Biologically Inspired Locomotion

Academic Journals

  1. H. Astley, C. Gong, M. Travers, M. Serrano, P. Vela, J.R. Mendelson III, H. Choset, D.L. Hu, D.I. Goldman. Modulation of Orthogonal Body Waves Enables High Maneuverability in Sidewinding Locomotion. Proceedings of the National Academy of Sciences, 112(19):6200-5, 2015. (more) doi

International Conferences

  1. A.H. Chang, P.A. Vela. Closed-Loop Navigation of Traveling Wave Rectilinear Motion Through Obstacle-Strewn Terrain. In to appear IEEE International Conference on Robotics and Automation, 2017. (more)
  2. A. Chang, M.M. Serrano, G. Zhang, P.A. Vela. Incorporating frictional anisotropy in the design of a robotic snake through the exploitation of scales. In ICRA, Pages 3729-3734, 2015. (more) doi
  3. P.A. Vela, J.W. Burdick. Control of Biomimetic Locomotion via Averaging Theory. In Proceedings of IEEE International Conference on Robotics and Automation, Pages 1482-1489, Taipei, Taiwan, 2003. (more)
  4. K. A. Morgansen, P. A. Vela, J. W. Burdick. Trajectory Stabilization for a Planar Carangiform Robot Fish. In Proceedings of IEEE International Conference on Robotics and Automation, Washinton D.C, 2002. (more)
  5. P. A. Vela, K. A. Morgansen, J. W. Burdick. Underwater Locomotion from Oscillatory Shape Deformations. In Proceedings of IEEE Conference on Decision and Control, Las Vegas, NV, 2002. (more)


  1. P. A. Vela. Averaging and Control of Nonlinear Systems. PhD Thesis California Institute of Technology, 2003. (more) pdf

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