2020
- J. Santoso, C.D. Onal, "An Origami Continuum Robot Capable of Precise Motion Through Torsionally Stiff Body and Smooth Inverse Kinematics", Soft Robotics Journal, (2020).
- Y. Sun, Y. Jiang, H. Yang, L.C. Walter, J. Santoso, E.H. Skorina, C.D. Onal, "Salamanderbot: A soft-rigid composite continuum mobile robot to traverse complex environments", IEEE International Conference on Robotics and Automation (ICRA), 2953-2959, (2020).
- E.H. Skorina, C.D. Onal, "Discretized Modeling of Planar Pneumatic Continuum Manipulators", 3rd IEEE International Conference on Soft Robotics (RoboSoft), 689-694, (2020).
- X. Liu, R. Gasoto, C.D. Onal, J. Fu, "Learning to Locomote with Deep Neural-Network and CPG-based Control in a Soft Snake Robot", arXiv, 2001.04059, (2020).
- M. Luo, Z. Wan, Y. Sun, E.H. Skorina, W. Tao, F. Chen, L. Gopalka, H. Yang, C.D. Onal, "Motion Planning and Iterative Learning Control of a Modular Soft Robotic Snake", Frontiers in Robotics and AI, 7:191, (2020).
- A.M. Votta, S.Y. Günay, B. Zylich, E.H. Skorina, R. Rameshwar, D. Erdogmus, C.D. Onal, "Kinematic Optimization of an Underactuated Anthropomorphic Prosthetic Hand", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (2020).
- E.H. Skorina, C.D. Onal, "Soft Hybrid Wave Spring Actuators", Advanced Intelligent Systems, 2(1):1900097, (2020).
2019
- A.M. Votta, S.Y. Gunay, D. Erdogmus, C.D. Onal, "Force-sensitive prosthetic hand with 3-axis magnetic force sensors", IEEE International Conference on Cyborg and Bionic Systems (CBS), 104-109, (2019).
- S. Li, R. Rameshwar, A.M. Votta, C.D. Onal, "Intuitive control of a robotic arm and hand system with pneumatic haptic feedback", IEEE Robotics and Automation Letters (RA-L), 4(4):4424-4430, (2019).
- M. Han, S.Y. Gunay, I. Yildiz, P. Bonato, C.D. Onal, T. Padir, G. Schirner, D. Erdogmus, "From hand-perspective visual information to grasp type probabilities: deep learning via ranking labels", Proceedings of the 12th ACM international conference on pervasive technologies related to assistive environments, 256-263, (2019).
- R. Gasoto, M. Macklin, X. Liu, Y. Sun, K. Erleben, C.D. Onal, J. Fu, "A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes", International Conference on Robotics and Automation (ICRA), (2019).
- J. Santoso, E.H. Skorina, M. Salerno, S. de Rivaz, J. Paik, C.D. Onal, "Single chamber multiple degree-of-freedom soft pneumatic actuator enabled by adjustable stiffness layers", Smart Materials and Structures, 28(3):035012, (2019).
- A. Aihaitijiang, C.D. Onal, "Development and Experimental Evaluation of a Quad-Tilt-Wing Flying Robot Platform", Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), (2019).
- K.N. Kaipa, C.D. Onal, V. Jovanovic, A. Djuric, M. Luo, M. Bowers, M. Popovic, "Bioinspired Robotics", Biomechatronics, Academic Press, Elsevier, (2019).
2018
- H. Mao, J. Santoso, C.D. Onal, J. Xiao, "Sim-to-real Transferable Object Classification through Touch-based Continuum Manipulation", International Symposium on Experimental Robotics (ISER), (2018).
- E.H. Skorina, M. Luo, C.D. Onal, "A soft robotic wearable wrist device for kinesthetic haptic feedback", Frontiers in Robotics and AI Journal, (2018).
- E.H. Skorina, M. Luo, W.Y. Oo, W. Tao, F. Chen, S. Youssefian, N. Rahbar, C.D. Onal, "Reverse pneumatic artificial muscles (rPAMs): Modeling, integration, and control", PLOS One, (2018).
- A. Dwivedi, A. Ramakrishnan, A. Reddy, K. Patel, S. Ozel, C.D. Onal, "Design, Modeling, and Validation of a Soft Magnetic 3-D Force Sensor", IEEE Sensors Journal, (2018).
- M. Luo, R. Yan, Z. Wan, Y. Qin, J. Santoso, E.H. Skorina, C.D. Onal, "OriSnake: Design, Fabrication and Experimental Analysis of a 3-D Origami Snake Robot", IEEE Robotics and Automation Letters (RA-L), (2018).
