2014

Behavioral and mechanical determinants of robust collective subsurface nest excavation, Daria Monaenkova, Nick Gravish, Greggory Rodriguez, Rachel Kutner, Michael A. D. Goodisman, and Daniel I. Goldman, Journal of Experimental Biology, in review (2014).
Principles of foot design in robots and animals determining terradynamic performance on flowable ground, Feifei Qian, Tingnan Zhang, Wyatt L. Korff, Paul B. Umbanhowar, Robert J. Full, and Daniel I. Goldman, Bioinspiration & Biomimetics, in review (2014).
Modulation of orthogonal body waves enables high maneuverability in sidewinding locomotion, Henry Astley, Chaohui Gong, Matthew Travers, Miguel Serrano, Patricio Vela, Joseph R. Mendelson III, Howie Choset, David L. Hu, and Daniel I. Goldman, PNAS, in review (2014).
Locomotor benefits of being a slender and slick sand-swimmer, Sarah S. Sharpe, Stephan A. Koehler, Robyn Kuckuk, Miguel Serrano, Patricio Vela, and Daniel I. Goldman, Journal of Experimental Biology, in review (2014).
The effectiveness of resistive force theory in granular locomotion, Tingnan Zhang and Daniel I. Goldman, Physics of Fluids, in press (2014).
Sidewinding with minimal slip: snake and robot ascent of sandy slopes, Hamidreza Marvi, Chaohui Gong, Nick Gravish, Henry Astley, Matthew Travers, Ross L. Hatton, Joseph R. Mendelson III, Howie Choset, David L. Hu, and Daniel I. Goldman, Science, 346, 224 (2014) (PDF+ SOM) (Perspectives piece by Prof. Jake Socha) (article on biorobotics by Prof. Auke Ijspeert)
Beneath our feet: strategies for locomotion in granular media, A. E.Hosoi and Daniel I. Goldman, Annual Reviews of Fluid Mechanics, in press (2014).
The effect of volume fraction on granular avalanche dynamics, Nick Gravish, and Daniel I. Goldman, Physical Review E, 90, 032202 (2014) (PDF) (named as an Editors' Suggestion).
Force and flow at the onset of drag in plowed granular media, Nick Gravish, Paul B Umbanhowar, and Daniel I. Goldman, Physical Review E, 89, 042202 (2014) (PDF).
Colloquium: Biophysical principles of undulatory self-propulsion in granular media, Daniel I. Goldman, Reviews of Modern Physics, 86, 943 (2014) (PDF).
Conditioned basis array factorization: an approach to gait pattern extraction, Chaohui Gong, Matthew Travers, Henry Astley, Lu Li, Joe Mendelson, David Hu, Daniel I. Goldman, Howie Choset, RSS (2014) (PDF).
2013
Swimming in the desert, Yang Ding, Chen Li, and Daniel I. Goldman, Physics Today, November, pg. 68 (2013) (PDF)
Emergence of the advancing neuromechanical phase lag in a resistive force dominated medium, Yang Ding, Sarah S. Sharpe, Kurt Wiesenfeld, and Daniel I. Goldman, PNAS, 110, 10123-10128 (2013) (PDF+SI) (movies)

Ant locomotion on the cover of PNAS

Climbing, falling and jamming during ant locomotion in confined environments, Nick Gravish, Daria Monaenkova, Michael A. D. Goodisman, and Daniel I. Goldman, PNAS, 110, 9746-9751 (2013) (PDF) (PDF+SI) (movies)
A terradynamics of legged locomotion on granular media, Chen Li, Tingnan Zhang, and Daniel I. Goldman, Science, 339, 1408 (2013) (PDF+Supplemental Material)(movies) .
Geometric visualization of self-propulsion in a complex medium, Ross Hatton, Yang Ding, Howie Choset, and Daniel I. Goldman, Physical Review Letters 110, 078101 (2013) (PDF) (movies)
Flipper driven terrestrial locomotion of a sea turtle inspired robot, Nicole Mazouchova, Paul B. Umbanhowar, and Daniel I. Goldman, Bioinspiration & Biomimetics, 8, 026007 (2013) (PDF) (movies). Chosen as one of the B&B Highlights of 2013.

