Peer-Reviewed Journal Publications

Reynaga, C. M., Astley, H. C., and Azizi, E. (2018) Morphological and kinematic specializations of walking frogs. Journal of Experimental Zoology A, 329:87–98. PDF

Astley, H.C., Astley, V.E., Brothers, D., Mendelson, J. R. (2017) Digital Analysis of Photographs for Snake Length Measurement. Herpetological Review, 2017, 48(1), 39–43. PDF

Astley, H.C. (2016) The Diversity and Evolution of Locomotor Muscle Properties in Anurans. Journal of Experimental Biology, 219, 3163-3173; doi:10.1242/jeb.142315 PDF

Camp, A. L., Astley, H.C., Horner, A.M., Roberts, T.J., and Brainerd, E.L. (2016) Fluoromicrometry: A Method for Measuring Muscle Length Dynamics with Biplanar Videofluoroscopy. Journal of Experimental Zoology, Vol. 325 no 7 pp 399–408, doi: 10.1002/jez.2031 PDF

McInroe, B.*, Astley, H.C.*, Gong, C., Kawano, S., Schiebel, P.E., Rieser, J.M., Choset, H., Blob, R.W., and Goldman, D.I. (2016) Tail use improves performance on soft substrates in models of early vertebrate land locomotors. Science, Vol. 353 no 6295 pp 154-158; doi: 10.1126/science.aaf0984 *Co-First-Authors PDF

Gong, C., Travers, M., Astley, H. C., Li, L., Mendelson, J., Goldman D. I., and Choset, H. (2016) Kinematic gait synthesis for snake robots. The International Journal of Robotics Research, Vol. 35 Issue 1-3, pp 100-113; doi:10.1177/0278364915593793 PDF

Astley, H.C., A. Haruta, and Roberts, T.J. (2015) Robust Jumping Performance and Elastic Energy Recovery from Compliant Perches in Tree Frogs. Journal of Experimental Biology, 218, 3360-3363; doi:10.1242/jeb.121715 PDF

Astley, H. C., Gong, C., Dai, J., Travers, M., Serrano, M. M., Vela, P. A., Choset, H., Mendelson, J. R., Hu, D., and Goldman, D. I. (2015) Modulation of orthogonal body waves enables high maneuverability in sidewinding locomotion. Proceedings of the National Academy of Sciences, vol. 112 no. 19, pp. 6200–6205 doi: 10.1073/pnas.1418965112 PDF

Astley, H. C., and Roberts, T. J. (2014) The mechanics of elastic loading and recoil in anuran jumping. Journal of Experimental Biology, 217, 4372-4378 doi:10.1242/jeb.110296 PDF

Marvi, H., Gong, C., Gravish, N., Astley, H. C., Travers, M., Hatton, R. L., Mendelson III, J. R., Choset, H., Hu, D. L., and Goldman, D. I. (2014) Sidewinding with minimal slip: snake and robot ascent of sandy slopes. Science, Vol. 346 no. 6206 pp. 224-229; doi: 10.1126/science.1255718 PDF

Astley, H. C., Abbot, E. M., Azizi, E., Marsh, R. L., and Roberts, T. J. (2013) Chasing maximal performance: A cautionary tale from the celebrated jumping frogs of Calaveras County. Journal of Experimental Biology, 216, 3947-3953. doi:10.1242/jeb.090357 PDF

Astley, H. C. (2012) Getting around when you’re round: quanitative analysis of the locomotion of the blunt-spined brittle star Ophiocoma echinata. Journal of Experimental Biology, 215, 1923-1929. doi: 10.1242/jeb.068460 PDF

Astley, H. C. and Roberts, T.J. (2012) Evidence for a vertebrate catapult: elastic energy storage in the plantaris tendon during frog jumping. Biology Letters, vol. 8 no. 3 386-389 doi: 10.1098/rsbl.2011.0982 PDF

Astley, H. C. and Jayne, B.C. (2009) Arboreal habitat structure affects the performance and modes of locomotion of corn snakes (Elaphe guttata). Journal of Experimental Zoology, 311A: 207-216. doi: 10.1002/jez.521 PDF

Astley, H. C. and Jayne, B.C. (2007) Effects of perch diameter and incline on the kinematics, performance and modes of arboreal locomotion of corn snakes (Elaphe guttata). Journal of Experimental Biology, 210: 3862-3872. doi: 10.1242/jeb.009050 PDF

Peer-Reviewed Engineering Conference Proceedings

Dai, J., Travers, M., Dear, T., Gong, C., Astley, H.C., Goldman, D.I., Choset, H. (2015) Robot-Inspired Biology: The Compound-Wave Control Template. IEEE International Conference on Robotics and Automation (ICRA). doi: 10.1109/ICRA.2015.7140022 PDF

Gong, C., Travers, M., Astley, H. C., Goldman D. I., and Choset, H. (2015) Limbless Locomotors that Turn in Place. IEEE International Conference on Robotics and Automation (ICRA). doi: 10.1109/ICRA.2015.7139720 PDF

Gong, C., Travers, M., Astley, H. C., Li, L., Mendelson, J., Hu, D. L., Goldman D. I., and Choset, H. (2014) Conditioned Basis Array Factorization: An Approach to Gait Pattern Extraction. Robotics: Science and Systems. Published online, in press (Edited by Dieter Fox, Lydia E. Kavraki and Hanna Kurniawati, ISBN 978-0-9923747-0-9). PDF