- S.T. Kalat, S.G. Faal, C.D. Onal, "A Decentralized, Communication-Free Force Distribution method with application to Collective Object Manipulation", ASME Journal of Dynamic Systems, Measurement, and Control, (2018).
- Y. Qin, Z. Wan, Y. Sun, E.H. Skorina, M. Luo, C.D. Onal, "Design, Fabrication and Experimental Analysis of a 3-D Soft Robotic Snake", IEEE Soft Robotics Conference (RoboSoft), (2018).
- E.H. Skorina, R. Rameshwar, C.D. Onal, "Soft Robotic Glove System for Wearable Haptic Teleoperation", Waste Management Symposium, (2018).
2017
- J. Santoso, M. Luo, E. H. Skorina, C.D. Onal, "Design and Analysis of an Origami Continuum Manipulation Module with Torsional Strength", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (2017).
- S.G. Faal, S.T. Kalat, C.D. Onal, "Decentralized Obstacle Avoidance in Collective Object Manipulation", NASA/ESA Conference on Adaptive Hardware and Systems (AHS), (2017).
- S.T. Kalat, S.G. Faal, C.D. Onal, "Scalable cooperative impedance control of an object via a decentralized force control approach for swarm systems", American Control Conference (ACC), (2017).
- F. Campisano, S. Ozel, A. Ramakrishnan, A. Dwivedi, N. Gkotsis, C.D. Onal, P. Valdastri, "Towards a Soft Robotic Skin for Autonomous Tissue Palpation", IEEE International Conference on Robotics and Automation (ICRA), (2017).
- P. Polygerinos, N. Correll, S.A. Morin, B. Mosadegh, C.D. Onal, K. Petersen, M. Cianchetti, M.T. Tolley, R.F. Shepherd, "Soft Robotics: Review of Fluid‐Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human‐Robot Interaction", Advanced Engineering Materials, 1700016, (2017).
- E.H. Skorina, M. Luo, W. Tao, F. Chen, J. Fu, C.D. Onal, "Adapting to Flexibility: Model Reference Adaptive Control of Soft Bending Actuators", IEEE Robotics and Automation Letters, (2017).
- M. Luo, E.H. Skorina, W. Tao, F. Chen, S. Ozel, Y. Sun, C.D. Onal, "Toward Modular Soft Robotics: Proprioceptive Curvature Sensing and Sliding-Mode Control of Soft Bidirectional Bending Modules", Soft Robotics, (2017).
- C.D. Onal, X. Chen, G.M. Whitesides, "Soft mobile robots with on-board chemical pressure generation", Springer Tracts in Advanced Robotics (STAR) 100, Robotics Research, 525-540, (2017).
2016
- S.G. Faal, C.D. Onal, "Regionally Growing Random Trees: A synergistic motion planning and control algorithm for dynamic systems", IEEE International Conference on Automation Science and Engineering (CASE), 141-147, (2016). (Best paper award)
- S.G. Faal, F. Chen, W. Tao, S.T. Kalat, P. Razavi, V. Eshaghian, C.D. Onal, "Design, Fabrication, Experimental Analysis, and Test Flight of an Origami-Based Fixed-Wing Aerial Vehicle: uPlane", Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), (2016).
- C.D. Onal, "System-level Challenges in Pressure-Operated Soft Robotics", SPIE Defense+ Security, 9836:983627-1, (2016).
- E.H. Skorina, W. Tao, F. Chen, M. Luo, C.D. Onal, "Motion Control of a Soft-Actuated Modular Manipulator", IEEE International Conference on Robotics and Automation (ICRA) pp. 4997-5002, (2016).
- S. Ozel, E.H. Skorina, M. Luo, W. Tao, F. Chen, Y. Pan, C.D. Onal, "A Composite Soft Bending Actuation Module with Integrated Curvature Sensing", IEEE International Conference on Robotics and Automation (ICRA) pp. 4963-4968, (2016).
- S.G. Faal, S.T. Kalat, C.D. Onal, "Towards Collective Manipulation Without Inter-Agent Communication", Proceedings of the 31st Annual ACM Symposium on Applied Computing (SAC) pp. 275-280, (2016).
- Y. Pan, M. Luo, E.H. Skorina, C.D. Onal, "Controlling the Bending Response of a Multi-Layer Composite Module", Proc. Adhesion Society Annual Meeting, (2016).
- S.G. Faal, F. Chen, W. Tao, M. Agheli, S.T. Kalat, C.D. Onal, "Hierarchical Kinematic Design of Foldable Hexapedal Locomotion Platforms", ASME Journal of Mechanisms and Robotics, 8:011005-1, (2016).
