Publications

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95. Jusufi, A., Goldman, D. I., Revzen, S., Full, R. J. 2008. Active tails enhance arboreal acrobatics in geckos. PNAS, vol. 105 no. 11 4215–4219. text of this article in PDF

94. Lee, J., Sponberg, S. N., Loh, O. Y., Lamperski, A. G., Full, R. J. 2008. Templates and Anchors for Antenna-Based Wall Following in Cockroaches and Robots. IEEE Transactions on Robotics, vol. 24 no. 1 130-143 Full text of this article in PDF

93. Spenko, M. J., Haynes, G. C., Saunders, J. A., Cutkosky, M. R., Rizzi, A. A. 2008. Biologically Inspired Climbing with a Hexapedal Robot. Journal of Field Robotics, 25(4-5), 223-242. Full text of this article in PDF

92. Sponberg, S., Full, R. J. 2008. Neuromechanical response of musculo-skeletal structures in cockroaches during rapid running on rough terrain. JEB, 211, 433-446. Full text of this article in PDF

91. Peattie, A.M., Full, R. J. 2007. Phylogenetic analysis of the scaling of wet and dry biological fibrillar adhesives. PNAS, 104, 18595-18600. Full text of this article in PDF

90. Spagna, J.C., D. I. Goldman, P-C. Lin, D. E. Koditschek and R. J. Full. 2007. Distributed mechanical feedback in arthropods and robots simplifies control of rapid running on challenging terrain. Bioinsp. Biomim., 2 9–18. Full text of this article in PDF

89. Peattie AM, Majidi C, Corder A, Full RJ. 2007. Ancestrally high elastic modulus of gecko setal beta-keratin. J R Soc Interface, 4 1071-1076. Full text of this article in PDF

88. Nishikawa, K., Biewener, A. A., Aerts, P., Ahn, A. N., Chiel, H. J., Daley, M. A., Daniel, T. L., Full, R. J., Hale, M. E., Hedrick, T. L., Lappin, A. K., Nichols, T. R., Quinn, R. D., Satterlie, R. A., Szymik, B. 2007. Neuromechanics: an integrative approach for understanding motor control. Integr. Comp. Biol., 47 (1) 16-54. Full text of this article in PDF

87. Goldman, D.I., Chen T.S., Dudek, D.M. and R.J. Full. 2006. Dynamics of rapid vertical climbing in cockroaches reveals a template. The Journal of Experimental Biology, 209 (15) 2990-3000. Full text of this article in PDF

86. Dudek, D.M. and R.J. Full. 2006. Passive mechanical properties of legs from running insects. The Journal of Experimental Biology, 209 (8) 1502-1515. Full text of this article in PDF

85. Ahn, A.N., K. Meijer and R.J. Full. 2006. In situ muscle power differs without varying in vitro mechanical properties in two insect leg muscles innervated by the same motor neuron. The Journal of Experimental Biology, vol. 209 (17) 3370-3382. Full text of this article in PDF

84. Holmes, P., Full, R.J., Koditschek, D. and Guckenheimer, J. 2006. The dynamics of legged locomotion: Models, analyses, and challenges. SIAM Review 48 (2) 207-304. Full text of this article in PDF

83. Cowan, N.J., Lee, J. and R.J. Full. 2006. Task-level control of rapid wall following in the American cockroach. The Journal of Experimental Biology, vol. 209 (9) 1617-1629. Full text of this article in PDF

82. Autumn, K., Hsieh, S.T., Dudek, D.M., Chen, J., Chitaphan, C., Full, R.J. 2006. The dynamics of vertical running in geckgos. The Journal of Experimental Biology, vol. 209 (2) 260-272. Full text of this article in PDF

81. Chen, J.J., Peattie, A.M., Autumn, K., and R.J. Full. 2006. Differential leg function in sprawled-posture quadrupedal trotter. The Journal of Experimental Biology, vol. 209 (2) 249-259. Full text of this article in PDF

80. Huffard, C.L., Boneka, F. and R.J. Full. 2005. Underwater bipedal locomotion by octopuses in disguise. Science, vol. 307. no.5717, p.1927. Full text of this article in PDF

79. Koditschek, D.E., Full, R.J. and Buehler, M. 2004. Mechanical aspects of legged locomotion control. Arthropod Structure & Development. vol. 33 (3) 251-272. Full text of this article in PDF

78. Seipel, J.E.,P.J. Holmes, R.F. Full. 2004. Dynamics and stablility of insect locomotion: a hexapedal model for horizontal plane motions. Biol. Cyber. vol. 91, pp. 76-90. Full text of this article in PDF

