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Biorobotics Lab Publications



Please contact Roger Quinn for more information on any of these publications.



Articles:
  1. Beer, Randall D., Roger D. Quinn, Hillel J. Chiel, and Roy E. Ritzmann. Biologically Inspired Approaches to Robotics. Communications of the ACM, March 1997: 30-38.
  2. Taubes, Gary. Biologists and Engineers Create a New Generation of Robots That Imitate Life. Science Magazine, April 7 2000: 80-83.
  3. Natural Born Robots. Scientific American Frontiers: Show 1002.


Refereed Publications:
  1. Quinn, R. D. and Chang, R. Y. K. "Dynamic Modeling of Multi-Jointed
    Mechanical Systems for Space Applications    ," Proceedings of the 7th
    VPI&SU/AIAA Symposium on Dynamics and Control of Large Structures, May,
    1989.
  2. Quinn, R. D.,"Lagrange's Equations of Motion For Structures in Terms of Quasi-Coordinates," ASME Journal of Applied Mechanics, September 1990.
  3. Beer, R. D., Chiel, H. J., Quinn, R. D., Espenschied, K. and Larsson, P., "A Distributed Neural Net Architecture For Hexapod Robot Locomotion," Neural Computation, M.I.T. Press, Vol. 4, pp. 356-365, 1992.
  4. Chiel, H. J., Beer, R. D., Quinn, R. D., and Espenschied, K. S., "Robustness of a Distributed Neural Network Controller for Locomotion in a Hexapod Robot," IEEE Transactions on Robotics and Automation, Vol. 8, No. 3, June 1992.
  5. Espenschied, K. S., Quinn, R. D., Chiel, H. J., and Beer, R. D., "Leg Coordination Mechanisms in Stick Insect Applied to Hexapod Robot Locomotion," Adaptive Behavior, Vol. 1, No. 4, pp. 455-468, 1993.
  6. Espenschied, K. S. and Quinn, R. D.,"Biologically-Inspired Hexapod Robot Design and Simulation," AIAA Conference on Intelligent Robotsin Field, Factory, Service and Space, Houston, Texas, March 20-24, 1994.
  7. Nelson, G. M. and Quinn, R. D., "A Lagrangian Formulation in Terms of Quasicoordinates for Dynamic Simulations of Multibody Systems such as Insects and Robots," 1995 ASME International Mechanical Engineering Congress and Exposition (IMECE 1995), San Francisco, California, November 15, 1995.
  8. Espenschied, K. S., Quinn, R. D., Chiel, H. J., and Beer, R. D., "Biologically-Based Distributed Control and Local Reflexes Improve Rough Terrain Locomotion in a Hexapod Robot," Robotics and Autonomous Systems, Vol. 18, pp. 59-64, 1996.
  9. Gallagher, J., Beer, R. D., Espenschied, K. S., and Quinn, R. D., "Applications of Evolved Locomotion Controllers to a Hexapod Robot," Robotics and Autonomous Systems, Vol. 19, pp. 95-103, 1996.
  10. Beer, R.D., Quinn, R.D., Chiel, H.J., Ritzmann, R.E., "Biologically-Inspired Approaches to Robotics," Communications of the ACM,Vol. 40, No. 3, March 1997.
  11. Chen, C. T., Quinn, R. D., Ritzmann, R.E., "A Crash Avoidance System Based Upon the Cockroach Escape Response Circuit," Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97).
  12. Nelson, G. M., Quinn, R. D., Bachmann, Flannigan, W. C., Ritzmann, R. E., Watson, J. T., "Design and Simulation of a Cockroach-like Hexapod Robot," Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97), Albuquerque, NM, April 22-24, 1997.
  13. Nelson, G.M., and Quinn, R.D., "Posture Control of a Cockroach-like Robot," Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 18-21, 1998.
  14. Flannigan, W. C., Nelson, G. M., and Quinn, R. D., "Locomotion Controller for a Crab-like Robot," 1998 IEEE International Conference on Robotics and Automation (ICRA'98), Leuven, Belgium, May 18-21, 1998.
  15. Kolacinski, R. M. and Quinn, R. D., "Design and Mechanics of an Antagonistic Biomimetic Actuator System,"1998 IEEE International Conference on Robotics and Automation (ICRA'98), Leuven, Belgium, May 18-21, 1998.
  16. Kolacinski, R. M. and Quinn, R. D., "A Novel Biomimetic Actuator System," Robotics and Autonomous Systems, Vol. 25, pp. 1-18, 1998.
