using geometric mechanics}, author={Chong, Baxi and Wang, Tianyu and Irvine, Daniel and Kojouharov, Velin and Lin, Bo and Choset, Howie and Goldman, Daniel I and Blekherman, Grigoriy}, booktitle={Proceedings of Robotics: Science and Systems}, year={2023}, address={Daegu, Republic of Korea}, month={July}, doi={10.15607/RSS.2023.XIX.094} } This work expands the scope of geometric mechanics to obstacle-rich environments. Specifically, a model that maps the presence of an obstacle to directional constraints in optimization is developed. Thus, novel gait templates suitable for sparsely and densely distributed obstacle-rich environments are identified.
	Multilegged matter transport: A framework for locomotion on noisy landscapes Baxi Chong, Juntao He, Daniel Soto, Tianyu Wang, Daniel Irvine, Grigoriy Blekherman, Daniel I. Goldman Science, 2023 pdf / @article{chong2023multilegged, title={Multilegged matter transport: A framework for locomotion on noisy landscapes}, author={Baxi Chong and Juntao He and Daniel Soto and Tianyu Wang and Daniel Irvine and Grigoriy Blekherman and Daniel I. Goldman}, journal={Science}, volume={380}, number={6644}, pages={509-515}, year={2023} } Locomotion on rough terrain necessitates substantial feedback to adjust stride, and typically involves a network of sensors to detect variations in terrain. Utilizing information theory, this work demonstrates that it is possible to achieve a successful arrival on rough terrain with sufficient redundancy in the body, without the need of heavy environmental awareness.
	Optimizing contact patterns for robot locomotion via geometric mechanics Baxi Chong, Tianyu Wang, Bo Lin, Shengkai Li, Pranav Muthukrishnan, Juntao He, Daniel Irvine, Howie Choset, Grigoriy Blekherman, Daniel I. Goldman The International Journal of Robotics Research (IJRR), 2023 pdf / @article{chong2023optimizing, title={Optimizing contact patterns for robot locomotion via geometric mechanics}, author={Chong, Baxi and Wang, Tianyu and Bo, Lin and Li, Shengkai and Muthukrishnan, Pranav C and He, Juntao and Irvine, Daniel and Choset, Howie and Blekherman, Grigoriy and Goldman, Daniel I}, journal={The International Journal of Robotics Research}, volume={42}, number={10}, pages={859--873}, year={2023}, publisher={SAGE Publications Sage UK: London, England} } Moving sidewinding forward: Optimizing contact patterns for limbless robots via geometric mechanics Baxi Chong, Tianyu Wang, Bo Lin, Shengkai Li, Grigoriy Blekherman, Howie Choset, Daniel I. Goldman Robotics: Science and Systems (RSS), 2021 Best Paper Award Finalist pdf / @inproceedings{chong2021moving, title={Moving sidewinding forward: optimizing contact patterns for limbless robots via geometric mechanics}, author={Chong, Baxi and Wang, Tianyu and Lin, Bo and Li, Shengkai and Choset, Howie and Blekherman, Grigoriy and Goldman, Daniel I.}, booktitle={Robotics: Science and Systems}, year={2021} } This work develops a framework to design, optimize, and analyze contact patterns for limbless and legged robots to generate effective motion in the desired directions.
	Self-propulsion via slipping: Frictional swimming in multilegged locomotors Baxi Chong, Juntao He, Shengkai Li, Eva Erickson, Kelimar Diaz, Tianyu Wang, Daniel Soto, Daniel I. Goldman Proceedings of the National Academy of Sciences (PNAS), 2023 pdf / @article{chong2023self, title={Self-propulsion via slipping: Frictional swimming in multilegged locomotors}, author={Chong, Baxi and He, Juntao and Li, Shengkai and Erickson, Eva and Diaz, Kelimar and Wang, Tianyu and Soto, Daniel and Goldman, Daniel I}, journal={Proceedings of the National Academy of Sciences}, volume={120}, number={11}, pages={e2213698120}, year={2023}, publisher={National Acad Sciences} } This work shows that undulatory locomotion with leg retraction/protraction can be recast as a fluid-like problem with the nonlinearities of foot–ground interactions leading to acquired drag anisotropy, facilitating the control of robust robot locomotion in complex terradynamic scenarios and giving insight into neuromechanical control and the evolution of myriapod locomotion.