77. Full, R.J. 2003. See how they run, crawl, hop, hover, fly, swim... J. exp. Biol. vol. 206, pp. 4188-4189. Full text of this article in PDF

76. Bartsch M.S., Federle W., Full, R.J., Kenny, T.W. 2003. Small insect measurements using a custom MEMS force sensor. [Conference Paper] Tranducers '03. 12th International Conference on Solid-State Sensors, Actuators and Microsystems. Digest of Technical Papers (Cat. No. 03TH8664). IEEE. Part vol. 2, pp. 1039-42 vol. 2. Piscataway, NJ, USA. Full text of this article in PDF

75. Pelrine, R., Kornbluh, R.D., Qibing, Pei, Stanford, S., Seajin O.H., Eckerle, J., Full, R.J., Rosenthal, M.A., Meijer, K. 2002. Dielectric elastomer artificial musicle actuators: toward bimimetic motion. [Conference Paper] SPIE-Int. Soc. Opt. Eng. Proceedings of Spie - the International Society for Optical Engineering, vol. 4695, pp. 126-37. USA. Full text of this article in PDF

74. Pei, Q., R. Pelrine, S. Stanford, R. Kornbluh, M. Rosenthal, K. Meijer, and R. Full. 2002. Multifunctional Electroelastomer Rolls. Materials Research Society Symposium Proceedings. 698, 165-170. Full text of this article in PDF

73. Cham, J.G., Bailey, S.A., Clark, J.E., Full, R.J., and Cutkosky, M.R., 2002. Fast and robust: hexapedal robots via shape deposition manufacturing. Int Journal of Robotics Research. 21(10-11), 869-882. Full text of this article in PDF

72. Federle, W., Riehle, M., Curtis, A. and Full, R.J. 2002. An Integrative Study of Insect Adhesion: Mechanics and Wet Adhesion of Pretarsal Pads in Ants. Int. and Comp. Biology. 42, 1100-1106. Full text of this article in PDF

71. Jindrich, D.L. and Full, R.J. 2002. Dynamic stabilization of rapid hexapedal locomotion. J. exp Bio. 205, 2803-2823. Full text of this article in PDF

70. Autumn, K., Sitti, M., Liang, Y.A., Peattie, A.M., Hansen, W.R., Sponberg, S., Kenny, T., Fearing, R., Israelachvili, J.N. & Full, R.J. 2002. Evidence for van der Waals adhesion in gecko setae. Preceed. Nat. Acad. Sci. 99 (19), 12252-12256. Full text of this article in PDF

69. Schmitt, J., Garcia, M., Razo, R.C., Holmes, P. and Full, R.J. 2002. Dynamics and stability of legged locomotion in the horizontal plane: A test case using insects. Bio. Cyber. 86 (5), 343-353. Full text of this article in PDF

68. Ahn, A.N. and Full, R.J. (2002). A motor and a brake: two leg extensor muscles acting at the same joint manage energy differently in a running insect. J. exp Bio. 205, 379-389. Full text of this article in PDF

67. Altendorfer, A., N. Moore, H. Komsuoglu, M. Buehler, H.B. Brown Jr., D. McMordie, U. Saranli, R. Full, D.E. Koditschek. 2001 "RHex: A Biologically Inspired Hexapod Runner," Journal of Autonomous Robots11, 207-213. Full text of this article in PDF

66. Full, R.J., Kubow, T., Schmitt J., Holmes, P. and Koditschek D. 2002. Quantifying dynamic stability and maneuverability in legged locomotion. Int. & Comp. Biology 42, 149-157. Full text of this article in PDF

65. Klavins, E. Komsuoglu, H., Full. R.J. and Koditschek, D. E. 2002. The Role of Reflexes Versus Central Pattern Generators in Dynamical Legged Locomotion. In: Neurotechnology for Biomimetic Robots. MIT Press. pp. 351-382. Full text of this article in PDF

64. Kornbluh, R., Full, R.J., Meijer, K., Pelrine, R. and S.V. Shastri. 2002. Engineering a Muscle: An Approach to Artificial Muscle Based on Field-activated Electroactive Polymers In: Neurotechnology for Biomimetic Robots. (eds. J. Ayers, J. L. Davis, A. Rudolph) MIT Press. pp. 137-172.

63. Full, R.J. and Meijer, K (2001) Metrics of natural muscle. In: Electro Active Polymers (EAP) as Artificial Muscles, Reality Potential and Challenges. (ed. Y. Bar-Cohen), SPIE & William Andrew/Noyes Publications. pg. 67-83.