  17. Quinn, R. D. and Ritzmann, R. E., ""Construction of a Hexapod Robot with Cockroach Kinematics Benefits both Robotics and Biology," Connection Science, 10(3-4), December 1998.
  18. Beer, R. D., Chiel, H. J., Quinn, R. D., and Ritzmann, R. E. (1998), "Biorobotic Approaches to the Study of Motor Systems," Current Opinion in Neurobiology, Vol. 8, pp. 777-782.
  19. Nelson, G. M. and Quinn, R. D., "Posture Control of a Cockroach-like Robot," IEEE Control Systems, Vol. 19, No. 2, April 1999.
  20. Ritzmann, R.E., R.D. Quinn, J.T. Watson, S.N. Zill (1999) Insect walking and biorobotics: A relationship with mutual benefits. Bioscience, Vol. 50, No. 1, Jan. 2000.
  21. Watson, J.T., Ritzmann, R.E., and R.D. Quinn, S.N. Zill (1999) Control of Climbing Behavior in the Cockroach, Blaberus discoidalis . J. Comp. Physiol. A (in preparation).
  22. Vaidyanathan, R., Chiel, H.J. and Quinn, R.D. (2000). A hydrostatic robot for marine applications. Robotics and Autonomous Systems 30:103-113.
  23. Wei, T., Nelson, G.M., Quinn, R.D., Verma, H., Garverick, S. (2000) "A 5cm Autonomous Hopping Robot," IEEE Conf. on Robotics and Automation (ICRA '00), April 2000, San Francisco, CA.
  24. Laksanacharoen, S., Pollack, A., Nelson, G.M., Ritzmann, R.E., Quinn, R.D., (2000) "Biomechanics and Simulation of Cricket for Microrobot Design," IEEE Conf. on Robotics and Automation (ICRA '00), April 2000, San Francisco, CA.
  25. Birch, M.C., Quinn, R.D., Hahm, G., Phillips, S., Drennan, B., Fife, A., Verma, H., Beer, R.D., (2000) "Design of a Cricket Microrobot," IEEE Conf. on Robotics and Automation (ICRA '00), April 2000, San Francisco, CA.
  26. Birch, M.C., Quinn, R.D., Hahm, G., Phillips, S.M., Drennan, B.T., Fife, A., Beer, R.D., Yu, X., Garverick, S.L., Laksanacharoen, S., Pollack, A.J., and Ritzmann, R.E. (2001) "A Miniature Hybrid Robot Propelled by Legs," International Conference on Intelligent Robots and Systems (IROS '01), Maui, HI.
  27. Colbrunn, R.W., Nelson, G.M., and Quinn, R.D. (2001) "Design and Control of a Robotic Leg with Braided Pneumatic Actuators," International Conference on Intelligent Robots and Systems (IROS '01), Maui, HI.
  28. Colbrunn, R.W., Nelson, G.M., and Quinn, R.D. (2001) "Modeling of Braided Pneumatic Actuators for Robotic Control," International Conference on Intelligent Robots and Systems (IROS '01), Maui, HI.
  29. Kaliyamoorthy, S, Zill, S.N., Quinn, R.D., Ritzmann, R.E., and Choi, J. (2001) "Finite Element Analysis of Strains in a Blaberus Cockroach Leg During Climbing," International Conference on Intelligent Robots and Systems (IROS '01), Maui, HI.
  30. Quinn, R.D., Nelson, G.M., Bachmann, R.J., Kingsley, D.A., Offi, J. and Ritzmann, R. E. (2001). "Insect Designs for Improved Robot Mobility," In Proc. of Climbing and Walking Robots Conference (CLAWAR01), Professional Engineering Publications, edited by Berns and Dillmann, Karlsruhe, Germany, pp. 69-76.
  31. Vaidyanathan, R., Quinn, R.D., Ritzmann, R.E., and Prince, T.S. (2001) "An Insect Inspired Endgame Targeting Reflex for Autonomous Munitions," International Conference on Intelligent Robots and Systems (IROS '01), Maui, HI.
  32. Kingsley, D.A., and Quinn, R.D. (2002) "Fatigue Life and Frequency Response of Braided Pneumatic Actuators," IEEE International Conference on Robotics and Automation (ICRA '02), Washington, D.C.