	Robotic swimming in curved space via geometric phase Shengkai Li, Tianyu Wang, Velin H. Kojouharov, James McInerney, Enes Aydin, Yasemin Ozkan-Aydin, Daniel I. Goldman, D. Zeb Rocklin Proceedings of the National Academy of Sciences (PNAS), 2022 pdf / @article{li2022robotic, title={Robotic swimming in curved space via geometric phase}, author={Li, Shengkai and Wang, Tianyu and Kojouharov, Velin H and McInerney, James and Aydin, Enes and Ozkan-Aydin, Yasemin and Goldman, Daniel I and Rocklin, D Zeb}, journal={Proceedings of the National Academy of Sciences}, volume={119}, number={31}, pages={e2200924119}, year={2022}, publisher={National Acad Sciences} } This work develops a robot to realize the concept that the noncommutativity of translations permits translation without momentum exchange in either gravitationally curved spacetime or the curved surfaces encountered by locomotors in real-world environments.
	Coordinating tiny limbs and long bodies: Geometric mechanics of lizard terrestrial swimming Baxi Chong, Tianyu Wang, Eva Erickson, Philip J. Bergmann, Daniel I. Goldman Proceedings of the National Academy of Sciences (PNAS), 2022 pdf / @article{chong2022coordinating, title={Coordinating tiny limbs and long bodies: Geometric mechanics of lizard terrestrial swimming}, author={Chong, Baxi and Wang, Tianyu and Erickson, Eva and Bergmann, Philip J and Goldman, Daniel I}, journal={Proceedings of the National Academy of Sciences}, volume={119}, number={27}, pages={e2118456119}, year={2022}, publisher={National Acad Sciences} } This work uses biological experiments, a geometric theory of locomotion, and robophysical models to investigate body–limb coordination in diverse lizards, valuable in understanding functional constraints on the evolutionary processes of elongation and limb reduction as well as advancing robot designs.
	A general locomotion control framework for multi-legged locomotors Baxi Chong, Yasemin O Aydin, Jennifer M Rieser, Guillaume Sartoretti, Tianyu Wang, Julian Whitman, Abdul Kaba, Enes Aydin, Ciera McFarland, Kelimar Diaz Cruz, Jeffery W Rankin, Krijn B Michel, Alfredo Nicieza, John R Hutchinson, Howie Choset, Daniel I Goldman Bioinspiration & Biomimetics, 2022 pdf / @article{chong2022general, title={A general locomotion control framework for multi-legged locomotors}, author={Chong, Baxi and Aydin, Yasemin O and Rieser, Jennifer M and Sartoretti, Guillaume and Wang, Tianyu and Whitman, Julian and Kaba, Abdul and Aydin, Enes and McFarland, Ciera and Cruz, Kelimar Diaz and others}, journal={Bioinspiration \& Biomimetics}, volume={17}, number={4}, pages={046015}, year={2022}, publisher={IOP Publishing} } This work develops a general framework build shape control schemes which can provide baseline patterns of self-deformation (gaits) for effective locomotion for serially connected multi-legged robots across diverse morphologies.
	Generalized omega turn gait enables agile limbless robot turning in complex environments Tianyu Wang, Baxi Chong, Yuelin Deng, Ruijie Fu, Howie Choset, Daniel I. Goldman IEEE International Conference on Robotics and Automation (ICRA), 2022 pdf / @inproceedings{wang2022generalized, title={Generalized Omega Turn Gait Enables Agile Limbless Robot Turning in Complex Environments}, author={Wang, Tianyu and Chong, Baxi and Deng, Yuelin and Fu, Ruijie and Choset, Howie and Goldman, Daniel I.}, booktitle={2022 International Conference on Robotics and Automation (ICRA)}, pages={}, year={2022}, organization={IEEE}, doi={10.1109/ICRA46639.2022.9811929} } The omega turn: A biologically-inspired turning strategy for elongated limbless robots Tianyu Wang, Baxi Chong, Kelimar Diaz, Julian Whitman, Hang Lu, Matthew Travers, Daniel I. Goldman, Howie Choset IEEE International Conference on Intelligent Robots and Systems (IROS), 2020 pdf / @inproceedings{wang2020omega, title={The omega turn: A biologically-inspired turning strategy for elongated limbless robots}, author={Wang, Tianyu and Chong, Baxi and Diaz, Kelimar and Whitman, Julian and Lu, Hang and Travers, Matthew and Goldman, Daniel I and Choset, Howie}, booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages={7766--7771}, year={2020}, organization={IEEE} } Inspired by a behavior observed in the nematode C. elegans, this work proposes a novel in-place turning gait for elongated limbless robots to reorient (turn) effectively within unmodelled and unsensed environments.