Ground fluidization promotes rapid running of a lightweight robot, Tingnan Zhang, Feifei Qian, Chen Li, Pierangelo Masarati, Paul Birkmeyer, Andrew Pullin, Aaron Hoover, Ronald S. Fearing, and Daniel I. Goldman, International Journal of Robotics Research, 32, 859 (2013) (PDF) (movies)

An automated system for systematic testing of locomotion on heterogeneous granular media, Feifei Qian, Tingnan Zhang, Kevin Daffon, and Daniel I. Goldman, CLAWAR (2013) (PDF)

2012

  Environmental interaction influences muscle activation strategy during sand-swimming in the sandfish lizard (Scincus scincus), Sarah S. Sharpe, Yang Ding, and Daniel I. Goldman, Journal of Experimental Biology, 216, 260 (2012) (PDF) (movies) (Inside JEB).

Work featured on the cover of PLOS Computational Biology

Mechanics of undulatory swimming in a frictional fluid, Yang Ding, Sarah S. Sharpe, Andrew Masse, and Daniel I. Goldman, PLoS Computational Biology, 8(12): e1002810 (2012) (PDF) (journal cover)
  Lift-off dynamics in a simple jumping robot, Jeffrey Aguilar, Alex Lesov, Kurt Wiesenfeld and Daniel I. Goldman, Physical Review Letters, 109, 174301 (2012) (PDF) (extra info and movies) (demo).

Work featured on the cover of PRL

Entangled granular media, Nick Gravish, Scott V. Franklin, David L. Hu, and Daniel I. Goldman, Physical Review Letters, 108, 208001 (2012) (PDF)(journal cover).

Effects of worker size on the dynamics of fire ant tunnel construction, Nick Gravish, Mateo Garcia, Nicole Mazouchova, Laura Levy, Paul B. Umbanhowar, Michael A. D. Goodisman, and Daniel I. Goldman, Journal of the Royal Society Interface, 9, 3312 (2012) (PDF) (videos on journal page)(Video downloads).

Cover of Journal Experimental Biology

Multi-functional foot use during running of the zebra-tailed lizard (Callisaurus draconoides), Chen Li, S. Tonia Hsieh, and Daniel I. Goldman, Journal of Experimental Biology, 215, 3293, (2012) (PDF)(video downloads)(journal cover).

Walking and running on yielding and fluidizing ground, Feifei Qian, Tingnan Zhang, Chen Li, Pierangelo Masarati, Paul Birkmeyer, Andrew Pullin, Aaron Hoover, Ronald S. Fearing, and Daniel I. Goldman, Robotics: Science and Systems (RSS) conference (2012) (PDF) (videos).
Using computational and mechanical models to study animal locomotion, Laura A. Miller, Daniel I. Goldman, Tyson L. Hedrick, Eric D. Tytell, Jane Wang, Jeannette Yen, and Silas Alben, Integrative and Comparative Biology, 52, 553 (2012) (PDF).
Geometric mechanics for sand swimming, Ross Hatton, Yang Ding, Howie Choset, and Daniel I. Goldman, CLAWAR (2012) (Runner-up for Best Paper Award) (PDF)
A resistive force model for legged locomotion on granular media, Chen Li, Tingnan Zhang, and Daniel I. Goldman, CLAWAR (2012) (PDF)

Towards a terramechanics for bio-inspired locomotion in granular environments, Chen Li, Yang Ding, Nick Gravish, Paul B. Umbanhowar, Haldun Komsuoglu, Daniel E. Koditschek, and Daniel I. Goldman, ASCE, Earth and Space 2012 conference (2012).

2011

Work featured on the cover of Journal of the Royal Society Interface

Mechanical models of sandfish locomotion reveal principles of high performance subsurface sand-swimming, Ryan D. Maladen, Yang Ding, Paul B. Umbanhowar, Adam Kamor, and Daniel I. Goldman, Journal of the Royal Society Interface, 8, 1332-1345 (2011) (PDF + Supplemental text) (videos) (journal cover).

Drag induced lift in granular media, Yang Ding, Nick Gravish and Daniel I. Goldman, Physical Review Letters, 106, 028001 (2011) (PDF) (Supplemental material/videos).

Granular lift forces predict vertical motion of a sand-swimming robot, Ryan D. Maladen, Paul B. Umbanhowar, Yang Ding, Andrew Masse and Daniel I. Goldman, ICRA, (2011) (PDF). ICRA website here

Undulatory swimming in sand: experimental and simulation studies of a robotic sandfish, Ryan D. Maladen, Yang Ding, Paul B. Umbanhowar, and Daniel I. Goldman, International Journal of Robotic Research, 30, 793-805 (2011) (PDF).

