Gregory S. Chirikjian

Research interests

Publications

• A concise guide to modelling the physics of embodied intelligence in soft robotics

  Nature Reviews Physics · 2022 · 10.1038/s42254-022-00481-z

• Equilibrium Conformations of Concentric-tube Continuum Robots

  The International Journal of Robotics Research · 2010 · 10.1177/0278364910367543

• Stochastic Models, Information Theory, and Lie Groups, Volume 1

  Applied and numerical harmonic analysis · 2009 · 10.1007/978-0-8176-4803-9

• Modular Self-Reconfigurable Robot Systems

  CaltechAUTHORS (California Institute of Technology) · 2007 · 10.1109/mra.2007.339623

• Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics]

  IEEE Robotics & Automation Magazine · 2007 · https://doi.org/10.1109/mra.2007.339623

• Error propagation on the Euclidean group with applications to manipulator kinematics

  IEEE Transactions on Robotics · 2006 · 10.1109/tro.2006.878978

• Nonholonomic Modeling of Needle Steering

  The International Journal of Robotics Research · 2006 · 10.1177/0278364906065388

• Nonholonomic Modeling of Needle Steering

  Springer tracts in advanced robotics · 2006 · 10.1007/11552246_4

• Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model

  · 2006 · 10.1109/robot.2005.1570829

• Steering flexible needles under Markov motion uncertainty

  · 2005 · 10.1109/iros.2005.1544969

• A 'sidewinding' locomotion gait for hyper-redundant robots

  · 2002 · 10.1109/robot.1993.291864

• Kinematics of a metamorphic robotic system

  · 2002 · 10.1109/robot.1994.351256

• An obstacle avoidance algorithm for hyper-redundant manipulators

  · 2002 · 10.1109/robot.1990.126052

• Efficient Generation of Feasible Pathways for Protein Conformational Transitions

  Biophysical Journal · 2002 · 10.1016/s0006-3495(02)73931-3

• A new potential field method for robot path planning

  · 2002 · 10.1109/robot.2000.844727

• Engineering Applications of Noncommutative Harmonic Analysis

  · 2000 · 10.1201/9781420041767

• Kinematic design and commutation of a spherical stepper motor

  IEEE/ASME Transactions on Mechatronics · 1999 · 10.1109/3516.809513

• Useful metrics for modular robot motion planning

  IEEE Transactions on Robotics and Automation · 1997 · 10.1109/70.611311

• Design and Implementation of Metamorphic Robots

  · 1996 · 10.1115/96-detc/mech-1149

• Evaluating efficiency of self-reconfiguration in a class of modular robots

  Journal of Robotic Systems · 1996 · 10.1002/(sici)1097-4563(199605)13:5<317::aid-rob5>3.0.co;2-t

• The kinematics of hyper-redundant robot locomotion

  IEEE Transactions on Robotics and Automation · 1995 · 10.1109/70.478426

• Kinematically optimal hyper-redundant manipulator configurations

  IEEE Transactions on Robotics and Automation · 1995 · 10.1109/70.478427

• A hyper-redundant manipulator

  IEEE Robotics & Automation Magazine · 1994 · 10.1109/100.388263

• Hyper-redundant manipulator dynamics: a continuum approximation

  Advanced Robotics · 1994 · 10.1163/156855395x00175

• A modal approach to hyper-redundant manipulator kinematics

  IEEE Transactions on Robotics and Automation · 1994 · 10.1109/70.294209

Current projects

No projects listed.