	Reconstruction of backbone curves for snake robots Tianyu Wang, Bo Lin, Baxi Chong, Julian Whitman, Matthew Travers, Daniel I. Goldman, Greg Blekherman, Howie Choset IEEE Robotics and Automation Letters (RAL), 2021 pdf / @article{wang2021reconstruction, title={Reconstruction of backbone curves for snake robots}, author={Wang, Tianyu and Lin, Bo and Chong, Baxi and Whitman, Julian and Travers, Matthew and Goldman, Daniel I and Blekherman, Greg and Choset, Howie}, journal={IEEE Robotics and Automation Letters}, volume={6}, number={2}, pages={3264--3270}, year={2021}, publisher={IEEE} } This work proposes a method for articulated robots to reconstruct desired 3D backbone curves by posing an optimization problem that exploits the robot's geometric structure.
	Autonomous decentralized shape-based navigation for snake robots in dense environments Guillaume Sartoretti, Tianyu Wang, Gabriel Chuang, Qingyang Li, Howie Choset IEEE International Conference on Robotics and Automation (ICRA), 2021 pdf / @inproceedings{sartoretti2021autonomous, title={Autonomous Decentralized Shape-Based Navigation for Snake Robots in Dense Environments}, author={Sartoretti, Guillaume and Wang, Tianyu and Chuang, Gabriel and Li, Qingyang and Choset, Howie}, booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)}, pages={9276--9282}, year={2021}, organization={IEEE} } This work develops a bi-stable dynamical system that relies on inertial feedback to continuously steer a snake robot toward a desired direction, and an onboard vision system that allows the robot to autonomously select its own direction of travel.
	Frequency modulation of body waves to improve performance of sidewinding robots Baxi Chong, Tianyu Wang, Jennifer Rieser, Bo Lin, Abdul Kaba, Grigoriy Blekherman, Howie Choset, Daniel I. Goldman The International Journal of Robotics Research (IJRR), 2021 pdf / @article{chong2021frequency, title={Frequency modulation of body waves to improve performance of sidewinding robots}, author={Chong, Baxi and Wang, Tianyu and Rieser, Jennifer M and Lin, Bo and Kaba, Abdul and Blekherman, Grigoriy and Choset, Howie and Goldman, Daniel I}, journal={The International Journal of Robotics Research}, volume={40}, number={12-14}, pages={1547--1562}, year={2021}, publisher={SAGE Publications Sage UK: London, England} } Frequency modulation of body waves to improve performance of limbless robots Baxi Chong, Tianyu Wang, Jennifer Rieser, Abdul Kaba, Howie Choset, Daniel I. Goldman Robotics: Science and Systems (RSS), 2020 presentation / pdf / video / @inproceedings{chong2020frequency, title={Frequency modulation of body waves to improve performance of limbless robots}, author={Chong, Baxi and Wang, Tianyu and Rieser, Jennifer M. and Kaba, Abdul and Choset, Howie and Goldman, Daniel I.}, booktitle={Robotics: Science and Systems}, year={2020} } This work proposes a method to stabilize limbless robot sidewinding gaits by modulations of the spatial frequency of the vertical wave.
	Directional compliance in obstacle-aided navigation for snake robots Tianyu Wang, Julian Whitman, Matthew Travers, Howie Choset American Control Conference (ACC), 2020 presentation / arxiv / pdf / video / @inproceedings{wang2020directional, title={Directional compliance in obstacle-aided navigation for snake robots}, author={Wang, Tianyu and Whitman, Julian and Travers, Matthew and Choset, Howie}, booktitle={2020 American Control Conference (ACC)}, year={2020}, organization={IEEE} } This work develops a biologically-inspired "directional compliant" controller, which modulates the effective stiffness of the robot body upon collisions, to enable snake robots to reliably traverse difficult 2D and 3D terrains.
	Programmable design of soft pneu-net actuators with obliquechambers can generate coupled bending and twisting motions Tianyu Wang, Lisen Ge, Guoying Gu Sensors and Actuators A: Physical, 2018 pdf / video 1 / video 2 / @article{wang2018programmable, title={Programmable design of soft pneu-net actuators with oblique chambers can generate coupled bending and twisting motions}, author={Wang, Tianyu and Ge, Lisen and Gu, Guoying}, journal={Sensors and Actuators A: Physical}, volume={271}, pages={131--138}, year={2018}, publisher={Elsevier} } Fabrication of soft pneumatic network actuators with oblique chambers Lisen Ge, Tianyu Wang, Ningbin Zhang, Guoying Gu Journal of Visualized Experiments, 2018 pdf / @article{ge2018fabrication, title={Fabrication of soft pneumatic network actuators with oblique chambers}, author={Ge, Lisen and Wang, Tianyu and Zhang, Ningbin and Gu, Guoying}, journal={JoVE (Journal of Visualized Experiments)}, number={138}, pages={e58277}, year={2018} } This work proposes a programmable design of enable pneu-net actuators to achieve 3D coupled bending and twisting complex motions.