Publications

Granular Loco-Manipulation: Repositioning Rocks Through Strategic Sand Avalanche

H. Hu, Y. Wu, D. Seita*, F. Qian*, Conference on Robot Learning (CoRL) , 2025.

Effect of Adaptive Communication Support on LLM-powered Human-AI Collaboration.

S. Liu, F. Shrutika, B. Zhang, Z. Huang, G. Sukhatme, and F. Qian , submitted to ACM Transactions on Human-Robot Interaction (THRI).

[Arxiv] [PDF]

Characterizing Robot-Ground Interactions for Autonomous Lunar Construction

R. Holladay, S. Misra, M. Mitchell, A. R. Panyam, E. P. Santos, J. D. Caporale, S. Liu, Y. Zhang, J. Ruck, D. J. Jerolmack, F. Qian, M. Yim, and C. Sung, submitted to the 19th International Symposium on Experimental Robotics (ISER), 2025.

Adaptive Locomotion on Mud through Proprioceptive Sensing of Substrate Properties

S. Liu, J. Tang, S. Meng, and F. Qian, Robotics: Science and Systems (RSS), 2025.

[Arxiv] [Video] [Link]

A bio-inspired sand-rolling robot: effect of body shape on sand rolling performance

X. Liao, W. Liu , H. Wu, and F. Qian, IEEE International Conference on Robotics and Automation (ICRA), 2025.

[PDF] [Video]

Towards Making Every Step an Experiment: Effect of Robot Gait Speed on Characterizing Regolith Properties by Walking

Y. Zhang , E. Fulcher , J. D. Caporale, and F. Qian, 56th Lunar and Planetary Science Conference (2025).

[PDF]

Multi-robot Connection Towards Collective Obstacle Field Traversal

H. Hu, X. Liao, W. Du, and F. Qian. arXiv preprint arXiv:2409.11709 (2024).

[PDF] [Video]

Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope

H. Hu, F. Qian, D. Seita, Conference on Robot Learning (CoRL) , 2024

[Project Website][PDF]

Obstacle-Aided Path Following A Quadrupedal Robot Through Sequential Gait Composition

H. Hu and F. Qian, IEEE Transactions on Robotics (T-RO), 2024

[link][PDF] [Video]

Modelling Experts’ Sampling Strategy to Balance Multiple Objectives During Scientific Explorations

S. Liu, C. G. Wilson, Z. I. Lee, and F. Qian, ACM/IEEE International Conference on Human-Robot Interaction, 2024.
[Link] [PDF] 🏆Best Paper Finalist

Understanding Human Dynamic Sampling Objectives to Enable Robot-assisted Scientific Decision Making

S. Liu, C. G. Wilson, B. Krishnamachari, and F. Qian, ACM Transactions on Human-Robot Interaction (THRI), 13.1 (2024): 1-17.

[Link] [PDF]

Adaptation of flipper-mud interactions enables effective terrestrial locomotion on muddy substrates

S. Liu, B. Huang, and F. Qian, IEEE Robotics and Automation Letters (RA-L), 2023.
[Link][PDF]

Robotic Legs as Novel Planetary Instrumentation to Explore the Mechanical Properties of Regolith

J. Bush, Y. Zhang, S. Liu, E. Fulcher, C. Franklin, D. J. Jerolmack, R. C. Ewing, K. R. Fisher, and F. Qian, 54th Lunar and Planetary Science Conference (2023).

[Link] [Poster]

LASSIE: Legged Autonomous Surface Science In Analogue Environments

K. R. Fisher, F. Qian , D. Jerolmack, F. Rivera-Hernandez, C. Wilson, R.C. Ewing, M. Nachon, T. Shipley, and D. Koditschek, 54th Lunar and Planetary Science Conference (2023).

[Link]

Swift progress for robots over complex terrain

C. Li and F. Qian, Nature News & Views, 2023

[Link]

Human Geoscientist Objective Functions for Robot-aided Field Data Collection Decisions

S. Liu, C. G. Wilson, B. Krishnamachari, and F. Qian, IEEE International Conference on Robotics and Automation (ICRA) Workshop, May 2022

[Link][PDF]

Planning of Obstacle-aided Navigation for Multi-legged Robots using a Sampling-based Method over Directed Graphs

K. Chakraborty , H. Hu , M. D. Kvalheim, and F. Qian, IEEE Robotics and Automation Letters (RA-L), 2022

[Link] [PDF]

Understanding Human Decision Making in Robot-Assisted Field Data Collection

S. Liu, C. G. Wilson, T. F. Shipley, D. E. Koditschek, and F. Qian, American Geophysical Union Fall Meeting, New Orleans, LA, 2021.