Comparative studies reveal principles of movement on and within granular media, Yang Ding, Nick Gravish, Chen Li, Ryan D. Maladen, Nicole Mazouchova, Sarah S. Sharpe, Paul B. Umbanhowar, and Daniel I. Goldman, IMA Workshop on Locomotion (2011) (PDF).

2010

Work featured on the cover of PRL

Force and flow transition in plowed granular media, Nick Gravish, Paul B. Umbanhowar and Daniel I. Goldman, Physical Review Letters, 105, 128301 (2010) (PDF) (Supplemental material/videos) (journal cover).

Granular impact and the critical packing state, Paul B. Umbanhowar and Daniel I. Goldman, PRE Rapid Communications, 82, 010301R, (2010) (PDF).

Wiggling Through the World, Daniel I. Goldman and David L. Hu, American Scientist, July/August 2010 (PDF).

Biophysically inspired development of a sand-swimming robot, Ryan D. Maladen, Yang Ding, Paul B. Umbanhowar, Adam Kamor and Daniel I. Goldman, Robotics: Science & Systems (RSS) 2010 (PDF) (movies).

Utilization of granular solidification during terrestrial locomotion of hatchling sea turtles, Nicole Mazouchova, Nick Gravish, Andrei Savu, and Daniel I. Goldman, Biology Letters,6,398,(2010) (PDF) (PDF of Supporting Online Material) (movies). Website of the Special Feature on Control and Dynamics of Animal Locomotion here.

The effect of limb kinematics on the speed of a legged robot on granular media, Chen Li, Paul B. Umbanhowar, Haldun Komsuoglu, and Daniel I. Goldman, Experimental Mechanics, 50, 1383 (2010) (PDF)

Systematic study of the performance of small robots on controlled laboratory substrates, Chen Li, Aaron M. Hoover, Paul Birkmeyer, Paul B. Umbanhowar, Ronald S. Fearing, and Daniel I. Goldman, Proceedings of SPIE, 7679, 76790Z, (2010) (PDF) (movies)

2009

Undulatory swimming in sand: subsurface locomotion of the sandfish lizard, Ryan Maladen, Yang Ding, Chen Li and Daniel I. Goldman, Science, 325, 314 (2009) (PDF) (PDF of Supporting Online Material) (movies)

Sensitive dependence of the motion of a legged robot on granular media, Chen Li, Paul B. Umbanhowar, Haldun Komsuoglu, Daniel E. Koditschek, and Daniel I. Goldman, PNAS, 106, 3029, (2009) (PDF)

Work featured on the cover of IEEE Spectrum

March of the SandBots, Daniel I. Goldman, Haldun Komsuoglu, Daniel E. Koditschek, IEEE Spectrum, April 2009, pg. 30. (PDF). The cover of the magazine featuring the work is posted here.

2008

Integrating a Hierarchy of Simulation Tools for Legged Robot Locomotion, Andrew Slatton, Daniel Cohen, Yang Ding, Paul B. Umbanhowar, Daniel I. Goldman, G. Clark Haynes, Haldun Komsuoglu, and Daniel E. Koditschek, IROS 2008 (PDF).

Scaling and Dynamics of Sphere and Disk Impact into Granular Media, Daniel I. Goldman and Paul B. Umbanhowar, PRE, 77, 021308 (2008) (PDF).

Work featured on the cover of PNAS

Active Tails Enhance Arboreal Acrobatics in Geckos, Ardian Jusufi, Daniel I. Goldman, Shai Revzen, and Robert J. Full, PNAS, 105, 4215 (2008)(PDF).

2007

Design of a Bio-inspired Dynamical Vertical Climbing Robot, Jonathan E. Clark, Daniel I. Goldman, Pei-Chun Lin, Goran Lynch, Tao S. Chen, Haldun Komsuoglu, Robert J. Full, and Daniel E. Koditschek, Proceedings of Robotics: Science and Systems (2007) (PDF).

Work featured on the cover of PRL

Distributed mechanical feedback in arthropods and robots simplifies control of rapid running on challenging terrain, Joseph C. Spagna, Daniel I. Goldman, Pei-Chun Lin, Daniel E. Koditschek and�Robert J. Full, Bioinspiration and Biomimetics, 2 9-18 (2007) (PDF). (Movies associated with paper). Journal Cover for March 2007.

2006

Toward a dynamic climbing robot, Jonathan E. Clark, Daniel I. Goldman, Tao S. Chen, Robert J. Full and Daniel E. Koditschek, submitted to CLAWAR 2006, 9th International Conference on Climbing and Walking Robots (PDF).