  33. Mangan, E.V., Kingsley, D.A., Quinn, R.D., and Chiel, H.J. (2002) "Development of a Peristaltic Endoscope," IEEE International Conference on Robotics and Automation (ICRA '02), Washington, D.C.
  34. Quinn, R.D., Kingsley, D.A., Offi, J.T. and Ritzmann, R.E., (2002), "Improved Mobility Through Abstracted Biological Principles," IEEE Int. Conf. On Intelligent Robots and Systems (IROS'02), Lausanne, Switzerland.
  35. Allen, T.J, Quinn, R.D., Bachmann, R.J., and Ritzmann, R.E. (2003) "Abstracted Biological Principles Applied with Reduced Actuation Improve Mobility of Legged Vehicles," IEEE International Conference on Intelligent Robots and Systems (IROS 2003), Las Vegas.
  36. Horchler, A.D., Reeve, R.E., Webb, B.H., and Quinn, R.D., (2003) "Robot Phonotaxis in the Wild: a Biologically Inspired Approach to Outdoor Sound Localization," 11th International Conference on Advanced Robotics (ICAR'2003) Coimbra, Portugal, June 30 - July 3, 2003.
  37. Kingsley, D. A., Quinn, R. D., Ritzmann, R. E., "A Cockroach Inspired Robot With Artificial Muscles," International Symposium on Adaptive Motion of Animals and Machines (AMAM 2003), Kyoto, Japan.
  38. Morrey, J.M., Lambrecht, B., Horchler, A.D., Ritzmann, R.E., and Quinn, R.D. (2003) "Highly Mobile and Robust Small Quadruped Robots", IEEE International Conference on Intelligent Robots and Systems (IROS 2003), Las Vegas.
  39. Quinn, R.D., Nelson, G.M., Ritzmann, R.E., Bachmann, R.J., Kingsley, D.A., Offi, J.T. and Allen, T.J. (2003), "Parallel Strategies For Implementing Biological Principles Into Mobile Robots," Int. Journal of Robotics Research, Vol. 22 (3) pp. 169-186.
  40. Boggess, M.J., Schroer, R.T., Quinn, R.D., and Ritzmann, R.E. (2004), "Mechanized Cockroach Footpaths Enable Cockroach-like Mobility," IEEE International Conference on Robotics and Automation (ICRA '04), New Orleans.
  41. Rutkowski, A.J., Edwards, S., Willis, M.A., and R.D. Quinn (to appear) "A Robotic Platform for Testing Moth-Inspired Plume TrackingStrategies," IEEE International Conference on Robotics and Automation (ICRA'04), New Orleans.
  42. Schroer, R.T., Boggess, M.J., Bachmann, R.J., Quinn, R.D., and Ritzmann, R.E. (2004) "Comparing Cockroach and Whegs Robot Body Motions," IEEE Conference on Robotics and Automation (ICRA '04), New Orleans.
  43. Wei, T.E., Quinn, R.D., and Ritzmann, R.E. (2004) "A CLAWAR That Benefits From Abstracted Cockroach Locomotion Principles," In Proc. of Climbing and Walking Robots Conference (CLAWAR04), Madrid.
  44. Daltorio K.A., Horchler A.D., Gorb S., Ritzmann R.E. and Quinn R.D. (2005) "A Small Wall-Walking Robot with Compliant, Adhesive Feet," Int. Conf. on Intelligent Robots and Systems (IROS '05), Edmonton, Canada.
  45. Daltorio K.A., Gorb S., Peressadko A., Horchler A.D., Ritzmann R.E. and Quinn R.D. (2005) "A Robot that Climbs Walls using Micro-structured Polymer Feet," International Conference on Climbing and Walking Robots (CLAWAR), London, U.K., Sept. 13-15, 2005.
  46. Bachmann, R.J., Boria, F.J., Ifju, P.G., Quinn, R.D., Kline, J.E., Vaidyanathan, R. (2005) "Utility of a Sensor Platform Capable of Aerial and Terrestrial Locomotion," Advanced Intelligent Mechatronics, Monteray, California, U.S.A., July. 24-28, 2005.
  47. Boria, F.J., Bachmann, R.J., Ifju, P.G., Quinn, R.D., Vaidyanathan, R., Perry, C., Wagener, J. (2005) "A Sensor Platform Capable of Aerial and Terrestrial Locomotion," Intelligent Robots and Systems (IROS), Alberta, Canada, August. 2-6, 2005.
