Sitemap
A list of all the posts and pages found on the site. For you robots out there, there is an XML version available for digesting as well.
Pages
Posts
Future Blog Post
Published:
This post will show up by default. To disable scheduling of future posts, edit config.yml and set future: false.
Blog Post number 4
Published:
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
Blog Post number 3
Published:
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
Blog Post number 2
Published:
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
Blog Post number 1
Published:
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
portfolio
Portfolio item number 1
Short description of portfolio item number 1
Portfolio item number 2
Short description of portfolio item number 2
publications
Self-propulsion via slipping: Frictional swimming in multilegged locomotors
Published in Proceedings of the National Academy of Sciences, 2023
Drag anisotropy is believed to be the critical principle which enables effective undulatory swimming in flowable media. Here, we show 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. In doing so, our framework allows for the comparison and cross-referencing of undulatory locomotion across diverse substrates. Further, from robophysical and biological experiments, we show that undulatory multilegged frictional swimming can be quantitatively described using a geometric model with low-dimensional centralized control framework. Our analysis not only facilitates the control of robust robot locomotion in complex terradynamic scenarios but also gives insight into neuromechanical control and the evolution of myriapod locomotion.
Recommended citation: Chong, Baxi, Juntao He, Shaohang Li, Emily Erickson, Kevin Diaz, Tianyu Wang, Daniel Soto, and Daniel I. Goldman. (2023). "Self-propulsion via slipping: Frictional swimming in multilegged locomotors." Proceedings of the National Academy of Sciences. 120(11), e2213698120.
Download Paper
Multilegged matter transport: A framework for locomotion on noisy landscapes
Published in Science, 2023
Locomotion over rugged terrain, whether human or robotic, generally requires extensive feedback to allow for adjustments in stride to compensate for cracks, inclines, or changes in surface composition. This ability typically requires a network of sensors to detect changes in terrain. Chong et al. show that an alternative approach requiring minimal environmental awareness can guarantee a successful arrival using information theory. The authors draw a parallel between having multiple, connected legs on the robot and having signal transmission protocols that minimize error in transmission—in this case, the “signal” being transmitted is the body of the robot. —Marc S. Lavine
Recommended citation: Chong, Baxi, Juntao He, Daniel Soto, Tianyu Wang, Daniel Irvine, Greg Blekherman, and Daniel I. Goldman. (2023). "Multilegged matter transport: A framework for locomotion on noisy landscapes." Science. 380(6644), 509-515.
Download Paper
Probabilistic approach to feedback control enhances multi-legged locomotion on rugged landscapes
Published in IEEE Transactions on Robotics, 2025
This paper demonstrates that a lightweight, interpretable feedback controller—driven only by binary foot-contact sensing—can substantially improve multilegged locomotion on rugged, unstructured terrain. By introducing a probabilistic model that links terrain-induced contact disruption to locomotion speed, we derive a cycle-to-cycle control law that modulates vertical body undulation to recover effective ground contact. Extensive laboratory and outdoor experiments show consistent gains in both average speed and speed stability, highlighting a practical approach to robust field locomotion with minimal sensing and computation.
Recommended citation: He, Juntao, Baxi Chong, Jianfeng Lin, Zhaochen Xu, Hosain Bagheri, Esteban Flores, and Daniel I. Goldman. (2025). "Probabilistic approach to feedback control enhances multi-legged locomotion on rugged landscapes." IEEE Transactions on Robotics.
Download Paper
Tactile sensing enables vertical obstacle negotiation for elongate many-legged robots
Published in Robotics: Science and Systems, 2025
We propose a tactile sensing and control framework that enables an elongated many-legged robot to perform rapid 3D behaviors, including climbing large obstacles in confined, unstructured environments. By fusing a tactile antenna for obstacle probing with binary foot-contact feedback, our controller adaptively regulates head pitch and vertical body undulation, achieving robust climbs up to five times the robot’s height in lab and outdoor trials.
Recommended citation: He, Juntao, Baxi Chong, Meatano Iaschi, Vincent R. Nienhusser, Sehoon Ha, and Daniel I. Goldman. (2025). "Tactile sensing enables vertical obstacle negotiation for elongate many-legged robots." Robotics: Science and Systems.
Download Paper
Robust control for multi-legged elongate robots in noisy environments
Published in arXiv preprint, 2025
This paper presents robust control methods for multi-legged elongate robots operating in noisy environments.
Recommended citation: Chong, Baxi*, Juntao He*, Daniel Irvine, Tianyu Wang, Esteban Flores, Daniel Soto, Jianfeng Lin, Zhaochen Xu, et al. (2025). "Robust control for multi-legged elongate robots in noisy environments." arXiv preprint arXiv:2506.15788. *Equal contribution.
Download Paper
talks
Talk 1 on Relevant Topic in Your Field
Published:
This is a description of your talk, which is a markdown file that can be all markdown-ified like any other post. Yay markdown!
Conference Proceeding talk 3 on Relevant Topic in Your Field
Published:
This is a description of your conference proceedings talk, note the different field in type. You can put anything in this field.
teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
This is a description of a teaching experience. You can use markdown like any other post.
Teaching experience 2
Workshop, University 1, Department, 2015
This is a description of a teaching experience. You can use markdown like any other post.