Selected Publications

This is a directory of selected publications most relevant to my recent research. For a complete listing please see my CV.

T. Dear, B. Buchanan, R. Abrajan-Guerrero, S. D. Kelly, M. Travers, and H. Choset.
“Locomotion of a Multi-Link Nonholonomic Snake Robot with Passive Joints”.
International Journal of Robotics Research.
In preparation

T. Dear, S. D. Kelly, M. Travers, and H. Choset.
“Geometric Structure of Externally Actuated Locomoting Systems”.
International Journal of Robotics Research.
In preparation

T. Dear, S. D. Kelly, M. Travers, and H. Choset.
“Locomotion of a Multi-link Nonholonomic Snake Robot”.
Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Tysons Corner, VA, October 2017.
Link

T. Dear, S. D. Kelly, and H. Choset.
“Control and Locomotion of Hydrodynamically Coupled Rigid Spheres”.
Proceedings of the 2017 American Control Conference. Seattle, WA, May 2017.
Link

R. L. Hatton, T. Dear, and H. Choset.
“Kinematic Cartography and the Efficiency of Viscous Swimming”.
IEEE Transactions on Robotics. February 2017.
Link

T. Dear, S. D. Kelly, M. Travers, and H. Choset.
“Locomotive Analysis of a Single-Input Three-Link Snake Robot”.
Proceedings of the 55th IEE Conference on Decision and Control. Las Vegas, NV, December 2016.
Link

T. Dear, S. D. Kelly, and H. Choset.
“Variations on the Role of Principal Connections in Robotic Locomotion”.
Proceedings of the ASME 2016 Dynamic Systems and Control Conference. Minneapolis, MN, October 2016.
Link

T. Dear, S. D. Kelly, M. Travers, and H. Choset.
“The Three-Link Nonholonomic Snake as a Hybrid Kinodynamic System”.
Proceedings of the American Control Conference. Boston, MA, July 2016.
Link