2015
- N. Bezzo, A. Mehta, C.D. Onal, M.T. Tolley, "Robot Makers: The Future of Digital Rapid Design and Fabrication of Robots", IEEE Robotics & Automation Magazine (RAM), 22(4):27-36, (2015). (Best paper award)
- W. Tao, E.H. Skorina, F. Chen, J. McInnis, M. Luo C.D. Onal, "Bioinspired Design and Fabrication Principles of Reliable Fluidic Soft Actuation Modules", IEEE International Conference on Robotics and Biomimetics (ROBIO), 2169-2174, (2015).
- S. Miyashita, C.D. Onal, D. Rus, "Multi-crease self-folding by global heating", Artificial life, (2015).
- S. Ozel, N.A. Keskin, D. Khea, C.D. Onal, "A Precise Embedded Curvature Sensor Module for Soft-Bodied Robots", Sensors & Actuators: A. Physical, 236(1):349-356, (2015).
- B. Panchapakesan, C.D. Onal, J. Loomis, "Programmable Skins based on Core-Shell Microsphere/Nanotube/Polymer Composites", MRS Proceedings 1800, mrss15-2136299, (2015).
- S.T. Kalat, S.G. Faal, U. Celik, C.D. Onal, "TriBot: A Minimally-Actuated Accessible Holonomic Hexapedal Locomotion Platform", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (2015).
- V. Dimitrov, N. Cebry, C.D. Onal, T. Padir, "Towards user-centered design of a robotic prosthetic hand with EMG control interfaces", Proceedings of the 8th ACM International Conference on PErvasive Technologies Related to Assistive Environments (PETRA), (2015).
- M. Luo, Y. Pan, E.H. Skorina, W. Tao, F. Chen, S. Ozel, C.D. Onal, "Slithering towards autonomy: a self-contained soft robotic snake platform with integrated curvature sensing", Bioinspiration & Biomimetics 10:055001, (2015).
- M. Luo, Y. Pan, W. Tao, F. Chen, E.H. Skorina, C.D. Onal, "Refined Theoretical Modeling of a New-generation Pressure-operated Soft Snake", Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), (2015).
- E.H. Skorina, M. Luo, S. Ozel, F. Chen, W. Tao, C.D. Onal, "Feedforward augmented Sliding Mode Motion Control of Antagonistic Soft Pneumatic Actuators", IEEE International Conference on Robotics and Automation (ICRA), (2015).
- C.D. Onal, M.T. Tolley, R.J. Wood, D. Rus, "Origami-Inspired Printed Robots", IEEE/ASME Transactions on Mechatronics, (2015).
- M. Luo, E.H. Skorina, W. Tao, F. Chen, C.D. Onal, "Optimized Design of a Rigid Kinematic Module for Antagonistic Soft Actuation", IEEE International Conference on Technologies for Practical Robot Applications (TePRA), (2015).
2014
- M. Wehner, M.T. Tolley, Y. Menguc, Y.L. Park, A. Mozeika, Y. Dinga, C.D. Onal, R.F. Shepherd, G.M. Whitesides, R.J. Wood, "Pneumatic Energy Sources for Autonomous and Wearable Soft Robotics", Soft Robotics, (2014).
- M. Luo, W. Tao, F. Chen, T.K. Khuu, S. Ozel, C.D. Onal, "Design Improvements and Dynamic Characterization on Fluidic Elastomer Actuators for a Soft Robotic Snake", IEEE International Conference on Technologies for Practical Robot Applications (TePRA), (2014).
- M. Luo, M. Agheli, C.D. Onal, "Theoretical Modeling and Experimental Analysis of a Pressure-Operated Soft Robotic Snake", Soft Robotics, 1(2):136-146 (2014).
- M. Agheli, S.G. Faal, F. Chen, H. Gong, C.D. Onal, "Design and Fabrication of a Foldable Hexapod Robot Towards Experimental Swarm Applications", IEEE International Conference on Robotics and Automation (ICRA), (2014).
- M. Luo, M. Agheli, C.D. Onal, "Theoretical Modeling of a Pressure-Operated Soft Snake Robot", Proceedings of the ASME 2014 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), (2014).
- A. Marchese, K. Komorowski, C.D. Onal, D. Rus, "Design and Control of a Soft and Continuously Deformable 2D Robotic Manipulation System", IEEE International Conference on Robotics and Automation (ICRA), (2014).
- A. Marchese, C.D. Onal, D. Rus, "Autonomous Soft Robotic Fish Capable of Escape Maneuvers Using Fluidic Elastomer Actuators", Soft Robotics, 1(1):75-87 (2014).
- N. Correll, C.D. Onal, H. Liang, E. Schoenfeld, D. Rus, "Soft Autonomous Materials - Using Active Elasticity and Embedded Distributed Computation", Springer Tracts in Advanced Robotics (STAR) 79, Experimental Robotics, 227-240 (2014).
