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Selected Publications

For complete list of publications, please see Google Scholar Page. 

2023

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Control of soft robots with inertial dynamics

Haggerty, D.A., Banks, M.J., Kamenar, E., Cao, A.B., Curtis, P.C., Mezić, I. and Hawkes, E.W., 2023. Control of soft robots with inertial dynamics. Science Robotics, 8(81), p.eadd6864.

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2022

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Engineered jumpers overcome biological limits via work multiplication

Hawkes, E. W., Xiao, C., Peloquin, R. A., Keeley, C., Begley, M. R., Pope, M. T., & Niemeyer, G. (2022). Engineered jumpers overcome biological limits via work multiplication. Nature, 604(7907), 657-661.

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Jumping on Air: Design and Modeling of Latch-mediated, Spring-actuated Air-jumpers

Alvarez, A.V., Devlin, M.R., Naclerio, N.D. and Hawkes, E.W., 2022, October. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 13220-13226). IEEE.

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2021

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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]

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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).

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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

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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

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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.

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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.

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2020

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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).

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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 

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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.

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2019

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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.

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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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2018

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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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2017

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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.

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