Dynamics of rapid vertical climbing in a cockroach reveals a template, Daniel I. Goldman, Tao S. Chen, Daniel M. Dudek and�Robert J. Full, The Journal of Experimental Biology, 209, 2990-3000 (2006) (PDF).

Signatures of glass formation in a fluidized bed of hard spheres, Daniel I. Goldman and Harry L. Swinney, PRL 96, 145702 (2006). (PDF).

Low density fragile states in cohesive powders, Paul B. Umbanhowar and Daniel I. Goldman, American Journal of Physics, 74, 720-721 (2006). (PDF).

The RiSE Climbing Robot: Body and Leg Design, A. Saunders, D. I. Goldman,��R. J. Full, and M. Buehler,�Unmanned Systems Technology VIII, SPIE, 6230, 623017 (2006). (PDF)

2005

Robotics in Scansorial Environments, Kellar Autumn, Martin Buehler, Mark Cutkosky, Ronald Fearing, Robert J. Full, Daniel Goldman, Richard Groff, William Provancher, Alfred E. Rizzi, Uluc Saranli, Aaron Saunders and Daniel Koditschek, in Unmanned Ground Vehicle Technology VII, eds. Grant R. Gerhart, Charles M. Shoemaker, Douglas W. Gage, Proceedings of SPIE Vol. 5804, 291-302 (2005). (PDF)

Stationary state volume fluctuations in a granular medium, Matthias Schroeter, Daniel I. Goldman and Harry L. Swinney, PRE Rapid Communications 71, 030301 (2005). (PDF)

2004

Noise, coherent fluctuations, and the onset of order in an oscillated granular fluid, Daniel I. Goldman, J. B. Swift and Harry L. Swinney, PRL 92, 174302 (2004). (PDF)

Mach cone in a shallow granular fluid, Patrick Heil, E. C. Rericha, Daniel I. Goldman and Harry L. Swinney, PRE Rapid Communications 70, 060301 (2004). (PDF)

Crucial role of sidewalls in velocity distributions in quasi-2D granular gases, J.�S. van Zon, J. Kreft, Daniel I. Goldman, D. Miracle, J.�B. Swift, and Harry L. Swinney, PRE Rapid Communications 70, 040301 (2004). (PDF)

Persistent holes in a fluid, Florian S. Merkt, Robert D. Deegan, Daniel I. Goldman, Erin C. Rericha and Harry L. Swinney, PRL 92, 184501 (2004). (PDF) (listed as one of Physics News stories of the year, see here)� Oscillated cornstarch movie

Dynamics of drag and force distributions for projectile impact in a granular medium, Massimo Pica Ciamarra, Antonio H. Lara, Andrew T. Lee, Daniel I. Goldman, Inna Vishik and Harry L. Swinney, PRL 92, 194301 (2004). (PDF)

Stages of relaxation of patterns and the role of stochasticity on the final stage, Shaowen Hu, Daniel I. Goldman, Donald J. Kouri, David K. Hoffman, Harry L. Swinney and Gemunu H. Gunaratne, Nonlinearity 17, 1535 (2004). (PDF)

2003

Lattice dynamics and melting of a nonequilibrium pattern, Daniel I. Goldman,� M. D. Shattuck, Sung Joon Moon, J. B. Swift, Harry L. Swinney, PRL 90, 104302 (2003). (PDF)

Kink-induced transport and segregation in oscillated granular layers, Sung Joon Moon, Daniel I. Goldman, J. B. Swift, and Harry L. Swinney, PRL 91, 134301 (2003). (PDF)

2002

Emergence of order in an oscillated granular layer, Daniel. I. Goldman, M. D. Shattuck, Harry L. Swinney, Gemunu H. Gunaratne, Physica A 306,180 (2002). (PDF)

Phase bubbles and spatiotemporal chaos in granular patterns, Sung Joon Moon, M. D. Shattuck, C. Bizon, Daniel I. Goldman, J. B. Swift, Harry L. Swinney, PRE 65, 011301 (2002). (PDF)

1998

Absence of inelastic collapse in a realistic three ball model, Daniel I. Goldman, M. D.� Shattuck, C. Bizon, W. D. McCormick,� J. B. Swift, Harry L.�Swinney PRE 57, 4831 (1998). (PDF)

Continuum-type stability balloon in oscillated granular layers, J. R. De Bruyn, C. Bizon, M. D.� Shattuck, Daniel I. Goldman, J. B.� Swift,� Harry L.�Swinney PRL 81, 1421 (1998). (PDF)