Papers

2023

1. Scaling analysis of thermal bubble-driven micro-pumps from micro-scale to meso-scale
   B Hayes, K Jayaram, R MacCurdy
   International Journal of Multiphase Flow, 104689. https://doi.org/10.1016/j.ijmultiphaseflow.2023.104689
2. Femtosecond laser fabricated nitinol living hinges for millimeter-sized robots
   A Hedrick, H Kabutz, L Smith, R MacCurdy, K Jayaram
   arXiv preprint https://arxiv.org/abs/2310.16077, 2023
3. mCLARI: a shape-morphing insect-scale robot capable of omnidirectional terrain-adaptive locomotion in laterally confined spaces
   H Kabutz, A Hedrick, P McDonnell, K Jayaram
   IEEE IROS https://doi.org/10.1109/IROS55552.2023.10341588, 2023
4. Design of CLARI: A miniature modular origami passive shape-morphing robot
   H Kabutz, K Jayaram
   Advanced Intelligent Systems https://doi.org/10.1002/aisy.202300181, 2023.
5. A Population-Level Analysis of Neural Dynamics in Robust Legged Robots​
   ER Rush, C Heckman, K Jayaram, JS Humbert​
   arXiv preprint arXiv:2306.15793, 2023.
6. Geometric Mechanics of Contact-Switching Systems
   HKH Prasad, RL Hatton, K Jayaram​
   arXiv preprint arXiv:2306.10276, 2023.
7. Mechanosensory Control of Locomotion in Animals And Robots: Moving Forward​
   CJ Dallmann, BH Dickerson, JH Simpson, C Wyart, K Jayaram​
   Integrative and Comparative Biology, icad057, 2023.
8. From Data-Fitting to Discovery: Interpreting the Neural Dynamics of Motor Control through Reinforcement Learning​
   ER Rush, K Jayaram, JS Humbert​
   arXiv preprint arXiv:2305.11107, 2023.
9. Exploring open-and closed-loop communication between fireflies and LEDs​
   O Martin, N Nechyporenko, S Katiyar, W McDonnell, K Jayaram, O Peleg​
   Bulletin of the American Physical Society, 2023.
10. Flies combine adaptive and passive mechanisms to compensate for wing damage in flight
    W Salem, B Cellini, H Kabutz, HKH Prasad, B Cheng, K Jayaram, JM Mongeau
    INTEGRATIVE AND COMPARATIVE BIOLOGY 62, S274-S275, 2023.

2022

1. Strength-mass scaling law governs mass distribution inside honey bee swarms
   O Shishkov, C Chen, CA Madonna, K Jayaram, O Peleg
   Scientific Reports 12, 17388, 2022.
2. Locomotion planning and control for discretely-soft bodied legged robots
   HK Hari Prasad, K Jayaram
   Bulletin of the American Physical Society, 2022.
3. Weight distribution in honey bee swarms
   O Shishkov, C Chen, C Madonna, A Lawson, K Jayaram, O Peleg
   Bulletin of the American Physical Society, 2022.
4. A novel insect scale autonomous soft quadrupedal robot for locomotion through 3D complex terrain
   H Kabutz, K Jayaram
   Bulletin of the American Physical Society, 2022.
5. Enabling Power and Control Autonomy for Insect Scale Robo-Physical Models
   W McDonnell, K Jayaram
   Bulletin of the American Physical Society, 2022.
6. Uncovering the mechanisms of wing damage compensation in insect flight using control theory and robophysics
   W Salem, B Cellini, H Kabutz, HK Hari Prasad, B Cheng, K Jayaram, Jean-Michel Mongeau
   Bulletin of the American Physical Society, 2022.
7. Understanding Particle Transport In Human Vascular Network Using In Vitro Benchtop Flow Modeling
   T Puhr, A Chauhan, WP McDonnell, K Jayaram, N Bottenus, D Mukherjee
   Bulletin of the American Physical Society, 2022.
8. Rapid fabrication of low-cost thermal bubble-driven micro-pumps
   B Hayes, L Smith, H Kabutz, A Hayes, G Whiting, K Jayaram, R MacCurdy
   Micromachines, 13(10), 1634, 2022.
9. Flies trade off stability and performance via adaptive compensation to wing damage
   W Salem, B Cellini, H Kabutz, HK Hari Prasad, B Cheng, K Jayaram, Jean-Michel Mongeau
   Science Advances, 8(46), eabo0719, 2022.