62. Bailey, S.A., Cham, J.G., Cutkosky, M.R. and Full, R.J. 2000. Biomimetic Robotic Mechanisms via Shape Deposition Manufacturing. In Robotics Research: the Ninth International Symposium. (eds. J. Hollerbach and D. Koditschek), Springer-Verlag, London, pp. 403-410.

61. Full. R.J. 2000. Biological inspiration: Lessons from many-legged locomotors. In: Robotics Research Ninth International Symposium. J. Hollerbach and D. Koditschek (Eds), Springer-Verlag London, pp. 337-341.

60. Autumn, K., Liang, Y., Hsich, T., Zwaxh, W., Chan, W.P., Kenny, T., Fearing, R., and Full, R.J. 2000. Adhesive force of a single gecko foot-hair. Nature. 405, 681-685. Full text of this article in PDF

59. Abbas, J., and Full, R. J. 2000. Neuro-mechanical interaction in cyclic movements. In Biomechanics and Neural Control of Posture and Movement. J. M. Winters and P. E. Crago (eds.) Springer-Verlag, New York, Inc. p.177-191. Full text of this article in PDF

58. Full, R.J. and Farley, C. T. 2000. Musculoskeletal dynamics in rhythmic systems. In A Comparative Approach to Legged Locomotion. Biomechanics & Neural Control of Posture & Movement. (eds. J.M. Winters & P.E. Crago). Springer Vaerlag-New York, Inc. p. 192-205. Full text of this article in PDF

57. Dickinson, M.H. Farley, C.T., Full, R.J., Koehl, M. A. R., Kram R., and Lehman, S. 2000. How animals move: An integrative view. Science 288, 100-106. Full text of this article in PDF

56. Weinstein, R.B. and Full, R.J. 2000. Intermittent locomotor behaviour alters total work. In Experimental Biology Reviews:Biomechanics in Animal Behaviour (eds. P. Domenici and R.W. Blake). BIOS Scientific Publishers Ltd. p.33-48. Full text of this article in PDF

55. Full, R.J. and Koditschek, D. E. 1999. Templates and Anchors - Neuromechanical hypotheses of legged locomotion on land. J. exp Bio. 202, 3325-3332. Full text of this article in PDF

54. Weinstein, R., and Full, R.J. 1999. Intermittent locomotion increases endurance in geckos. Physiol. Zool. 72:732-739. Full text of this article in PDF

53. Jindrich, D.L. and Full, R.J. 1999. Many-legged maneuverability: dynamics of turning in hexapods. J. exp Bio. 202, 1603-1623. Full text of this article in PDF

52. Kubow T. M. and R.J. Full. 1999. The role of the mechanical system in control: A hypothesis of self-stabilization in hexapedal runners. Phil. Trans. Roy. Soc. London B. 354, 849-862. Full text of this article in PDF

51. Martinez. M.M., Full, R.J. and Koehl, M.A.R. 1998. Underwater punting by an intertidal crab: a novel gait revealed by the kinematics of pedestrian locomotion in air versus water. J. exp Bio. 201, 2609-2623. Full text of this article in PDF

50. Full, R. J., Stokes, D. R., Ahn, A. and Josephson, R. K. 1998. Energy absorption during running by leg muscles in a cockroach. J. exp Bio. 201, 997-1012. Full text of this article in PDF

49. Weinstein, R., and Full, R.J. 1998. Performance limits of low temperature continuous locomotion are exceeded when locomotion is intermittent in ghost crabs. Physiol. Zool. 71, 274-284. Full text of this article in PDF

48. Autumn, K., Farley, C. Emshwiller, M. and Full, R.J. 1997. Low cost of locomotion in the banded gecko: a test of the nocturnality hypothesis. Physiol. Zool. 70, 660-669. Full text of this article in PDF

47. Kram, R., Wong, B. and Full, R.J. 1997. Three dimensional kinematics and limb kinetic energies of running cockroaches. J. exp Bio. 200, 1919-1929. Full text of this article in PDF

46. Full, R.J. Invertebrate locomotor systems. 1997. In: The Handbook of Comparative Physiology. (ed. W. Dantzler). Oxford University Press. pp. 853-930. Full text of this article in PDF

45. Full, R.J., Yamauchi, A. and Jindrich, D.L. 1995. Maximum single leg force production: cockroaches righting and running on photoelastic gelatin. J. exp. Bio. 198, 2441-2452. Full text of this article in PDF

44. Full, R.J. and Ahn, A. 1995. Static forces and moments generated in the insect leg: comparison of a three-dimensional musculoskeletal computer model with experimental measurements. J. exp Bio. 198, 1285-1298. Full text of this article in PDF

