Publications

Encoder-free hexapod dead reckoning on sand using learned inertial correction

Mingyu Pan, Max Rollins, Samuel Yang, and Kathryn A. Daltorio. 

Frontiers in Robotics and AI

DOI: 10.3389/frobt.2026.1920986

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Polysectoid: a hyperredundant soft-bodied robot for modeling the role of parapodia in undulation and

peristalsis

Huy D. Pham, Malyka Norville, Christian Lee, Indy D. Sarma, Shon Ceballos, Humzah

Durrani, Moey Rojas, Kelly M. Dorgan, and Kathryn A. Daltorio 

Bioinspiration & Biomimetics

DOI: 10.1088/1748-3190/adc057

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A High Load Density Miniature Force Sensor for Probing With Robot Feet

Jianfeng Zhou, Jiaji Su, Kaiwen Zuo, Mingyu Pan, Zonghe Chua, and Kathryn A. Daltorio.

IEEE Robotics and Automation Letters 

DOI: 10.1109/LRA.2025.3632679

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Marking Underwater Infrastructure: A Crab-Like Robot for Traversing Pipes

Jiyuan Jiang, John E. Grezmak, and Kathryn A. Daltorio.

IEEE Robotics and Automation Letters 

DOI: 10.1109/LRA.2026.3681155

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A 3D Model Predicts Behavior of a Soft Bodied Worm Robot Performing Peristaltic Locomotion 

Shane A. Riddle, Clayton B. Jackson, Kathryn A. Daltorio, and Roger D. Quinn.

Bioinspiration & Biomimetics

DOI: 10.1088/1748-3190/ae0631

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Stable Heteroclinic Channels as a Decision-Making Model: Overcoming Low Signal-to-Noise ratio with mutual inhibition 

Natasha A Rouse, Andrew D Horchler, Hillel J Chiel, and Kathryn A Daltorio 

Bioinspiration & Biomimetics

DOI: 10.1088/1748-3190/adc057

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Stable heteroclinic channels for controlling a simulated aquatic serpentine robot in narrow crevices

Nathaniel Mengers, Natasha A. Rouse, and Kathryn A. Daltorio.

Frontiers in Electronics

DOI: 10.3389/felec.2025.1507644

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Nodes for Modes: Nodal honeycomb metamaterial enables a soft robot with multimodal locomotion

Yusuf Dikici, Kathryn A. Daltorio, and Ozan Akkus.

Bioinspiration & Biomimetics 

DOI: 10.1088/1748-3190/ad3ff8

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Elastic/viscoelastic polymer bilayers: A model-based approach to stretch-responsive constructs

Austin S. Mills, Evan Chou, Zachary E. Baierl, Kathryn A. Daltorio, and Gary E. Wnek.

Soft Matter

DOI: 10.1039/D3SM01004J

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Probing With Each Step: How a Walking Crab-like Robot Classifies Cylinders in Sand with Hall Effect Sensors 

John E. Grezmak and Kathryn A. Daltorio.

IEEE Sensors

DOI: 10.3390/s24051579

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Stable Heteroclinic Channel-based Movement Primitives: Tuning Trajectories using Saddle Parameters 

Natasha A. Rouse and Kathryn A. Daltorio. 

Applied Sciences 

DOI: 10.3390/app14062523

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Using a Small Hexapod Robot To Pick Up Large Cylinders for Munitions Response

Yifeng Gong, Mingyu Pan, and Kathryn A. Daltorio.

Journal of Field Robotics

DOI: 10.1002/rob.22482

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Review: Fundamentals of Burrowing in Soft Animals and Robotics 

Kathryn A. Daltorio and Kelly M. Dorgan.

Frontiers in Robotics and AI 

DOI: 10.3389/frobt.2023.1057876

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Modular design of a polymer-bilayer-based mechanically compliant worm-like robot

Austin S. Mills, Livius F. Muff, Shane. A. Riddle, Veronique Buclin, Anita Roulin, Hillel J. Chiel, Roger D. Quinn, Christoph Weder, and Kathryn A. Daltorio. 

Advanced Materials 

DOI: 10.1002/adma.202210409

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Tracking displacement of a worm-like robot with multiple sensor configurations 

Yifan Wang, Mingyi Wang, Natasha A. Rouse, and Kathryn A. Daltorio. 

IEEE Sensors

DOI: 10.1109/JSEN.2023.3281747

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Legged Robots for Object Manipulation: A Review

Yifeng Gong, Ge Sun, Aditya Nair, Aditya Bidwai, Raghuram CS, John E. Grezmak, Guillaume Sartoretti, and Kathryn A. Daltorio. 

