Papers

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

  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.
  2. Femtosecond laser fabricated nitinol living hinges for millimeter-sized robots
    A Hedrick,HKabutz,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
    HKabutz,A Hedrick,PMcDonnell,K Jayaram
    IEEE IROS, 2023
  4. Design of CLARI: A miniature modular origami passive shape-morphing robot
    H Kabutz, K Jayaram
    Advanced Intelligent Systems , 2023.
  5. A Population-Level Analysis of Neural Dynamics in Robust Legged Robots​
    ER Rush, C Heckman,K Jayaram, JS Humbert​
    arXiv preprint , 2023.
  6. Geometric Mechanics of Contact-Switching Systems
    HKH Prasad, RL Hatton,K Jayaram​
    arXiv preprint , 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 鶹Ƶy: Interpreting the Neural Dynamics of Motor Control through Reinforcement Learning​
    ER Rush,K Jayaram, JS Humbert​
    arXiv preprint , 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, SamanthaCastellanos, 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 JWood
      Bioinspiration & Biomimetics,14(5), 056001, 2019.
    2. Gait recovery using proprioceptive feedback in hamr, a biologically-inspired robotic platform.
      Kaushik Jayaram, Neel Doshi,Robert JWood
      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, ZacharyManchester, Robert J Wood, ScottKuindersma
      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. ​ċFabrication 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.