2021

1. Spider‐Inspired Electrohydraulic Actuators for Fast, Soft‐Actuated Joints
   Nicholas Kellaris, Philiph Rothemund, Y Zeng, Shane K Mitchell, GM Smith, Kaushik Jayaram, Christoph Keplinger
   Advanced Science, 2100916, 2021.
2. Morphological compliance enables robot locomotion through cluttered terrain
   H Kabutz, K Jayaram
   Bulletin of American Physical Society, 2021.
3. Origami-inspired, high energy-density, low-voltage voice coil actuators for autonomous micro-robotic applications
   SS Eligar, HK Hari Prasad, K Jayaram
   Bulletin of the American Physical Society, 2021.
4. Micro Electroadhesive Treaded Robot (μETR)
   S Evans, L Wanzer, P McDonnell, N Doshi, R Wood, K Jayaram
   Bulletin of the American Physical Society, 2021.
5. Morphological compliant robotic system in cluttered terrain
   H Kabutz, K Jayaram
   INTEGRATIVE AND COMPARATIVE BIOLOGY, 2021.
6. A Fabrication Strategy for Reconfigurable Millimeter‐Scale Metamaterials
   HD McClintock, N Doshi, A Iniguez‐Rabago, JC Weaver, NT Jafferis, K Jayaram, RJ Wood, JTB Overvelde
   Advanced Functional Materials, 2103428.
7. A streamlined fabrication process for high energy density piezoelectric bending actuators​
   NT Jafferis, K Jayaram, PA York, RJ Wood​
   Sensors and Actuators A: Physical 332, 113155, 2021.

2020 (Since AIMRL)

1. Piezoelectric grippers for mobile micromanipulation
   Tristan Abondance, Kaushik Jayaram, Noah T Jafferis, Jennifer Shum, Robert Wood
   IEEE Robotics and Automation Letters 5 (3), 4407-4414, 2020.
2. Scaling down an insect-size microrobot, HAMR-VI into HAMR-Jr
   Kaushik Jayaram, Jennifer Shum, Samantha Castellanos, Elizabeth F Helbling, Robert J Wood
   2020 IEEE International Conference on Robotics and Automation (ICRA), 7, 2020.
3. Testing the effect of scaling on microrobot locomotion performance
   Kaushik Jayaram, Robert J Wood
   Bulletin of the American Physical Society 65.

2019  

1. Effective locomotion at multiple stride frequencies using proprioceptive feedback on a legged microrobot​
   Kaushik Jayaram, Neel Doshi, Samantha Castellanos, Scott Kuindersma, Robert J Wood
   Bioinspiration & Biomimetics,14(5), 056001, 2019.
2. Gait recovery using proprioceptive feedback in hamr, a biologically-inspired robotic platform.
   Kaushik Jayaram, Neel Doshi, Robert J Wood
   Society of Integrative and Comparative Biology Annual Meeting, 2019.
3. Contact-implicit optimization of locomotion trajectories for a quadrupedal microrobot
   Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zachary Manchester, Robert J Wood, Scott Kuindersma
   Robotics Science and Systems 2019

2018

1. Inverted and vertical climbing of a quadrupedal microrobot using electroadhesion
   Sebastien D. de Rivaz, Benjamin Goldberg, Neel Doshi, Kaushik Jayaram, Jack Zhou, Robert J Wood
   Science Robotics, 3(25), eaau3038, 2018.

2. Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
   Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zachary Manchester, Scott Kuindersma, Robert Wood
   Robotics: Science and Systems, Pittsburg, Jun 26-30, 2018.

