Selected Publications
(All publications can be found on Scholar)



Controlling subterranean forces enables a fast, steerable, burrowing soft robot

N. D. Naclerio, A. Karsai, M. Murray-Cooper, Y. Ozkan-Aydin, E. Aydin, D. I. Goldman, E. W. Hawkes, Sci. Robot. 6, eabe2922 (2021).

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Hard Questions for Soft Robotics

Hawkes, E. W., Majidi, C., and Tolley, M., Science Robotics 6 (2021): eabg6049.

[Author's Version]



Modeling, Reduction, and Control of a Helically Actuated Inertial Soft Robotic Arm via the Koopman Operator

Haggerty, David A., Michael J. Banks, Patrick C. Curtis, Igor Mezić, and Elliot W. Hawkes. arXiv preprint arXiv:2011.07939 (2020).


Design, modeling, control, and application of
everting vine robots

Blumenschein, L.H., Coad, M.M., Haggerty, D.A., Okamura, A.M. and Hawkes, E.W., 2020. Frontiers in Robotics, AI 7: 548266. doi: 10.3389/frobt.

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Simple, low-hysteresis, foldable, fabric pneumatic artificial muscle

Naclerio, Nicholas D., and Elliot W. Hawkes. IEEE Robotics and Automation Letters 5, no. 2 (2020): 3406-3413.

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An untethered isoperimetric soft robot. 

Usevitch*, N.S., Hammond*, Z.M., Schwager, M., Okamura, A.M., Hawkes*, E.W. and Follmer*, S. Science Robotics 5 (40), 2020. *contributed equally 


Variable area, constant force shock absorption motivated by traumatic brain injury prevention

Michael Fanton*, Hossein Vahid Alizadeh*, August Domel, Matthew Devlin, Mehmet Kurt, Godfrey M. Mungal, David Camarillo†, and Elliot W. Hawkes†, Smart Materials and Structures 8 (29) , 2020. *co-first authors †co-senior authors

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An untethered soft cellular robot with variable volume, friction, and unit-to-unit cohesion

Matthew R. Devlin, Brad T. Young, Nicholas D. Nacleri, David A. Haggerty, and Elliot W. Hawkes. IEEE International Conference on Intelligent Robots and Systems (IROS), 2020

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A Tri-Stable Soft Robotic Finger Capable of Pinch and Wrap Grasps

Nguyen, A., Russell, A., Vuong,V., Naclerio, N., Huang, H., Chui, K., and Hawkes, E.W. 2020 IEEE International Conference on Robotics and Automation (ICRA), 9028-9034.

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An obstacle-interaction planning method for navigation of actuated vine robots

Selvaggio, M., Ramirez, L., Siciliano, B., and Hawkes, E.W. 2020 IEEE International Conference on Robotics and Automation (ICRA), 3227-3233.

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A Dexterous Tip-extending Robot with Variable-length Shape-locking

A Dexterous Tip-extending Robot with Variable-length Shape-locking. In 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020.

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3D Electromagnetic Reconfiguration Enabled by Soft Continuum Robots

Gan, L.T., Blumenschein, L.H., Huang, Z., Okamura, A.M., Hawkes, E.W. and Fan, J.A. IEEE Robotics and Automation Letters 5 (2), 1704-1711, 2020.



Energy Harvesting across Temporal Temperature Gradients using Vaporization

Xiao, Charles,  Nicholas D. Naclerio, and Elliot W. Hawkes. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 7170-7175, doi: 10.1109/IROS40897.2019.8968143.


Characterizing Environmental Interactions for Soft Growing Robots

D. A. Haggerty, N. D. Naclerio and E. W. Hawkes. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 3335-3342, doi: 10.1109/IROS40897.2019.8968137.

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Low-cost, continuously variable, strain wave transmission using gecko-inspired adhesives

Naclerio, Nicholas D., Capella F. Kerst, David A. Haggerty, Srinivasan A. Suresh, Sonali Singh, Kenichi Ogawa, Susumu Miyazaki, Mark R. Cutkosky, and Elliot W. Hawkes. IEEE Robotics and Automation Letters 4, no. 2 (2019): 894-901.

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Connecting the legs with a spring improves human running economy

Simpson, C., Welker, C., Jackson, R., Uhlrich, S., Sketch, S., Collins, S., Delp, S., Selinger, J., and Hawkes, E.W. Journal of Experimental Biology 222 (17), jeb202895, 2019. 

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Spatially variant microstructured adhesive with one-way friction

Suresh, S.A., Kerst, C.F., Cutkosky, M.R. and Hawkes, E.W. Journal of the Royal Society Interface, 16(150), p.20180705.


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Design of Materials and Mechanisms for Responsive Robots

Hawkes, E.W., and Cutkosky, M.R. Annual Review of Control, Robotics, and Autonomous Systems (2018): 1, 359-384.

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Soft robotic burrowing device with tip-extension and granular fluidization

Naclerio, Nicholas D., Christian M. Hubicki, Yasemin Ozkan Aydin, Daniel I. Goldman, and Elliot W. Hawkes.  In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5918-5923. IEEE, 2018.


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A soft robot that navigates its environment through growth

Hawkes, Elliot W., Laura H. Blumenschein, Joseph D. Greer, and Allison M. Okamura. Science Robotics 2, no. 8 (2017): eaan3028.