43. Ting, L.H., Blickhan, R. and Full, R.J. 1994. Dynamic and static stability in hexapedal runners. J. exp Bio. 197, 251-269. Full text of this article in PDF

42. Queathem, L. and Full, R.J. 1994. Variation in jump force production within an instar of the grasshopper Schistocerca americana. J. Zool. London. 235, 605-620.Full text of this article in PDF

41. Weinstein, R., Full, R.J. and Ahn, A.N. 1994. Moderate dehydration decreases locomotor performance of the ghost crab, Ocypode quadrata. Physiol. Zool. 67, 873-891. Full text of this article in PDF

40. Weinstein, R., and Full, R.J. 1994. Thermal dependence of locomotor energetics of the ghost crab, Ocypode quadrata. Physiol. Zool. 67, 855-872. Full text of this article in PDF

39. Autumn, K., Weinstein, R. and Full, R.J. 1994. Low cost of locomotion increases performance in a nocturnal gecko. Physiol. Zool. 67, 237-261. Full text of this article in PDF

38. Blickhan, R. and Full, R.J. 1993. Similarity in multilegged locomotion: Bouncing like a monopode. J. comp. Physiol. 173, 509-517. Full text of this article in PDF

37. Full, R.J., Earls K., Wong, M. A., Caldwell, R.L. 1993. Locomotion like a wheel? Nature. 365: 495. Full text of this article in PDF

36. Blickhan, R., Full, R.J. and Ting, L.H. 1993. Exoskeletal strain: evidence for a trot-gallop transition in rapid running ghost crabs. J. exp Bio. 179, 301-321. Full text of this article in PDF

35. Full, R.J. and Koehl, M.A.R. 1993. Drag and lift in running insects. J. exp Bio. 176, 89-103. Full text of this article in PDF

34. Full, R.J. 1993. Integration of individual leg dynamics with whole body movement in arthropod locomotion. In: Biological Neural Networks in Invertebrate Neuroethology and Robots. (eds. R. Beer, R. Ritzmann and T. McKenna). Academic Press. Boston. pp. 3-20. Full text of this article in PDF

33. Blickhan, R. and Full, R.J. 1992. Mechanical work in terrestrial locomotion. In: Biomechanics: Structures and Systems A Practical Approach. (ed. A. Biewener). IRL at Oxford University Press. New York. pp. 75-96. Full text of this article in PDF

32. Biewener, A. and Full, R.J. 1992. Force platform and kinematic analysis. In: Biomechanics: Structures and Systems A Practical Approach. (ed. A. Biewener). IRL at Oxford University Press. New York. pp 45-73. Full text of this article in PDF

31. Full, R.J. and Weinstein, R.B. 1992. Integrating the physiology, mechanics and behavior of rapid running ghost crabs: slow and steady does not always win the race. Amer. Zool. 32, 382-395. Full text of this article in PDF

30. Weinstein, R.B. and Full, R.J. 1992. Intermittent locomotion alters endurance in an eight-legged ectotherm. Amer. J. Physiol. 262, R852-859. Full text of this article in PDF

29. Gatten, R., Miller, K. and Full, R.J. 1992. Locomotion energetics at rest and during exercise. In Environmental Physiology of Amphibians. (eds. M.E. Feder and W. Burggren). University of Chicago Press. New York. pp. 275-377

28. Full, R.J. 1991. Concepts of efficiency and economy in land locomotion. In: Efficiency and Economy in Animal Physiology. (ed. R.W. Blake). Cambridge University Press, New York. pp. 97-131. Full text of this article in PDF

27. Full, R.J. 1991. Animal motility and gravity. Physiologist. 34, S15-18. Full text of this article in PDF

26. Full, R.J. and Blickhan, R. and Ting, L.H. 1991. Leg design in hexapedal runners. J. exp Bio. 158, 369-390. Full text of this article in PDF

25. Anderson, B.D, Feder, M.E. and Full, R.J. 1991. Energetic consequence of a gait change in toads. J. exp Bio. 158, 133-148. Full text of this article in PDF

24. Full, R.J. and Tu, M.S. 1991. Mechanics of rapid running insects: two-, four-, and six-legged locomotion. J. exp Bio. 156, 215-231. Full text of this article in PDF

23. Full, R.J. and Tullis, A. 1990. Capacity for sustained terrestrial locomotion in an insect: energetics, thermal dependence and kinematics. J. comp. Physiol. 160, 573-581.Full text of this article in PDF