3. Concomitant sensing and actuation for piezoelectric microrobots
   Kaushik Jayaram, Noah Jafferis, Neel Doshi, Benjamin Goldberg, Robert J Wood
   Smart Materials and Structures, 27(6), 065028, 2018.

4. Transition by head-on collision: mechanically mediated manoeuvres in cockroaches and small robots
   Kaushik Jayaram, Jean-Michel Mongeau, Andy Mohapatra, Paul Birkmeyer, Ronald Fearing, Robert J Full
   The Royal Society Interface, 15 : 20170664.

5. Robustness from materials in biological and bioinspired systems
   Kaushik Jayaram, James Weaver, Robert J Full, Robert J Wood
   Gordon Research Conference on Multifunctional Materials, 2018. 
    
6. ​​Fabrication of insect wings ranging from millimeters to meters
   Kaushik Jayaram, Mary Salcedo, James Weaver, Nick Bartlett, L Mahadevan, Robert J Wood
   Society of Integrative and Comparative Biology Annual Meeting, 2018.

2017

1. A high speed motion capture method and performance metrics for studying gaits on an insect-scale legged robot
   Benjamin Goldberg, Neel Doshi, Kaushik Jayaram, Jesung Koh, Robert Wood
   Best Student Paper Award Finalist
   International Conference on Intelligent Robots and Systems, Vancouver, Candada Sept 24-28, 2017.

2. Gait studies for a quadrupedal microrobot reveal contrasting running templates in two frequency regimes
   Benjamin Goldberg, Neel Doshi, Kaushik Jayaram, Robert Wood
   Bioinspiration and Biomimetics, 12(4):046005, 2017.

3. Phase control for microrobots running near resonance
   Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Robert Wood
   International Conference on Robotics and Automation, Singapore, May 29- Jun 3, 2017.

4. Task driven optimal leg trajectories in insect-scale legged microrobots
   Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Robert Wood
   The American Physical Society Annual Meeting, 2017.

5. Fabrication of Paper-Templated Structures of Noble Metals
   Dionysios Christodouleas, Felice C. Simeone, Alok Tayi, Sonia Targ, James C. Weaver, Kaushik Jayaram, Maria Teresa Fernandez-Abedul, George M. Whitesides
   Advanced Material Technology, 1600229, 2017.

6. Towards rapid running at resonance using HAMR, a biologically-inspired robotic platform
   Kaushik Jayaram, Neel Doshi, Benjamin Goldberg, Robert Wood
   Society of Integrative and Comparative Biology Annual Meeting, 2017.

2016

1. Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot
   Kaushik Jayaram, Robert J Full
   Proceedings of the National Academy of Sciences, 113(8):E950-E957, 2016.

2. Cockroach-inspired self-righting robots
   Chen Li, R Tian, Will Porter, Zack Hammound, David Strachan-Olsen, Andrew W Kooker, Jake Olivas, Chad Kessens, Kaushik Jayaram, Ronald S Fearing, Robert J Full
   Society of Integrative and Comparative Biology Annual Meeting, 2016.

3. Cockroaches squeezing through crevices
   Kaushik Jayaram, Robert J Full
   Mimi Koehl and Stephen Wainwright Best Student Paper Award Winner
   Society of Integrative and Comparative Biology Annual Meeting, 2016.

2015

1. Compressibility enables cockroach-inspired robot to crawl rapidly in confined spaces
   Kaushik Jayaram, Robert J Full
   International Conference on Robotics and Automation, 2015.

2. Body size limit predictions for mechanically mediated maneuvers
   Kaushik Jayaram, Robert J Full
   Society of Integrative and Comparative Biology Annual Meeting, 2015.

3. Design and development of a vision-based micro-assembly system
   Kaushik Jayaram, Suhas S Joshi
   Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, Pages 1-5, 2015.

2014

1. Performance limited by friction in confined spaces for the American Cockroach Periplaneta americana
   Kaushik Jayaram, Daniel I Goldman, Robert J Full
   Society of Experimental Biology Annual Meeting, 2014.

