{"id":279,"date":"2018-10-10T18:00:46","date_gmt":"2018-10-10T18:00:46","guid":{"rendered":"http:\/\/blogs.uakron.edu\/astleylab\/?page_id=279"},"modified":"2026-04-11T22:20:32","modified_gmt":"2026-04-11T22:20:32","slug":"publications","status":"publish","type":"page","link":"https:\/\/blogs.uakron.edu\/astleylab\/publications\/","title":{"rendered":"Publications"},"content":{"rendered":"

Peer-Reviewed Journal Publications<\/h2>\n

Gurung, B., Vega, C.M., & Astley, H.C. (2026). Backing out: dead-end tunnels reveal capacity for reverse concertina movement in Cornsnakes, Pantherophis guttatus <\/em>(Linnaeus, 1766). Herpetology Notes 19, PDF<\/a><\/p>\n

Patterson, Z. J., Astley, H. C., & Majidi, C. (2005). Soft robotic brittle star shows the influence of mass distribution on underwater walking. Bioinspiration & Biomimetics 20 036003. \u00a0https:\/\/doi.org\/10.1088\/1748-3190\/adbecb<\/a><\/p>\n

Tingle, J. L., Garner, K. L., & Astley, H.C. (2025). Fluoromicrometry reveals minimal influence of tendon elasticity during snake locomotion. Journal of Experimental Biology 228 (5). https:\/\/doi.org\/10.1242\/jeb.249259<\/a><\/p>\n

Bartlett, D.T., Raffle, K.O., Pettit, H.N., Brainard, M.K., Houglan, P.M., Gamel, K., Nopper, Z.O., Harden, R.K., Garner, A.M., Londraville, R.L. and Astley, H.C. (2025). Navigating Nature’s Terrain: Jumping Performance Robust to Substrate Moisture and Roughness by Blackspotted Rockskippers (Entomacrodus striatus<\/em>). Journal of Experimental Zoology Part A: Ecological and Integrative Physiology.\u00a0https:\/\/doi.org\/10.1002\/jez.2903<\/a><\/p>\n

Gamel, K. M., Pinti, S., and Astley, H.C. Ground Reaction Forces and Energy Exchange During Underwater Walking, Integrative Organismal Biology, Volume 6, Issue 1, 2024, obae013, https:\/\/doi.org\/10.1093\/iob\/obae013 PDF<\/a><\/p>\n

Gamel, K. M., Pinti, S., and Astley, H.C. Design of A Highly Sensitive, Low-cost Underwater Force Plate to Record Substrate Reaction Forces, Integrative Organismal Biology, Volume 6, Issue 1, 2024, obae008, https:\/\/doi.org\/10.1093\/iob\/obae008 PDF<\/a><\/p>\n

Rieser, J. M., Chong, B., Gong, C., Astley, H.C., Schiebel, P.E., Diaz, K., Pierce, C.J., Lu, H., Hatton, R. L., Choset, H., & Goldman, D. I. (2024). Geometric phase predicts locomotion performance in undulating living systems across scales. Proceedings of the National Academy of Sciences, 121(24), e2320517121. https:\/doi.org\/10.1073\/pnas.2320517121 PDF<\/a><\/p>\n

Tingle,\u00a0J. L.<\/span>,\u00a0Garner,\u00a0K. L.<\/span>, &\u00a0Astley,\u00a0H. C.<\/span>\u00a0(2024<\/span>).\u00a0Functional diversity of snake locomotor behaviors: A review of the biological literature for bioinspiration<\/span>.\u00a0Ann NY Acad Sci<\/i>,\u00a01<\/span>\u201322<\/span>.\u00a0https:\/\/doi.org\/10.1111\/nyas.15109 PDF<\/a><\/p>\n

Tingle, J. L.<\/span>,\u00a0Jurestovsky, D. J.<\/span>, and Astley, H. C.<\/span>\u00a0(2023<\/span>).\u00a0The relative contributions of multiarticular snake muscles to movement in different planes<\/span>.\u00a0Journal of Morphology,\u00a0284<\/span>, e21591.\u00a0https:\/\/doi.org\/10.1002\/jmor.21591 PDF<\/a><\/p>\n

Jurestovsky, D. J., Joy, S., and Astley, H.C. (2023). Blood python (Python brongersmai<\/em>) 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<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

