top of page

Selected Publications

For complete list of publications, please see Google Scholar Page. 

2023

koopmanCover_grey.jpg

Control of soft robots with inertial dynamics

Haggerty, D.A., Banks, M.J., Kamenar, E., Cao, A.B., Curtis, P.C., Mezić, I. and Hawkes, E.W., 2023. Control of soft robots with inertial dynamics. Science Robotics, 8(81), p.eadd6864.

PDF

2022

IMG_3839.jpg

Engineered jumpers overcome biological limits via work multiplication

Hawkes, E. W., Xiao, C., Peloquin, R. A., Keeley, C., Begley, M. R., Pope, M. T., & Niemeyer, G. (2022). Engineered jumpers overcome biological limits via work multiplication. Nature, 604(7907), 657-661.

PDF
Video
glideJumper.png

Jumping on Air: Design and Modeling of Latch-mediated, Spring-actuated Air-jumpers

Alvarez, A.V., Devlin, M.R., Naclerio, N.D. and Hawkes, E.W., 2022, October. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 13220-13226). IEEE.

PDF
Video

2021

F1_edited.jpg

Controlling subterranean forces enables a fast, steerable, burrowing soft robot

N. D. Naclerio, A. Karsai, M. Murray-Cooper, Y. Ozkan-Aydin, E. Aydin, D. I. Goldman, E. W. Hawkes, Sci. Robot. 6, eabe2922 (2021).

PDF
Screen Shot 2021-05-06 at 10.55.46 AM.pn

Hard Questions for Soft Robotics

Hawkes, E. W., Majidi, C., and Tolley, M., Science Robotics 6 (2021): eabg6049.

[Author's Version]

PDF
Screen Shot 2022-05-17 at 11.10.06 AM.png

Mechanism and function of root circumnutation

Taylor, I., Lehner, K., McCaskey, E., Nirmal, N., Ozkan-Aydin, Y., Murray-Cooper, M., Jain, R., Hawkes, E.W., Ronald, P.C., Goldman, D.I. and Benfey, P.N., 2021. Proceedings of the National Academy of Sciences, 118(8).

PDF
acousticCell.png

Acoustic communication and sensing for inflatable modular soft robots

D.S. Drew, M. Devlin, E. Hawkes, S. Follmer. International Conference on Robotics and Automation (ICRA). Xi’an, China 2021

PDF
SPHRpic.png

SPHR: A Soft Pneumatic Hybrid Robot with extreme shape changing and lifting abilities

M. Devlin, M. Dickens, C. Xiao, E. Hawkes, International Conference on Intelligent Robots and Systems (IROS). Prague, Czech Republic 2021

PDF
SRM.png

Hybrid vine robot with internal steering-reeling mechanism enhances system-level capabilities

Haggerty, David A., Nicholas D. Naclerio, and Elliot W. Hawkes. IEEE Robotics and Automation Letters 6, no. 3 (2021): 5437-5444.

PDF
CameraMount.png

Soft Retraction Device and Internal Camera Mount for Everting Vine Robots

Heap, William E., Nicholas D. Naclerio, Margaret M. Coad, Sang-Goo Jeong, and Elliot W. Hawkes.  In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4982-4988. IEEE, 2021.

PDF

2020

fig1_3dNew.jpg

Modeling, Reduction, and Control of a Helically Actuated Inertial Soft Robotic Arm via the Koopman Operator

Haggerty, David A., Michael J. Banks, Patrick C. Curtis, Igor Mezić, and Elliot W. Hawkes. arXiv preprint arXiv:2011.07939 (2020).

PDF
Figure1.jpg

Design, modeling, control, and application of
everting vine robots

Blumenschein, L.H., Coad, M.M., Haggerty, D.A., Okamura, A.M. and Hawkes, E.W., 2020. Frontiers in Robotics, AI 7: 548266. doi: 10.3389/frobt.

PDF
Screen Shot 2020-05-13 at 9.48.51 PM.png

Simple, low-hysteresis, foldable, fabric pneumatic artificial muscle

Naclerio, Nicholas D., and Elliot W. Hawkes. IEEE Robotics and Automation Letters 5, no. 2 (2020): 3406-3413.

PDF
Screen Shot 2020-11-15 at 4.54.37 PM.png

An untethered isoperimetric soft robot. 