  48. Lewinger, W.A., C.M. Harley, R.E. Ritzmann, M.S. Branicky, and R.D. Quinn. "Insect-like Antennal Sensing for Climbing and Tunneling Behavior in a Biologically-inspired Mobile Robot," IEEE International Conference on Robotics and Automation (ICRA'05) Proceedings, Barcelona, Spain, April 18-22, 2005.
  49. Aschenbeck, K.S., N.I. Kern, R.J. Bachmann, and R.D. Quinn (2006). "Design of a Quadruped Robot Driven by Air Muscles," IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob'06) Proceedings, Pisa, Italy, February 20-22, 2006.
  50. Lewinger, W.A., M.S. Watson, and R.D. Quinn. (2006) "Obstacle Avoidance Behavior for a Biologically-Inspired Mobile Robot Using Binaural Ultrasonic Sensors," Proceeding of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'06), Beijing, China, October 9-13, 2006.


Video Conference Proceedings (Refereed):
  1. Espenschied, K. S., Quinn, R. D., Chiel, H. J., and Beer, R. D., "Biologically-Inspired Hexapod Robot Project: Robot II," IEEE International Conference on Robotics and Automation (ICRA'95) Video Proceedings, Nagoya Congress Center, Nagoya, Japan, May 21-27, 1995. (Won Best Video Award)
  2. Nelson, G.M, Quinn, R.D., "Posture Control of a Cockroach-like Robot," Video Proceedings of 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 18-21, 1998.
  3. Vaidyanathan, R., Chiel, H. J, and Quinn, R. D., "A Hydrostatic Robot for Marine Applications," 1998 IEEE International Conference on Robotics and Automation (ICRA'98) Video Proceedings, Belgium, May 18-21, 1998.
  4. Quinn, R.D., Kingsley, D.A., Offi, J. and Ritzmann, R.E., "It's Got Whegs" 2002 IEEE International Conference on Robotics and Automation (ICRA'02) Video Proceedings, Washington, D.C., May, 2002.
  5. Mangan, E.V., Kingsley, D.A., Quinn, R.D., and Chiel, H.J., "Development of a peristaltic endoscope," 2002 IEEE International Conference on Robotics and Automation (ICRA'02) Video Proceedings, Washington, D.C., May 2002.
  6. R.D.Quinn; T.J Allen; A.D.Horchler; J.M.Morrey; B.Lambrecht; J.T.Offi; B.L.Rutter; G.M.Nelson; R.J.Bachmann; D.A.Kingsley M.C.Birch; A.J.Pollack; R.E.Ritzmann. "Highly Mobile Scalable UGVs for Near Term and Far Term Missions," (2002) Proceedings of SPIE Vol. #5083 Unmanned Ground Vehicle Technology V Video Session
  7. Morrey, J.M., Horchler, A.D., Didona, N., Lambrecht, B., Ritzmann, R.E. and Quinn, R.D. (2003) "Increasing Small Robot Mobility Via Biological Inspiration," 2003 IEEE International Conference on Robotics and Automation (ICRA'03) Video Proceedings, Taiwan. (Runner up for Best Video Award).
  8. Allen, T.J., Quinn, R.D., Bachmann, R.J., and Ritzmann (2004) "Whegs II: A Mobile Robot Using Abstracted Biological Principles," 2004 IEEE International Conference on Robotics and Automation (ICRA'04) Video Proceedings, New Orleans.
  9. Lewinger, W.A., C.M. Harley, R.E. Ritzmann, M.S. Branicky, and R.D. Quinn. "Insect-like Antennal Sensing for Climbing and Tunneling Behavior in a Biologically-inspired Mobile Robot," IEEE International Conference on Robotics and Automation (ICRA'05) Video Proceedings, Barcelona, Spain, April 18-22, 2005. (Won Best Video Award)
  10. Daltorio, K.A., Gorb, S., Peressadko, A., Horchler, A.D., Ritzmann, R.E., Quinn, R.D. (2006) "Wall-Climbing Mini-Whegs™," IEEE International Conference on Robotics and Automation (ICRA '06) Video Proceedings, Orlando.
  11. Boxerbaum, A., Reis, L., Southard, L., Hoeg, T., Antol, J., Heldmann, J., Quinn, R.D. (2006) "Exploring Mars Using Wind Driven "Tumbleweed" Rovers." IEEE International Conference on Robotics and Automation (ICRA '06) Video Proceedings, Orlando.
