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Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot

Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zachary Manchester, Scott Kuindersma, Robert Wood
ConferenceRobotics: Science and Systems, Pittsburg, Jun 26-30, 2018.

Abstract

Concomitant sensing and actuation for piezoelectric microrobots

Kaushik Jayaram, Noah Jafferis, Neel Doshi, Benjamin Goldberg, Robert J Wood
JournalSmart Materials and Structures,

Abstract

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
JournalThe Royal Society Interface, 15 : 20170664.

Abstract

Robustness from materials in biological and bioinspired systems

Kaushik Jayaram, James Weaver, Robert J Full, Robert J Wood
PosterGordon Research Conference on Multifunctional Materials, 2018.

Abstract

Fabrication of insect wings ranging from millimeters to meters

Kaushik Jayaram, Mary Salcedo, James Weaver, Nick Bartlett, L Mahadevan, Robert J Wood
PosterSociety of Integrative and Comparative Biology Annual Meeting, 2018.

Abstract

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
ConferenceInternational Conference on Intelligent Robots and Systems, Vancouver, Candada Sept 24-28, 2017.

Abstract

Gait studies for a quadrupedal microrobot reveal contrasting running templates in two frequency regimes

Benjamin Goldberg, Neel Doshi, Kaushik Jayaram, Robert Wood
JournalBioinspiration and Biomimetics, 12(4):046005, 2017.

Abstract

Phase control for microrobots running near resonance

Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Robert Wood
ConferenceInternational Conference on Robotics and Automation, Singapore, May 29- Jun 3, 2017.

Abstract

Task driven optimal leg trajectories in insect-scale legged microrobots

Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Robert Wood
AbstractThe American Physical Society Annual Meeting, 2017.

Abstract

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
JournalAdvanced Material Technology, 1600229, 2017.

Abstract

Towards rapid running at resonance using HAMR, a biologically-inspired robotic platform

Kaushik Jayaram, Neel Doshi, Benjamin Goldberg, Robert Wood
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2017.

Abstract

Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot

Kaushik Jayaram, Robert J Full
JournalProceedings of the National Academy of Sciences, 113(8):E950-E957, 2016.

Abstract

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
PosterSociety of Integrative and Comparative Biology Annual Meeting, 2016.

Abstract

Cockroaches squeezing through crevices

Kaushik Jayaram, Robert J Full
Mimi Koehl and Stephen Wainwright Best Student Paper Award Winner
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2016.

Abstract

Compressibility enables cockroach-inspired robot to crawl rapidly in confined spaces

Kaushik Jayaram, Robert J Full
Poster International Conference on Robotics and Automation, 2015.

Abstract

Body size limit predictions for mechanically mediated maneuvers

Kaushik Jayaram, Robert J Full
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2015.

Abstract

Design and development of a vision-based micro-assembly system

Kaushik Jayaram, Suhas S Joshi
JournalProceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, Pages 1-5, 2015.

Abstract

Design and development of a vision-based micro-assembly system

Kaushik Jayaram, Suhas S Joshi
ConferenceInternational Conference on Microactuators and Micromechanisms, Durgapur, India, Jan 19-21, 2012.

Abstract

Performance limited by friction in confined spaces for the American Cockroach Periplaneta americana

Kaushik Jayaram, Daniel I Goldman, Robert J Full
PosterSociety of Experimental Biology Annual Meeting, 2014.

Abstract

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
JournalThe Journal of Experimental Biology, Volume 217, Issue 18, Pages 3333-3345, 2014.

Abstract

Mechanics of confined space frictional legged crawling

Kaushik Jayaram, Daniel I Goldman, Robert J Full
PosterWorld Congress of Biomechanics, 2014.

Abstract

Effect of friction on cockroaches running in confined spaces

Kaushik Jayaram, Daniel I Goldman, Robert J Full
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2014.

Abstract

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
AbstractSociety of Experimental Biology Annual Meeting, 2013.

Abstract

Running in confined spaces by the American cockroach

Kaushik Jayaram, Dwight Springthorpe, Duncan Haldane, Steven Mckinley, Angela Dirocco, Robert J Full
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2013.

Abstract

Dynamic response of antenna flagellum in the American cockroach

Chris J Dallmann, Jean-Michel Mongeau, Kaushik Jayaram, Anil Mahavadi, Robert J Full
PosterSociety of Integrative and Comparative Biology Annual Meeting, 2013.

Abstract

Robust Climbing in Cockroaches Results from Fault Tolerant Design Using Leg Spines

Kaushik Jayaram, Cody Merritt, Robert J Full
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2012.

Abstract

Running without feet: the role of tarsi during high-speed horizontal locomotion in cockroaches

Kaushik Jayaram, Cody Merritt, Arun Cherian, Robert J Full
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2011.

Abstract

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
PosterSociety of Integrative and Comparative Biology Annual Meeting, 2011.

Abstract

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
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2011.

Abstract

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
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2011.

Abstract

Mechanical Feedback of Antenna-Substrate Interaction Simplifies Cockroach Antennal Navigation

Jean-Michel Mongeau, Kaushik Jayaram, Jusuck Lee, Robert J Full, Noah J Cowan
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2010.

Abstract

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
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2010.

Abstract

Development of a flexure-based, force-sensing microgripper for micro-object manipulation

Kaushik Jayaram, Suhas S Joshi
JournalJournal of Micromechanics and Microengineering, Volume 20, Issue 1, Pages 015001, 2009.

Abstract