2. Mechanical processing via passive dynamic properties of the cockroach antenna can facilitate control during rapid running
   Jean-Michel Mongeau, Alican Demir, Chris J Dallmann, Kaushik Jayaram, Noah J Cowan, Robert J Full
   The Journal of Experimental Biology, Volume 217, Issue 18, Pages 3333-3345, 2014.

3. Mechanics of confined space frictional legged crawling
   Kaushik Jayaram, Daniel I Goldman, Robert J Full
   World Congress of Biomechanics, 2014.

4. Effect of friction on cockroaches running in confined spaces
   Kaushik Jayaram, Daniel I Goldman, Robert J Full
   Society of Integrative and Comparative Biology Annual Meeting, 2014.

2013

1. Challenges of confined space locomotion - a case study using the American cockroach
   Kaushik Jayaram, Dwight Springthorpe, Duncan Haldane, Steven Mckinley, Angela Dirocco, Robert J Full
   Society of Experimental Biology Annual Meeting, 2013.

2. Running in confined spaces by the American cockroach
   Kaushik Jayaram, Dwight Springthorpe, Duncan Haldane, Steven Mckinley, Angela Dirocco, Robert J Full
   Society of Integrative and Comparative Biology Annual Meeting, 2013.

3. Dynamic response of antenna flagellum in the American cockroach
   Chris J Dallmann, Jean-Michel Mongeau, Kaushik Jayaram, Anil Mahavadi, Robert J Full
   Society of Integrative and Comparative Biology Annual Meeting, 2013.

2012

1. Design and development of a vision-based micro-assembly system
   Kaushik Jayaram, Suhas S Joshi
   International Conference on Microactuators and Micromechanisms, Durgapur, India, Jan 19-21, 2012.

2. Robust Climbing in Cockroaches Results from Fault Tolerant Design Using Leg Spines
   Kaushik Jayaram, Cody Merritt, Robert J Full
   Society of Integrative and Comparative Biology Annual Meeting, 2012.

2011

1. Running without feet: the role of tarsi during high-speed horizontal locomotion in cockroaches
   Kaushik Jayaram, Cody Merritt, Arun Cherian, Robert J Full
   Society of Integrative and Comparative Biology Annual Meeting, 2011.

2. A Tunable, Multisegmented Robotic Antenna for Identifying and Testing Biomechanical Design Principles
   Alican Demir, E Samson, Jean-Michel Mongeau, Kaushik Jayaram, Robert J Full, Noah J Cowan
   Society of Integrative and Comparative Biology Annual Meeting, 2011.

3. Biomechanics of Tactile Sensor for Wall Following and Spatial Mapping
   Jean-Michel Mongeau, Kaushik Jayaram, Alican Demir, E Sampson, Noah J Cowan, Robert J Full
   Society of Integrative and Comparative Biology Annual Meeting, 2011.

4. Role of robustness in running: Bio-and bio-inspired exoskeletons
   Robert J Full, Kaushik Jayaram, Jean-Michel Mongeau, Paul Birkmeyer, Aaron Hoover, Ronald S Fearing
   Society of Integrative and Comparative Biology Annual Meeting, 2011.

2010

1. Mechanical Feedback of Antenna-Substrate Interaction Simplifies Cockroach Antennal Navigation
   Jean-Michel Mongeau, Kaushik Jayaram, Jusuck Lee, Robert J Full, Noah J Cowan
   Society of Integrative and Comparative Biology Annual Meeting, 2010.

2. High-speed horizontal to vertical transitions in running cockroaches reveals a principle of robustness
   Kaushik Jayaram, Jean-Michel Mongeau, Brian McRae, Robert J Full, Noah J Cowan
   Society of Integrative and Comparative Biology Annual Meeting, 2010.

2009

1. Development of a flexure-based, force-sensing microgripper for micro-object manipulation
   Kaushik Jayaram, Suhas S Joshi
   Journal of Micromechanics and Microengineering, Volume 20, Issue 1, Pages 015001, 2009.