WPI Soft Robotics Lab

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.