2013
- S. Miyashita, C.D. Onal, D. Rus, "Self-Pop-Up Cylindrical Structure by Global Heating", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (2013).
- D.E. Soltero, B. Julian, C.D. Onal, D. Rus, "A Lightweight Modular 12-DOF Print-And-Fold Hexapod", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (2013).
- S.M. Felton, M.T. Tolley, BH. Shin, C.D. Onal, E.D. Demaine, D. Rus, R.J. Wood, "Self-folding with Shape Memory Composites", Soft Matter, 9:7688-7694 (2013). (Cover article)
- C.D. Onal, D. Rus, "Autonomous Undulatory Serpentine Locomotion Utilizing Body Dynamics of a Fluidic Soft Robot", Bioinspiration & Biomimetics, 8(2):026003 (2013).
- A.D. Marchese, C.D. Onal, D. Rus, "Towards a Self-contained Soft Robotic Fish: On-Board Pressure Generation and Embedded Electro-permanent Magnet Valves", Springer Tracts in Advanced Robotics (STAR) 88, Experimental Robotics, 41-54, (2013).
- S. Seok, C.D. Onal, R.J. Wood, D. Rus, S. Kim, "Meshworm: A Peristaltic Soft Robot with Antagonistic Nickel Titanium Coil Actuators", IEEE/ASME Transactions on Mechatronics, 18(5):1485-1497 (2013).
- C.D. Onal, R.J. Wood, D. Rus, "An Origami-Inspired Approach to Worm Robots", IEEE/ASME Transactions on Mechatronics, 18(2):430-438 (2013).
- S.M. Felton, M.T. Tolley, C.D. Onal, D. Rus, R.J. Wood, "Robot Self-Assembly by Folding: A Printed Inchworm Robot", IEEE International Conference on Robotics and Automation (ICRA), 277-282 (2013).
Books, Theses, and Dissertations
• J. Santoso, Toward Deployable Origami Continuum Robot: Sensing, Planning, and Actuation, PhD Dissertation, Robotics Engineering, Worcester Polytechnic Institute, (November 2019).
• E.H. Skorina, Soft Pneumatic Actuators: Modeling, Control, and Application, PhD Dissertation, Robotics Engineering, Worcester Polytechnic Institute, (December 2018).
• S. Ozel, Utilizing Compliance To Address Modern Challenges in Robotics, PhD Dissertation, Robotics Engineering, Worcester Polytechnic Institute, (December 2018).
• S.G. Faal, Perspectives in control of conditionally controllable problems, PhD Dissertation, Robotics Engineering, Worcester Polytechnic Institute, (October 2018).
• M. Luo, Pressure-Operated Soft Robotic Snake Modeling, Control, and Motion Planning, PhD Dissertation, Robotics Engineering, Worcester Polytechnic Institute, (August 2017).
• S.T. Kalat, Virtual Coordination in Collective Object Manipulation, MS Thesis, Mechanical Engineering, Worcester Polytechnic Institute, (May 2017).
• H. Xie, C.D. Onal, S. Regnier, M. Sitti, Atomic Force Microscopy based Nanorobotics, Springer Tracts in Advanced Robotics (STAR) series, 71, (2011).
• C.D. Onal, Atomic Force Microscope based Automated and Teleoperated Mechanical Micro/Nanomanipulation, PhD Dissertation, Mechanical Engineering, Carnegie Mellon University, (January 2009).
• C.D. Onal, Bilateral Control: A Sliding Mode Control Approach, MSc Thesis, Electrical Engineering and Computer Science, Sabanci University, Turkey, (July 2005).
Patents
• S. Pirasmepulkul, A. Caracappa, P. Luxsuwong, C.D. Onal, W. Michalson, T. Khuu, M. Luo, "Haptic glove as a wearable force feedback user interface", US Patent 10,551,923.
• C.D. Onal, F. Chen, W. Tao, "Fabrication of robotic mechanisms and systems from planar substrates", US Patent 10,478,975.
• M. Popovic, C.D. Onal, D. Effraimidis, B. Jennings, G.D. Mccarthy, N. Corso, "Actuators and methods of use", US Patent 10,456,316.
• C.D. Onal, S. Ozel, "Soft-body deformation and force sensing", US Patent 9,857,245.
• C.D. Onal, M.T. Tolley, R.J. Wood, D. Rus "Foldable machines", U.S. Patent App. Nos. 61/702040, 13/723364, filed 2012.
• C.D. Onal, X. Chen, G.M. Whitesides, D. Rus, "Self-Regulating Pressure Source", US Patent 20,120,272,642, WO Patent 2,012,148,900.
Exhibitions
• M.T. Tolley, C.D. Onal, R.J. Wood, D. Rus "Self-folding origami inspired robots", Designers' Open, Design Festival, Leipzig Germany, October 2013.