[Abstract] [Poster]

Spatially and temporally distributed data foraging decisions in disciplinary fIeld science

C. Wilson, F. Qian, D. J. Jerolmack, S. Roberts, J. Ham, D. E. Koditschek and T. F. Shipley, Cognitive Research: Principles and Implications, 6.1 (2021): 1-16.

[PDF]

A Mode Map Representation to Predict Steady States and Basins of Attraction for Legged Locomotion on Obstacle Terrains

H. Hu, M. Kvalheim, M. Joyce, S. Wilshin, A. Spence, F. Qian, International Conference on Intelligent Robots and Systems (IROS) workshop, 2020

Modulation of Robot Orientation via Leg-Obstacle Contact Positions

D. Ramesh, A. Kathail, D. E. Koditschek, and F. Qian, IEEE Robotics and Automation Letters, 5, no. 2 (2020): 2054-2061.

[link][PDF]

Rapid in-situ characterization of soil erodibility with a field deployable robot

F. Qian, D. B. Lee, G. Nikolich, D. E. Koditschek, and D. J. Jerolmack, Journal of Geophysical Research: Earth Surface 124.5 (2019): 1261-1280.

[PDF]

An obstacle disturbance selection framework: emergent robot steady states under repeated collisions

F. Qian and D. E. Koditschek, The International Journal of Robotics Research (2019): 0278364920935514.

[PDF]

Dynamics of scattering in undulatory active collisions

J. M. Rieser, P. E. Schiebel, A. Pazouki, F. Qian, Z. Goddard, A. Zangwill, D. Negrut, and D. I. Goldman, Physical Review E 99.2 (2019): 022606.

[PDF]

Ground robotic measurement of aeolian processes

F. Qian, D. J. Jerolmack, N. Lancaster, G. Nikolich, P. Reverdy, S. F. Roberts, T. Shipley, R. S. Van Pelt, T. M. Zobeck, and D. E. Koditschek, Aeolian Research, 27 (2017): 1-11.

[PDF]

A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems

J. Aguilar, T. Zhang, F. Qian, M. Kingsbury, B. Mclnroe, N. Mazouchova, C. Li, R. Maladen, C. Gong, M. Travers, R. L. Hatton, H. Choset, P. Umbanhowar, and D. I. Goldman, Reports on Progress in Physics, 79 110001 (2016).

[PDF]

Principles of appendage design in robots and animals determining terradynamic performance on flowable ground

F. Qian, T. Zhang, W. L. Korff, P. B. Umbanhowar, R. J. Full, and D. I. Goldman, Bioinspiration & Biomimetics, 10.5 (2015): 056014.

[PDF][Video1][Video2][Video3][Video4][Video5][Video6]

The dynamics of legged locomotion in heterogeneous terrain: universality in scattering and sensitivity to initial conditions

F. Qian and D. I. Goldman, in Proceedings of Robotics: Science and Systems (RSS), Rome, Italy, 2015.

[PDF]

Anticipatory control using substrate manipulation enables trajectory control of legged locomotion on heterogeneous granular media

F. Qian and D. I. Goldman, Proc. SPIE, Micro- and Nanotechnology Sensors, Systems, and Applications VII, Vol. 9467, p. 1-12, 2015.

[PDF]

An automated system for systematic testing of locomotion on heterogeneous granular media

F. Qian, K. Daffon, T. Zhang, and D. I. Goldman, In Proceedings of the 16th International Conference on Climbing and Walking Robots (CLAWAR), Sydney, Australia, 2013.

[PDF]

Ground fluidization promotes rapid running of a lightweight robot

T. Zhang, F. Qian, C. Li, P. Masarati, A. Hoover, P. Birkmeyer, A. Pullin, R. S. Fearing, and D. I. Goldman, International Journal of Robotics Research (IJRR), 32, 859 (2013).

[PDF]

Walking and running on yielding and fluidizing ground

F. Qian, T. Zhang, C. Li, P. Masarati, A. Hoover, P. Birkmeyer, A. Pullin, R. S. Fearing, and D. I. Goldman, In Proceedings of Robotics: Science and Systems (RSS), Sydney, Australia, July 2012.

[PDF][Video]

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