A full list of all journal papers, conference papers, dissertations, theses, and patents are available in sub-page links. Links to abstracts, videos, and downloadable PDFs are included for Journal papers. Conference papers, etc, are available upon request.
2023
- 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. - 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. - Geometric Mechanics of Contact-Switching Systems
HKH Prasad, RL Hatton, K Jayaram
arXiv preprint arXiv:2306.10276, 2023. - 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. - 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. - 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. - 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
- 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. - Locomotion planning and control for discretely-soft bodied legged robots
HK Hari Prasad, K Jayaram
Bulletin of the American Physical Society, 2022. - 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. - 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. - Enabling Power and Control Autonomy for Insect Scale Robo-Physical Models
W McDonnell, K Jayaram
Bulletin of the American Physical Society, 2022. - 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. - 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. - 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. - 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
- 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. - Morphological compliance enables robot locomotion through cluttered terrain
H Kabutz, K Jayaram
Bulletin of American Physical Society, 2021. - 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. - Micro Electroadhesive Treaded Robot (μETR)
S Evans, L Wanzer, P McDonnell, N Doshi, R Wood, K Jayaram
Bulletin of the American Physical Society, 2021. - Morphological compliant robotic system in cluttered terrain
H Kabutz, K Jayaram
INTEGRATIVE AND COMPARATIVE BIOLOGY, 2021. - 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. - 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)
- 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. - 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. - Testing the effect of scaling on microrobot locomotion performance
Kaushik Jayaram, Robert J Wood
Bulletin of the American Physical Society 65.
2019
- 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. - 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. - 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
- 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. -
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. - 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. -
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. - 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.
- 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
- 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. -
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. -
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. -
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. -
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. -
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
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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. -
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. -
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
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Compressibility enables cockroach-inspired robot to crawl rapidly in confined spaces
Kaushik Jayaram, Robert J Full
International Conference on Robotics and Automation, 2015. -
Body size limit predictions for mechanically mediated maneuvers
Kaushik Jayaram, Robert J Full
Society of Integrative and Comparative Biology Annual Meeting, 2015. -
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
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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. -
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. -
Mechanics of confined space frictional legged crawling
Kaushik Jayaram, Daniel I Goldman, Robert J Full
World Congress of Biomechanics, 2014. -
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
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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. -
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. -
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
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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. -
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
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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. -
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. -
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. -
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
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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. -
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
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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.