Oral Presentation and Poster Presentation, ICRA 2025, Atlanta, GA, USA
I delivered an oral presentation followed by a poster session for my T-RO paper “Efficient, Responsive, and Robust Hopping on Deformable Terrain”.
Oral Presentation, 2025 Global Physics Summit of the American Physical Society, Los Angeles, CA, USA
I delivered an oral presentation of preliminary results on dynamic planar hopping on yielding terrain using a reduced-order model of foot-ground interaction and tools from nonlinear dynamics. I am developing these preliminary results into a journal paper, currently in preparation.
Oral Presentation, 2023 March Meeting of the American Physical Society, Las Vegas, NV, USA
I delivered an oral presentation of preliminary results on the nonlinear dynamics of a simple spring-legged monopedal robot hopping on deformable (i.e., yielding) terrain. These preliminary results led to a journal paper, published late the following year in IEEE Transaction in Robotics.
Oral Presentation, 2022 March Meeting of the American Physical Society, Chicago, IL, USA
I delivered an oral presentation of (very) preliminary results on research into generalizing the spring-loaded inverted pendulum (SLIP) template to yielding terrain. These preliminary results showed that the dynamics of the coupled robot-terrain system can be quite rich (i.e., complex!) and deserving of closer study, which led to another talk at the following year’s APS March Meeting and, eventually, culminated in a journal paper, published in IEEE Transaction in Robotics.
Oral Presentation, 2021 March Meeting of the American Physical Society, virtual
I delivered an online oral presentation on research into planning period-one hopping gaits on deformable (i.e., yielding) terrain, using resistive force theory to model the physics of planar foot-ground interaction and using direct collocation trajectory optimization to generate feasible gaits. You can watch a video of this presentation on YouTube. This work taught me about the potential and limitations of trajectory optimization. I am using it as a starting point for some of the methods going into another journal paper on planning and control for dynamic locomotion on complex terrain via reduced-order/simplified models, currently in preparation.
Oral Presentation and Poster Presentation, ICRA 2020, virtual
I delivered a virtual oral presentation followed by a virtual poster session for my RA-L paper “The Soft-Landing Problem: Minimizing Energy Loss by a Legged Robot Impacting Yielding Terrain”. You can watch a video of this presentation on YouTube.
Lightning Talk and Poster Presentation, 2019 American Control Conference - Challenges and Solutions for Legged Robotics (Workshop), Philadelphia, PA, USA
I delivered a 2-minute lightning talk followed by a poster presentation of preliminary results on the so-called “soft landing problem” of how to minimize energy loss from ground deformation when a legged robot impact yielding terrain (e.g., granular media). These preliminary results led to a journal paper, published the following year in IEEE Robotics and Automation Letters.
Oral Presentation, 2019 March Meeting of the American Physical Society, Boston, MA, USA
I delivered an oral presentation of preliminary results on the so-called “soft landing problem” of how to minimize energy loss from ground deformation when a legged robot impact yielding terrain (e.g., granular media). These preliminary results led to a journal paper, published the following year in IEEE Robotics and Automation Letters.