Aaron M. Johnson

2016

Robust planar dynamic pivoting by regulating inertial and gripping forces
Yifan Hou, Zhenzhong Jia, Aaron M. Johnson, and Matthew Mason
Workshop on the Algorithmic Foundations of Robotics, December, 2016. Full PDF

Table Clearing.

A System for Multi-Step Mobile Manipulation: Architecture, Algorithms, and Experiments
Siddhartha Srinivasa, Aaron M. Johnson, Gilwoo Lee, et al.
International Symposium on Experimental Robotics, October, 2016. Full PDF

US Army Research Laboratory (ARL) Robotics Collaborative Technology Alliance 2014 Capstone Experiment
Marshal Childers, Craig Lennon, Barry Bodt, et al
US Army Research Laboratory Technical Report, ARL-TR-7729, July 2016. Web Link

Convergent Planning.

Convergent Planning
Aaron M. Johnson, Jennifer E. King, and Siddhartha Srinivasa
IEEE Robotics and Automation Letter, vol. 1, no. 2, pp. 1044-1051, July 2016. Author's Original PDF
Presented at the 2016 IEEE Intl. Conference on Robotics and Automation.

Simulation of RHex leaping onto a ledge.

A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems
Aaron M. Johnson, Samuel A. Burden, and D. E. Koditschek
The International Journal of Robotics Research, Vol. 35, No. 11, September, 2016. Author's Original PDF | Web Link

Tail design comparison.

Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation
Thomas Libby, Aaron M. Johnson, Evan Chang-Siu, Robert J. Full and D. E. Koditschek
IEEE Transactions on Robotics, vol. 32, no. 6, pp. 1380–1398, Dec. 2016. Author's Original PDF | Technical Report

2015

Jerboa Leaping.

Tail-Assisted Rigid and Compliant Legged Leaping
Anna L. Brill, Avik De, Aaron M. Johnson and D. E. Koditschek
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2015.

Stair climbing.

Semi-autonomous exploration of multi-floor buildings with a legged robot
Garrett J. Wenger, Aaron M. Johnson, Camillo J. Taylor, and D. E. Koditschek
Proceedings of the SPIE Defense, Security, and Sensing Conference, Unmanned Systems Technology XVII (9468), May, 2015. Full PDF

2014

RHex in the desert.

Desert RHex Technical Report: Jornada and White Sands Trip
Sonia Roberts, Jeff Duperret, Aaron M. Johnson, Scott van Pelt, Ted Zobeck, Nick Lancaster, and D.E. Koditschek
University of Pennsylvania Technical Report, November, 2014. Full PDF

The star of the closure of a cell.

Cellular Decomposition and Classification of a Hybrid System
Aaron M. Johnson and D. E. Koditschek
Northeast Robotics Colloquium, October, 2014. Abstract PDF

RHex pronking.

Gait Design Using Self–Manipulation
Aaron M. Johnson
Dynamic Locomotion, Robotics: Science and Systems Workshop, July, 2014. Abstract PDF

Planar Hopping with a Leg and a Tail
Avik De, Aaron M. Johnson and D. E. Koditschek
Dynamic Walking, June, 2014. Abstract Poster

Acting vs. Being Moral: The Limits of Technological Moral Actors
Aaron M. Johnson and Sidney Axinn
Proceedings of the 2014 IEEE Intl. Symposium on Ethics in Engineering, Science, and Technology, May, 2014. Full PDF

RHex in the desert.

Self-Manipulation and Dynamic Transitions for a Legged Robot
Aaron M. Johnson
University of Pennsylvania PhD Thesis, 2014. Full PDF

2013

The Morality of Autonomous Robots
Aaron M. Johnson and Sidney Axinn
Journal of Military Ethics, Vol. 12, No. 2, 2013. Author’s Original PDF

Robot Parkour.

Robot Parkour: The Ground Reaction Complex & Dynamic Transitions
Aaron M. Johnson and D. E. Koditschek
Dynamic Walking, June, 2013. Abstract PDF

Self-manipulation model.