Usevitch*, N.S., Hammond*, Z.M., Schwager, M., Okamura, A.M., Hawkes*, E.W. and Follmer*, S. Science Robotics 5 (40), 2020. *contributed equally 

PDF
Prototype_Testing.png

Variable area, constant force shock absorption motivated by traumatic brain injury prevention

Michael Fanton*, Hossein Vahid Alizadeh*, August Domel, Matthew Devlin, Mehmet Kurt, Godfrey M. Mungal, David Camarillo†, and Elliot W. Hawkes†, Smart Materials and Structures 8 (29) , 2020. *co-first authors †co-senior authors

Link
Fig1Backdrop (1).png

An untethered soft cellular robot with variable volume, friction, and unit-to-unit cohesion

Matthew R. Devlin, Brad T. Young, Nicholas D. Nacleri, David A. Haggerty, and Elliot W. Hawkes. IEEE International Conference on Intelligent Robots and Systems (IROS), 2020

PDF
Screen Shot 2020-11-15 at 3.25.00 PM.png

A Tri-Stable Soft Robotic Finger Capable of Pinch and Wrap Grasps

Nguyen, A., Russell, A., Vuong,V., Naclerio, N., Huang, H., Chui, K., and Hawkes, E.W. 2020 IEEE International Conference on Robotics and Automation (ICRA), 9028-9034.

PDF
Screen Shot 2020-11-15 at 3.31.30 PM.png

An obstacle-interaction planning method for navigation of actuated vine robots

Selvaggio, M., Ramirez, L., Siciliano, B., and Hawkes, E.W. 2020 IEEE International Conference on Robotics and Automation (ICRA), 3227-3233.

PDF
Screen Shot 2020-11-15 at 3.47.49 PM.png

A Dexterous Tip-extending Robot with Variable-length Shape-locking

A Dexterous Tip-extending Robot with Variable-length Shape-locking. In 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020.

PDF
Screen Shot 2020-11-15 at 3.52.26 PM.png

3D Electromagnetic Reconfiguration Enabled by Soft Continuum Robots

Gan, L.T., Blumenschein, L.H., Huang, Z., Okamura, A.M., Hawkes, E.W. and Fan, J.A. IEEE Robotics and Automation Letters 5 (2), 1704-1711, 2020.

PDF

2019

butaneCarPhoto.PNG

Energy Harvesting across Temporal Temperature Gradients using Vaporization

Xiao, Charles,  Nicholas D. Naclerio, and Elliot W. Hawkes. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 7170-7175, doi: 10.1109/IROS40897.2019.8968143.

PDF
fig1_v3p1.jpg

Characterizing Environmental Interactions for Soft Growing Robots

D. A. Haggerty, N. D. Naclerio and E. W. Hawkes. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 3335-3342, doi: 10.1109/IROS40897.2019.8968137.

PDF
Screen Shot 2020-04-06 at 6.06.16 PM.png

Low-cost, continuously variable, strain wave transmission using gecko-inspired adhesives

Naclerio, Nicholas D., Capella F. Kerst, David A. Haggerty, Srinivasan A. Suresh, Sonali Singh, Kenichi Ogawa, Susumu Miyazaki, Mark R. Cutkosky, and Elliot W. Hawkes. IEEE Robotics and Automation Letters 4, no. 2 (2019): 894-901.

PDF
Screen Shot 2020-11-15 at 7.39.24 PM.png

Connecting the legs with a spring improves human running economy

Simpson, C., Welker, C., Jackson, R., Uhlrich, S., Sketch, S., Collins, S., Delp, S., Selinger, J., and Hawkes, E.W. Journal of Experimental Biology 222 (17), jeb202895, 2019. 

PDF
Screen Shot 2020-11-15 at 7.44.23 PM.png

Spatially variant microstructured adhesive with one-way friction

Suresh, S.A., Kerst, C.F., Cutkosky, M.R. and Hawkes, E.W. Journal of the Royal Society Interface, 16(150), p.20180705.

PDF

2018

Screen Shot 2020-11-15 at 7.53.20 PM.png

Design of Materials and Mechanisms for Responsive Robots

Hawkes, E.W., and Cutkosky, M.R. Annual Review of Control, Robotics, and Autonomous Systems (2018): 1, 359-384.

PDF
Screen Shot 2020-03-30 at 5.01.45 PM.png

Soft robotic burrowing device with tip-extension and granular fluidization

Naclerio, Nicholas D., Christian M. Hubicki, Yasemin Ozkan Aydin, Daniel I. Goldman, and Elliot W. Hawkes.  In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5918-5923. IEEE, 2018.

PDF

2017

Screen Shot 2017-07-20 at 8.59.09 PM.png

A soft robot that navigates its environment through growth

Hawkes, Elliot W., Laura H. Blumenschein, Joseph D. Greer, and Allison M. Okamura. Science Robotics 2, no. 8 (2017): eaan3028.

PDF
Video

© 2023 by ELLIOT HAWKES

bottom of page