Publications

Also on Google Scholar. Links go to the publisher version, with [arXiv] for free versions where available.

Preprints

• B. Bokser, D. J. Gonzalez, A. Preston, et al., “System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot,” submitted to Science Robotics, 2026.

Journal Papers

• M. C. Lesak, D. J. Gonzalez, M. W. Zhou, and A. J. Petruska, “Map-Free Lidar Odometry (MFLO) using a Range Flow Constraint and Point Patch Covariances,” IEEE Robotics and Automation Letters (RA-L), 2022. Also presented at IROS 2022.
• R. K. Manna, D. J. Gonzalez, V. Chellapandi, M. Mar, S. S. Kannan, S. Wadekar, J. E. Dietz, C. M. Korpela, and A. El Gamal, “Control Challenges for High-Speed Autonomous Racing: Analysis and Simulated Experiments,” SAE International Journal of Connected and Automated Vehicles, 2021.
• J. Kim, M. C. Lesak, D. Taylor, D. J. Gonzalez, and C. M. Korpela, “Autonomous Quadrotor Landing on Inclined Surfaces using Perception-Guided Active Asymmetric Skids,” IEEE RA-L, 2021. Also presented at IROS 2021.
• D. J. Gonzalez and H. H. Asada, “Hybrid Open-Loop Closed-Loop Control of Coupled Human-Robot Balance During Assisted Stance Transition with Extra Robotic Legs,” IEEE RA-L, vol. 4, no. 2, pp. 1676-1683, 2019. Also presented at ICRA 2019. [arXiv]
• D. J. Gonzalez and H. H. Asada, “Design and Analysis of 6-DOF Triple Scissor Extender Robots with Applications in Aircraft Assembly,” IEEE RA-L, vol. 2, no. 3, pp. 1420-1427, 2017. Also presented at ICRA 2017. [arXiv]
• J. M. Ciccone, K. Blum, C. K. Rowe, D. J. Gonzalez, A. Libert, J. Ling, M. Liu, N. Sazdanoff, J. Herder, N. Hanumara, A. Slocum, J. Kaplan, and M. Kearney, “Resectoscope Working Element with Rotating Handle for a More Ergonomic Surgery,” The Journal of Urology, vol. 195, no. 4S, p. e745, 2016.

Refereed Conference Papers

• J. Kim, D. J. Gonzalez, and C. M. Korpela, “Comparing Feedback Linearization and Backstepping Control for Airborne Orientation of Agile Ground Robots using Wheel Reaction Torque,” American Control Conference (ACC 2021), New Orleans, LA, 2021.
• A. H. Rodriguez, D. J. Gonzalez, and M. C. Lesak, “Design of a Printed Circuit Board (PCB) for Electrical Integration on the Agile Ground Robot (AGRO),” IEEE MIT URTC 2020, Cambridge, MA, 2020.
• D. J. Gonzalez, M. C. Lesak, A. H. Rodriguez, J. A. Cymerman, and C. M. Korpela, “Dynamics and Aerial Attitude Control for Rapid Emergency Deployment of the Four-Wheel Independent Drive and Steering (4WIDS) Agile Ground Robot AGRO,” IROS 2020, Las Vegas, NV, 2020.
• D. J. Gonzalez and H. H. Asada, “Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model,” ICRA 2020, Paris, France, 2020.
• D. J. Gonzalez and H. H. Asada, “Extra Robotic Legs for Bearing Equipment Loads During Emergency Response,” Waste Management Symposium (WMS 2019), Phoenix, AZ, 2019.
• D. J. Gonzalez and H. H. Asada, “Design of Extra Robotic Legs for Augmenting Human Payload Capabilities by Exploiting Singularity and Torque Redistribution,” IROS 2018, Madrid, Spain, 2018. [arXiv]
• D. J. Gonzalez and H. H. Asada, “Triple Scissor Extender: A 6-DOF Lifting and Positioning Robot,” ICRA 2016, Stockholm, Sweden, pp. 847-853, 2016. [arXiv]

Workshop Papers and Presentations

• S. N. Wadekar, B. J. Schwartz, S. S. Kannan, M. Mar, R. K. Manna, V. Chellapandi, D. J. Gonzalez, and A. El Gamal, “Towards End-to-End Deep Learning for Autonomous Racing: On Data Collection and a Unified Architecture for Steering and Throttle Prediction,” Workshop on Opportunities and Challenges with Autonomous Racing, ICRA 2021.
• D. J. Gonzalez and C. M. Korpela, “Novel Ideas for Hybrid Wheel-Leg Robots with AGRO (the Agile Ground RObot),” Workshop on Real-world Deployment of Legged Robots, ICRA 2020.
• D. J. Gonzalez and H. H. Asada, “Passive Gait Synchronization of Human-Robot Systems Using a Dynamically Coupled Double Rimless Wheel Model,” Workshop on Integrating Multidisciplinary Approaches to Advance Physical Human-Robot Interaction, ICRA 2020.

Patents

• D. J. Gonzalez, et al., “Distributed Actuation Architectures for Multimodal Articulation,” U.S. Patent Application (pending), claims priority to U.S. Provisional App. 63/875,189, 2025.
• D. J. Gonzalez, et al., “Multimodal Articulation Mechanisms for Robotic Vehicles,” U.S. Patent Application (pending), claims priority to U.S. Provisional App. 63/875,189, 2025.
• D. J. Gonzalez and H. H. Asada, “Wearable Robotic Systems for Supporting a Load,” U.S. Patent Application 16/020,823, 2018.
• D. J. Gonzalez and H. H. Asada, “Multi-DOF Parallel Manipulator Using Scissor-Lift Mechanisms,” U.S. Provisional Application 62/194,979, 2015.
• A. Libert, J. Ling, D. J. Gonzalez, M. Liu, N. Sazdanoff, J. Ciccone, and J. Kaplan, “Surgical Instruments with Rotating Handles,” WO2016040478A1, 2016.

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