Legged Self-Manipulation
Aaron M. Johnson and D. E. Koditschek
IEEE Access, Vol. 1, May, 2013. Full PDF

RHex Leaping.

Toward a Vocabulary of Legged Leaping
Aaron M. Johnson and D. E. Koditschek
Proceedings of the 2013 IEEE Intl. Conference on Robotics and Automation, May, 2013. Full PDF
Best Student Paper Finalist

XRL on terrain.

Terrain Identification for RHex-type Robots
Camilo Ordonez, Jacob Shill, Aaron M. Johnson, Jonathan Clark, and Emmanuel G. Collins
Proceedings of the SPIE Defense, Security, and Sensing Conference, Unmanned Systems Technology XV (8741), May, 2013. Full PDF

2012

RHex Leaping Data.

Parametric Jumping Dataset on the RHex Robot
Aaron M. Johnson and D. E. Koditschek
University of Pennsylvania Technical Report, 2012. Full PDF

X-RHex performing a reactive stand.

Standing Self-Manipulation for a Legged Robot
Aaron M. Johnson, G. C. Haynes, and D. E. Koditschek
Proceedings of the 2012 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Full PDF

The XRL robot with Tail.

Tail Assisted Dynamic Self Righting
Aaron M. Johnson, Thomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, Robert J. Full and D. E. Koditschek
Proceedings of the International Conference on Climbing and Walking Robots, July, 2012. Full PDF
Best Student Paper Finalist

The XRL robot turning radius.

Power Modeling of the XRL Hexapedal Robot and its Application to Energy Efficient Motion Planning
C. Ordonez, N. Gupta, E. G. Collins, J. Clark, and Aaron M. Johnson
Proceedings of the International Conference on Climbing and Walking Robots, July, 2012. Full PDF

xrlcanid

Laboratory on Legs: An Architecture for Adjustable Morphology with Legged Robots
G. C. Haynes, Jason Pusey, Ryan Knopf, Aaron M. Johnson, and D. E. Koditschek
Proceedings of the SPIE Defense, Security, and Sensing Conference, Unmanned Systems Technology XIV (8387), April 2012. Full PDF

2011

ssrr

Autonomous Legged Hill and Stairwell Ascent
Aaron M. Johnson, Matthew T. Hale, G. C. Haynes, and D. E. Koditschek
IEEE International Symposium on Safety, Security, and Rescue Robotics, November 2011. Full PDF

An SS2 snake module

A Novel Architecture for Modular Snake Robots
Aaron Johnson, Cornell Wright, Matthew Tesch, Kevin Lipkin, and Howie Choset
Carnegie Mellon University Technical Report, 2011. Full PDF

Brushless Motor

Motor Sizing for Legged Robots Using Dynamic Task Specification
Avik De, Goran Lynch, Aaron M. Johnson and D. E. Koditschek
IEEE International Conference on Technologies for Practical Robot Applications, April 2011. Full PDF

2010

X-RHex Robot

X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks
Kevin C. Galloway, G. C. Haynes, B. Deniz Ilhan, Aaron M. Johnson, Ryan Knopf, Goran Lynch, Benjamin Plotnick, Mackenzie White, D. E. Koditschek
University of Pennsylvania Technical Report, 2010. Full PDF

Edubot Robot

Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots
Aaron M. Johnson, G. Clark Haynes, D. E. Koditschek
Proceedings of the 2010 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, October 2010. Full PDF

2007

A snake module

Design of a Modular Snake Robot
Cornell Wright, Aaron Johnson, Aaron Peck, Zachary McCord, Allison Naaktgeboren, Philip Gianfortoni, Manuel Gonzalez-Rivero, Ross Hatton, and Howie Choset
Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, November 2007. Full PDF

2005

A Colony ][ robot

Relative Localization in Colony Robots
Christopher Atwood, Felix Duvallet, Aaron Johnson, Richard Juchniewicz, Ryan Kellogg, Katherine Killfoile, Alison Naaktgeboren, Suresh Nidhiry, Iain Proctor, Justine Rembisz, Steven Shamlian, and Prasanna Velagapudi
Proceedings of the National Conference On Undergraduate Research (NCUR), April 2005. Full PDF