Publications

Journal

[1] A. De, T. T. Topping, J. D. Caporale, and D. E. Koditschek, “Mode-Reactive Template-Based Control in Planar Legged Robots,” IEEE Access, vol. 10, pp. 16 010–16 027, 2022, doi: 10.1109/ACCESS.2022.3148921

[2] V. Vasilopoulos, G. Pavlakos, S. L. Bowman, J. D. Caporale, K. Daniilidis, G. J. Pappas, and D. E. Koditschek, “Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback,” IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 4455–4462, Jul. 2020, doi: 10.1109/LRA.2020.3001496

Conferences

[3] J. D. Caporale, Z. Feng, S. Rozen-Levy, A. M. Carter, and D. E. Koditschek, “Twisting Spine or Rigid Torso: Exploring Quadrupedal Morphology via Trajectory Optimization,” in 2023 IEEE International Conference on Robotics and Automation (ICRA), May 2023, p. 8

[4] W. Chen, S. Misra, J. D. Caporale, D. E. Koditschek, S. Yang, and C. R. Sung, “A Tendon-Driven Origami Hopper Triggered by Proprioceptive Contact Detection,” in 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), May 2020, pp. 373–380, doi: 10.1109/RoboSoft48309.2020.9116040

[5] J. D. Caporale, B. W. McInroe, C. Ning, T. Libby, R. J. Full, and D. E. Koditschek, “Coronal Plane Spine Twisting Composes Shape To Adjust the Energy Landscape for Grounded Reorientation,” in 2020 IEEE International Conference on Robotics and Automation (ICRA), May 2020, pp. 8052–8058, doi: 10.1109/ICRA40945.2020.9197026

Non-Peer-Reviewed Conference Proceedings

[6] J. D. Caporale, N. Cavallo, Y. Zhang, S. Liu, X. Liao, E. Fulcher, X. Guo, H. Arya, S. Saha, J. Maynes, W. Hu, S. Misra, C. Sung, and F. Qian, “Mapping Terrain Properties and Traversal Risk by Walking,” in American Physical Society (APS) Global Physics Summit, Mar. 2025

[7] E. Fulcher, J. D. Caporale, Y. Zhang, J. Ruck, S. Liu, D. Jerolmack, and F. Qian, “Effect of Gait Speed on Sensing During Locomotion Performance of a Quadrupedal Legged Robot,” in American Physical Society (APS) Global Physics Summit, Mar. 2025

[8] Y. Zhang, E. Fulcher, J. D. Caporale, and F. Qian, “Towards Making Every Step an Experiment: Effect of Robot Gait Speed on Characterizing Regolith Properties by Walking,” 56th Lunar and Planetary Science Conference (LPSC), Mar. 2025

[9] S. Liu, J. D. Caporale, E. Fulcher, W. Hu, N. Cavallo, Y. Zhang, X. Liao, C. Sung, and F. Qian, “Scout-Rover Cooperation: Online Terrain Strength Mapping and Traversal Risk Estimation for Planetary-analog Explorations,” 56th Lunar and Planetary Science Conference (LPSC), Mar. 2025

[10] E. Fulcher, J. D. Caporale, Y. Zhang, J. C. Bush, R. C. Ewing, K. R. Fisher, D. J. Jerolmack, S. Liu, M. Nachan, F. Rivera-Hernandez, J. G. Ruck, T. Shipley, C. Wilson, D. E. Koditschek, and F. Qian, “Making Every Step an Experiment: Proprioceptive Sensing During Locomotion for Enhanced Mobility and Data Collection in Planetary-Analogue Explorations,” in 55th Lunar and Planetary Science Conference (LPSC), Mar. 2024

[11] J. C. Bush, Y. Zhang, J. D. Caporale, R. C. Ewing, K. R. Fisher, E. Fulcher, D. J. Jerolmack, N. A. Jones, D. E. Koditschek, S. Liu, B. McKeeby, M. Nachon, F. Rivera-Hernandez, J. G. Ruck, T. Shipley, S. Thompson, C. G. Wilson, and F. Qian, “Relating Geotechnical Properties of Crusty Regolith to Morphology and Mineralogy Using a Robotic Leg Rheometer,” in 55th Lunar and Planetary Science Conference (LPSC), Mar. 2024

[12] J. G. Ruck, J. C. Bush, J. D. Caporale, E. Fulcher, N. A. Jones, S. Thompson, B. McKeeby, K. R. Fisher, M. Nachon, D. E. Koditschek, R. C. Ewing, F. Rivera-Hernandez, T. Shipley, C. G. Wilson, F. Qian, and D. J. Jerolmack, “Unveiling the Mechanics of Frozen Frontiers With a Robotic Rheometer,” in 55th Lunar and Planetary Science Conference (LPSC), Mar. 2024

[13] Y. Zhang, E. Fulcher, J. D. Caporale, S. Liu, J. Bush, J. Ruck, D. E. Koditschek, D. Jerolmack, and F. Qian, “Making every step an experiment: Proprioceptive sensing during locomotion for enhanced mobility and data collection in earth and planetary explorations,” in 2024 American Physical Society (APS) March Meeting, Mar. 2024

[14] A. Carter, J. D. Caporale, and D. E. Koditschek, “Towards Dynamic Gaits in Paleozoic Tetrapods: Damping Forces in the Axial Column,” in 2024 Society for Integrative and Comparative Biology (SICB) Annual Meeting, Jan. 2024

[15] A. Carter, J. D. Caporale, and D. E. Koditschek, “Investigating Spinal Column Dynamics in a Terrestrial Permian Herbivore,” in Geological Society of America (GSA) Connects 2023 Meeting, Oct. 2023

[16] A. Carter, E. Musser, J. D. Caporale, and D. E. Koditschek, “Investigating Spinal Column Dynamics in Crown Terrestrial Amniotes,” in 2023 Society for Integrative and Comparative Biology (SICB) Annual Meeting, Jan. 2023, doi: 10.1093/icb/icad002

Technical Reports

[17] V. Vasilopoulos, G. Pavlakos, S. L. Bowman, J. D. Caporale, K. Daniilidis, G. J. Pappas and D. E. Koditschek, “Technical Report: Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback”, arXiv, Feb. 2020, https://arxiv.org/abs/2002.12349