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.

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2022

  1. Strength-mass scaling law governs mass distribution inside honey bee swarms
    O Shishkov, C Chen, CA Madonna, K Jayaram, O Peleg
    bioRxiv, 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.

 

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.

 

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.