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• Model-predictive Control With Inverse Statics Optimization For Tensegrity Spine Robots
  2018 · 34 citations
• Safe Balancing Control of a Soft Legged Robot
  2022 · 1 citations
• Trajectory Generation for Underactuated Soft Robot Manipulators using Discrete Elastic Rod Dynamics
  2026
• Force-Safe Environment Maps and Real-Time Detection for Soft Robot Manipulators
  2025
• Soft Robotic Delivery of Coiled Anchors for Cardiac Interventions
  2025
• Safe Autonomous Environmental Contact for Soft Robots using Control Barrier Functions
  2025
• Trajectory Tracking Control of a Flexible Spine Robot, With and Without a Reference Input
  2018
• An Untethered Brittle Star-Inspired Soft Robot for Closed-Loop Underwater Locomotion
  2020
• Trajectory Optimization for Thermally-Actuated Soft Planar Robot Limbs
  2021
• Robust Control of a Multi-Axis Shape Memory Alloy-Driven Soft Manipulator
  2021
• In-Situ Sensing and Dynamics Predictions for Electrothermally-Actuated Soft Robot Limbs
  2021
• Safe Supervisory Control of Soft Robot Actuators
  2022
• Maximizing Consistent Force Output for Shape Memory Alloy Artificial Muscles in Soft Robots
  2024
• Real-Time Trajectory Generation for Soft Robot Manipulators Using Differential Flatness
  2024