Astley, H.C. (2020) The Biomechanics of Multi-articular Muscle\u2013Tendon Systems in Snakes. Integr Comp Biol. 60(1):140\u2013155. https:\/\/doi.org\/10.1093\/icb\/icaa012 PDF<\/a><\/p>\n

Astley, H.C. (2020) Long Limbless Locomotors Over Land: The Mechanics and Biology of Elongate, Limbless Vertebrate Locomotion. Integr Comp Biol. 60(1):134\u2013139. https:\/\/doi.org\/10.1093\/icb\/icaa034 PDF<\/a><\/p>\n

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<\/a><\/p>\n

Jurestovsky, D. J., Jayne, B. C., and Astley, H. C. (2020) Experimental modification of morphology reveals the effects of the zygosphene\u2013zygantrum joint on the range of motion of snake vertebrae. J Exp Biol \u00a0<\/span>223:<\/span>jeb216531\u00a0<\/span>doi: 10.1242\/jeb.216531 PDF<\/a><\/span><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

Han, S. I., Astley, H. C., Maksuta, D. D., and Blackledge, T. A. (2019) External power amplification drives prey capture in a spider web.\u00a0Proceedings of the National Academy of Sciences,\u00a0116(24)<\/span>,\u00a012060-12065.<\/span> https:\/\/doi.org\/10.1073\/pnas.1821419116 PDF<\/a><\/p>\n

Reynaga, C. M., Astley, H. C., and Azizi, E. (2018) Morphological and kinematic specializations of walking frogs. Journal of Experimental Zoology A, 329:87\u201398. doi.org\/10.1002\/jez.2182 PDF<\/a><\/p>\n

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\u201343. PDF<\/a>\u00a0 Supplementary Data<\/a><\/p>\n

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<\/a><\/p>\n

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\u2013408, doi: 10.1002\/jez.2031 PDF<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

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\u20136205 doi: 10.1073\/pnas.1418965112 PDF<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

Astley, H. C. (2012) Getting around when you\u2019re 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<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

Peer-Reviewed Engineering Conference Proceedings<\/h2>\n

Astley, H.C. (2018)\u00a0Traversing Tight Tunnels\u2014Implementing an Adaptive Concertina Gait in a Biomimetic Snake Robot.\u00a0Earth and Space 2018,\u00a016th Biennial International Conference on Engineering, Science, Construction, and Operations in Challenging Environments.\u00a0doi.org\/10.1061\/9780784481899.017\u00a0PDF<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

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<\/a><\/p>\n

Book Chapters<\/strong><\/p>\n

\u201cSlithering across worlds\u2014snake-inspired robots for extraterrestrial exploration\u201d, in Biomimicry for Aerospace: Technologies and Applications, 2022. Eds. Vikram Shyam, Marjan Eggermont, Aloysius Hepp.<\/p>\n","protected":false},"excerpt":{"rendered":"

Peer-Reviewed Journal Publications Gurung, B., Vega, C.M., & Astley, H.C. (2026). Backing out: dead-end tunnels reveal capacity for reverse concertina movement in Cornsnakes, Pantherophis guttatus (Linnaeus, 1766). Herpetology Notes 19, PDF Patterson, Z. J., Astley, H. C., & Majidi, C. … Continue reading →<\/span><\/a><\/p>\n","protected":false},"author":3795,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"showcase.php","meta":{"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"footnotes":""},"class_list":["post-279","page","type-page","status-publish","hentry"],"jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/blogs.uakron.edu\/astleylab\/wp-json\/wp\/v2\/pages\/279","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blogs.uakron.edu\/astleylab\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/blogs.uakron.edu\/astleylab\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/blogs.uakron.edu\/astleylab\/wp-json\/wp\/v2\/users\/3795"}],"replies":[{"embeddable":true,"href":"https:\/\/blogs.uakron.edu\/astleylab\/wp-json\/wp\/v2\/comments?post=279"}],"version-history":[{"count":44,"href":"https:\/\/blogs.uakron.edu\/astleylab\/wp-json\/wp\/v2\/pages\/279\/revisions"}],"predecessor-version":[{"id":1468,"href":"https:\/\/blogs.uakron.edu\/astleylab\/wp-json\/wp\/v2\/pages\/279\/revisions\/1468"}],"wp:attachment":[{"href":"https:\/\/blogs.uakron.edu\/astleylab\/wp-json\/wp\/v2\/media?parent=279"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}