Selected Publications
(All publications can be found on Scholar)
2022
2021
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).
Hard Questions for Soft Robotics
Hawkes, E. W., Majidi, C., and Tolley, M., Science Robotics 6 (2021): eabg6049.
Mechanism and function of root circumnutation
Taylor, I., Lehner, K., McCaskey, E., Nirmal, N., Ozkan-Aydin, Y., Murray-Cooper, M., Jain, R., Hawkes, E.W., Ronald, P.C., Goldman, D.I. and Benfey, P.N., 2021. Proceedings of the National Academy of Sciences, 118(8).
Acoustic communication and sensing for inflatable modular soft robots
D.S. Drew, M. Devlin, E. Hawkes, S. Follmer. International Conference on Robotics and Automation (ICRA). Xi’an, China 2021
SPHR: A Soft Pneumatic Hybrid Robot with extreme shape changing and lifting abilities
M. Devlin, M. Dickens, C. Xiao, E. Hawkes, International Conference on Intelligent Robots and Systems (IROS). Prague, Czech Republic 2021
Hybrid vine robot with internal steering-reeling mechanism enhances system-level capabilities
Haggerty, David A., Nicholas D. Naclerio, and Elliot W. Hawkes. IEEE Robotics and Automation Letters 6, no. 3 (2021): 5437-5444.
Soft Retraction Device and Internal Camera Mount for Everting Vine Robots
Heap, William E., Nicholas D. Naclerio, Margaret M. Coad, Sang-Goo Jeong, and Elliot W. Hawkes. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4982-4988. IEEE, 2021.
2020
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.
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.
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
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.
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.
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.
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.
2019
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.
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.
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.
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.
2018
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.
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.
