Peer-Reviewed Journal Publications
, , & (2024). Functional diversity of snake locomotor behaviors: A review of the biological literature for bioinspiration. Ann NY Acad Sci, 1–22. https://doi.org/10.1111/nyas.15109 PDF
, , and (2023). The relative contributions of multiarticular snake muscles to movement in different planes. Journal of Morphology, 284, e21591. https://doi.org/10.1002/jmor.21591 PDF
Jurestovsky, D. J., Joy, S., and Astley, H.C. (2023). Blood python (Python brongersmai) strike kinematics and forces are robust to variations in substrate geometry. Journal of Experimental Biology 226 (2). https://doi.org/10.1242/jeb.244456 PDF
Jurestovsky, D. J., Tingle, J. L., and Astley, H. C. (2022). Corn Snakes Show Consistent Sarcomere Length Ranges Across Muscle Groups and Ontogeny. Integrative Organismal Biology. https://doi.org/10.1093/iob/obac040 PDF
Fu, Q., Astley, H.C., and Li, C. (2022). Snakes combine vertical and lateral bending to traverse uneven terrain. Bioinspiration & Biomimetics. https://doi.org/10.1088/1748-3190/ac59c5 PDF
Howe, S., Bryant, K., Duff, A., and Astley, H.C. (2021). Testing the effects of body depth on fish maneuverability via robophysical models. Bioinspiration & Biomimetics. https://doi.org/10.1088/1748-3190/ac33c1 PDF
Jurestovsky, D. J., Usher, L. R., and Astley, H. C. (2021). Generation of propulsive force via vertical undulations in snakes. J Exp Biol 224 (13): jeb239020. PDF
Howe, S., Duff, A., and Astley, H. (2021). Comparing the turn performance of different motor control schemes in multilink fish-inspired robots. Bioinspiration & Biomimetics. https://doi.org/10.1088/1748-3190/abe7cc PDF
Herndon, C., Astley, H. C., Owerkowicz, T., and Fenton, F. H. (2021). Defibrillate you later, alligator; Q10 scaling and refractoriness keeps alligators from fibrillation. Integrative Organismal Biology. https://doi.org/10.1093/iob/obaa047 PDF
Astley, H., Rieser, J., Kaba, A., Paez, V. M., Tomkinson, I. K., Mendelson, J., and Goldman, D. I. (2020). Side-impact collision: Mechanics of obstacle negotiation in sidewinding snakes. Bioinspiration & Biomimetics, v 16, n 6. https://doi.org/10.1088/1748-3190/ABB415 PDF
Howe, S. P., and Astley, H. C. (2020). The control of routine fish maneuvers: Connecting midline kinematics to turn outcomes. Journal of Experimental Zoology Part A: Ecological and Integrative Physiology, jez.2398. https://doi.org/10.1002/jez.2398 PDF
Astley, H.C. (2020) The Biomechanics of Multi-articular Muscle–Tendon Systems in Snakes. Integr Comp Biol. 60(1):140–155. https://doi.org/10.1093/icb/icaa012 PDF
Astley, H.C. (2020) Long Limbless Locomotors Over Land: The Mechanics and Biology of Elongate, Limbless Vertebrate Locomotion. Integr Comp Biol. 60(1):134–139. https://doi.org/10.1093/icb/icaa034 PDF
Schiebel, P. E.,Astley, H.C., Rieser, J.M., Agarwal, S., Hubicki, C., Hubbard, A.M., Diaz, K., Mendelson III, J. R., Kamrin, K., and Goldman, D.I. (2020) Mitigating memory effects during undulatory locomotion on hysteretic materials. eLife 2020;9:e51412 doi: 10.7554/eLife.51412 PDF
Jurestovsky, D. J., Jayne, B. C., and Astley, H. C. (2020) Experimental modification of morphology reveals the effects of the zygosphene–zygantrum joint on the range of motion of snake vertebrae. J Exp Biol
Astley H.C., Mendelson J.R., Dai J., Gong C., Chong B., Rieser J.M., Schiebel P.E., Sharpe S.S., Hatton R.L., Choset H., and Goldman D.I. (2020) Surprising simplicities and syntheses in limbless self-propulsion in sand. J Exp Biol 223:jeb103564. doi: 10.1242/jeb.103564 PDF
Langowski, J.K.A., Singla, S., Nyarko, A., Schipper, H., van den Berg, F. T., Kaur, S., Astley, H. C., Gussekloo, S. W. S., Dhinojwala, A., and van Leeuwen, J. L. (2019) Comparative and functional analysis of the digital mucus glands and secretions of tree frogs. Frontiers in Zoology, 16:19. https://doi.org/10.1186/s12983-019-0315-z PDF
Han, S. I., Astley, H. C., Maksuta, D. D., and Blackledge, T. A. (2019) External power amplification drives prey capture in a spider web. Proceedings of the National Academy of Sciences, 116(24), 12060-12065. https://doi.org/10.1073/pnas.1821419116 PDF
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. doi.org/10.1002/jez.2182 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 Supplementary Data
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
Astley, H.C. (2018) Traversing Tight Tunnels—Implementing an Adaptive Concertina Gait in a Biomimetic Snake Robot. Earth and Space 2018, 16th Biennial International Conference on Engineering, Science, Construction, and Operations in Challenging Environments. doi.org/10.1061/9780784481899.017 PDF
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
Book Chapters
“Slithering across worlds—snake-inspired robots for extraterrestrial exploration”, in Biomimicry for Aerospace: Technologies and Applications, 2022. Eds. Vikram Shyam, Marjan Eggermont, Aloysius Hepp.