  12. Lewinger, W.A., Watson, M.S., Quinn, R.D. (2006) "Obstacle Avoidance Behaviors using Binaural Ultrasonic Sensors," IEEE IROS'06 Video Proceedings, Beijing.
  13. Jones, K., Boria, F., Bachmann R., Vaidyanathan, R., Ifju, P., Quinn, R., (2006) "A Sensor Platform Capable of Aerial and Terrestrial Locomotion." IEEE IROS'06 Video Proceedings, Beijing.


Book Chapters:
  1. Quinn, R. D. and Espenschied, K. S., "Control of a Hexapod Robot Using a Biologically Inspired Neural Network," Biological Neural Networks in Invertebrate Neuroethology and Robotics, Academic Press, 1992.
  2. Chiel, H. J., Beer, R. D., Quinn, R. D., and Espenschied, K. S., "Robustness of a Distributed Neural Network Controller for Locomotion in a Hexapod Robot," IEEE Transactions on Robotics and Automation, Vol. 8, No. 3, June 1992. (Reprinted as a chapter in Neural Networks for Robotic Control Theory and Applications, edited by A.M.S. Zalzala and A.S. Morris, Prentice Hall 1996.)
  3. Chen, C. T., Quinn, R. D., and Ritzmann, R. E., "The Cockroach Escape Response Circuit Provides An Excellent Basis For A Crash Avoidance System," Soft Computing in Robotics, Springer, edited by Prof. K.Hirota and Prof. T. Fukuda, 1998.
  4. Quinn, R. D. and Ritzmann, R. E. (2000). Construction of a Hexapod Robot with Cockroach Kinematics Benefits both Robotics and Biology. Biorobotics, AAAI press (in press).
  5. Quinn, R.D., Nelson, G.M., and Ritzmann, R.E., (2000). Toward the Development of Agile and Mission Capable Legged Robots. Neurotechnology for Biomimetic Robots, MIT Press (in press).


Other Publications:
  1. Quinn, R. D., "Lagrange's Equations of Motion For Structures in Terms of Quasi-Coordinates," Proceedings of the Midwestern Mechanics Conference, Michigan, August 1989.
  2. Quinn, R. D., Beer, R. D., Chiel, H., Ritzmann, R., and Sterling, L. S., "Distributed Neural Control of a Hexapod Walking Vehicle," 3rd Annual Conference on Aerospace Computational Control, Oxnard, CA, August 28-30, 1989.
  3. Quinn, R. D. and Lin, N. J., "Dynamics and Simulation of an Insect-Like Hexapod Robot," Proceedings of the Ninth VPI&SU/AIAA Symposium on Dynamics and Control of Large Structures, May 10-12, 1993.
  4. Espenschied, K. S., Quinn, R. D., Chiel, H. J., and Beer, R. D., "Biologically-Inspired Hexapod Robot Control," Proceedings of the Fifth International Symposium on Robotics and Manufacturing: Research, Education and Applications (ISRAM'94), Maui, Hawaii, August 14-18, 1994.
  5. Chen, C. T., Quinn, R. D., Ritzmann, R. E., "A Crash Avoidance System Based on the Cockroach Escape Response," Proceedings of the Tenth VPI&SU/AIAA Symposium on Dynamics and Control of Large Structures, May 8-10, 1995.
  6. Nelson, G. M. and Quinn, R. D., "A Quasicoordinate Formulation for Dynamic Simulation of Complex Multibody Systems with Constraints," 3rd International Conference on Dynamics and Control of Structures in Space, London, England, May 27-31, 1996.
  7. Flannigan, W. C., Nelson, G. M., Quinn, R. D., "Motion controller for the K2T, inc. Crab-like Robot," Proceedings of the Eleventh VPI&SU/AIAA Symposium on Dynamics and Control of Large Structures, May 12-14, 1997.
  8. Flannigan, W.C. (1998) "Finite Element Modeling of Arthropod Exoskeleton," M.S. Thesis, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA. May 1998.
  9. Palmer, D.W., Kirschenbaum, M., Murton, J., Vaidyanathan, R., Quinn, R.D. (2003) "Development of Collective Control Architectures for Small Quadruped Robots Based on Human Swarming Behavior," 2nd International Workshop on the Mathematics and Algorithms of Social Insects (MASI), Atlanta, GA, Dec. 15-17.
  10. Lewinger, W.A. (2005) "Insect-Inspired, Actively Compliant Robotic Hexapod," M.S. Thesis, Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA. May 2005.





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