Frontiers in Mechanical Engineering

DOI: 10.3389/fmech.2023.1142421

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Piece-by-piece shape-morphing: Engineering compatible auxetic and non-auxetic lattices to improve soft robot performance in confined spaces

Yusuf Dikici, Hao Jiang, Bo Li, Kathryn A. Daltorio, and Ozan Akkus.

Advanced Engineering Materials

DOI: 10.1002/adem.202101620

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Hands to Hexapods: User Interfaces for Specifying Leg Placement for Legged Robots 

Jianfeng Zhou, Quan Nguyen, Sanjana Kamath, Yaneev Hacohen, Chunchu Zhu, Michael Fu, and Kathryn A. Daltorio. 

Frontiers in Robotics and AI 

DOI: 10.3389/frobt.2022.852270

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Get a grip: inward dactyl motions improve efficiency of sideways-walking gait for an amphibious crab-like robot

Nicole M. Graf, John E. Grezmak, and Kathryn A. Daltorio.

Bioinspiration and Biomimetics 

DOI: 10.1088/1748-3190/ac8710

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Sideways crab-walking is faster and more efficient than forward walking for a hexapod robot

Yang Chen, John E. Grezmak, Nicole M. Graf, and Kathryn A. Daltorio. 

Bioinspiration and Biomimetics

DOI: 10.1088/1748-3190/ac6847

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Optimal planar leg geometry in robots and crabs for idealized rocky terrain

Yang Chen, Nicole M. Graf, Glenna T. Clifton, Jennifer Taylor, and Kathryn A. Daltorio.

Bioinspiration and Biomimetics

DOI: 10.1088/1748-3190/ac8f04

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A Walking Claw For Tethered Object Retrieval 

Yifeng Gong, Alexander M. Behr, Nicole M. Graf, Kaiyi Chen, Xiaoyue Xu, and Kathryn A. Daltorio.

ASME Journal of Mechanisms and Robotics

DOI: 10.1115/1.4055812

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Terrain Classification Based on Sensed Leg Compliance for Amphibious Crab Robot

John E. Grezmak, Nicole M. Graf, Alexander M. Behr, and Kathryn A. Daltorio.

 IEEE Sensors 

DOI: 10.1109/JSEN.2021.3109864

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Visualization of Stable Heteroclinic Channel-based Movement Primitives 

Natasha A. Rouse and Kathryn A. Daltorio.

IEEE Robotics and Autonomation Letters

DOI: 10.1109/LRA.2021.3061382

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Dactyls and Inward Gripping Stance for Amphibious Crab-like Robots on Sand

Nicole M. Graf, Alexander M. Behr, and Kathryn A. Daltorio.

Bioinspiration and Biomimetics

DOI: 10.1088/1748-3190/abdd94

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Obstacle Avoidance Path Planning for Worm-like Robot using Bézier curve

Yifan Wang, Zehao Liu, Akhil Kandhari, and Kathryn A. Daltorio

Biomimetics 

DOI: 10.3390/biomimetics6040057

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An analysis of peristaltic locomotion for maximizing velocity or minimizing cost of transport of worm-like robots

Akhil Kandhari, Yifan Wang, Hillel J. Chiel, Roger D. Quinn, and Kathryn A. Daltorio.

Soft Robotics

DOI: 10.1089/soro.2020.0021

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Rapidly Exploring Random Tree Algorithm-based Path Planning for worm-like robot

Yifan Wang, Prathamesh C. Pandit, Akhil Kandhari, Zehao Ben Liu, and Kathryn A. Daltorio.

Biomimetics

DOI: 10.3390/biomimetics5020026

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Design and Actuation of Fabric Based Worm-like Robot

Akhil Kandhari, Anna G. Mehringer, Hillel J. Chiel, Roger D. Quinn, and Kathryn A. Daltorio.

Biomimetics

DOI: 10.3390/biomimetics4010013

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Turning in worm-like robots: the geometry of slip elimination suggests non-periodic waves

Akhil Kandhari, Yifan Wang, Hillel J. Chiel, and Kathryn A. Daltorio.

Soft Robotics

DOI: 10.1089/soro.2018.0080

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Haltere removal alters responses to gravity in standing flies 

Kathryn A. Daltorio and Jessica L. Fox.

Biology Letters, Journal of Experimental Biology

DOI: 10.1242/jeb.181719

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Body stiffnesses in orthogonal directions oppositely affects worm-like robot turning and straight-line locomotion

Akhil Kandhari, Yifan Wang, Kathryn A. Daltorio, Hillel J. Chiel, and Roger D. Quinn.

Bioinspiration & biomimetics 

DOI: 10.1088/1748-3190/aaa342

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