22. Full, R.J. Zuccarello, D.A. and Tullis, A. 1990. Effect of variation in form on the cost of terrestrial locomotion. J. exp. Biol. 150, 233-246. Full text of this article in PDF

21. Full, R.J. and Tullis, A. 1990. The energetics of ascent: insects on inclines. J. exp. Biol. 149, 307-317. Full text of this article in PDF

20. Full, R.J. and Tu, M.S. 1990. The mechanics of six-legged runners. J. exp. Biol. 148, 129-146. Full text of this article in PDF

19. Full, R.J. and Tu, M.S. 1990. Dynamics of Insect Locomotion Compared to Hexapod Walking Machines. The American Society of Mechanical Engineers Winter Annual Meeting. DSC; v. 17, 35-39.

18. Full, R.J. 1989. Mechanics and energetics of terrestrial locomotion: From bipeds to polypeds. In: Energy Transformation in Cells and Animals. (ed. W. Wieser and E. Gnaiger). Georg Thieme Verlag, Stuttgart. pp. 175-182. Full text of this article in PDF

17. Full, R.J., Caldwell, R.L. and Chow, S. 1989. Smashing energetics: prey selection and feeding efficiency of the stomatopod, Gonodactylus bredini . Ethology. 82, 134-147. Full text of this article in PDF

16. Full, R.J., Anderson, B.D., Finnerty, C.M. and Feder, M.E. 1988. Exercising with and without lungs: I. The effects of metabolic cost, maximal oxygen transport and body size on terrestrial locomotion in salamander species. J. exp. Bio. 138, 471-485. EFull text of this article in PDF

15. Feder, M.E., Full, R.J. and Piiper, J. 1988. Elimination kinetics of acetylene and freon 22 in resting and active salamanders. Resp. Physiol. 72, 229-240 Full text of this article in PDF

14. Herreid, C.F. and R.J. Full. 1988. Energetics and locomotion. In Biology of the Land Crab (eds. W. Burggren and B.R. McMahon). pp. 333-377. Cambridge University Press. New York. Full text of this article in PDF

13. Blickhan, R. and R.J. Full. 1987. Locomotion energetics of the ghost crab: II. Mechanics of the center of mass during walking and running. J. exp. Bio. 130, 155-174. Full text of this article in PDF

12. Full, R.J. 1987. Locomotion energetics of the ghost crab: I. Metabolic cost and endurance. J. exp. Bio. 130, 137-154. Full text of this article in PDF

11. Full, R.J. 1986. Locomotion without lungs: energetics and performance of a lungless salamander, Plethodon jordani. Am. J. Physiol. 251, R775-R780. Full text of this article in PDF

10. Herreid II, C.F. and R.J. Full. 1986. Energetics of hermit crabs during locomotion: the cost of carrying a shell. J. exp. Bio. 120, 297-308. Full text of this article in PDF

9. Herreid II, C.F. and R.J. Full. 1986. Locomotion of hermit crabs (Coenobita compressus ) on beach and treadmill. J. exp. Bio. 120, 283-296. Full text of this article in PDF

8. Full, R.J., C.F. Herreid II and J.A. Assad. 1985. Energetics of the exercising wharf crab, Sesarma cinereum. Physiol. Zool. 58: 605-615. Full text of this article in PDF

7. O'Mahoney, P.J. and R.J. Full. 1984. Respiration of crabs in air versus water. Comp. Biochem. Physiol. 79A: 275-282. Full text of this article in PDF

6. Full, R.J. and C.F. Herreid II. 1984. Fiddler crab exercise: energetic cost of running sideways. J. exp. Biol. 109: 141-161. Full text of this article in PDF

5. Herreid II, C. F., P.J. O'Mahoney and R.J. Full. 1983. Locomotion in land crabs: respiratory and cardiac response of Gecarcinus lateralis. Comp. Biochem. Physiol. 74A: 117-124. Full text of this article in PDF

4. Herreid II, C.F. and R.J. Full. 1983. Cockroaches on a treadmill: aerobic running. J. Insect Physiol. 30: 395-403. Full text of this article in PDF

3. Full, R.J. and C.F. Herreid II. 1983. The aerobic response to exercise of the fastest land crab. Am. J. Physiol. 244: R530-R536. Full text of this article in PDF

2. Herreid II, C.F., R.J. Full and D.A. Prawel. 1981. Energetics of cockroach locomotion. J. exp. Biol. 94: 189-202 Full text of this article in PDF

1. Herreid II, C.F., D.A. Prawel and R. J. Full. 1981. Energetics of running cockroaches. Science. 212: 331-333. Full text of this article in PDF