- Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft Robotics
- On the stability of the soft pendulum with affine curvature: open-loop, collocated closed-loop, and switching control
- Robust Jumping with an Articulated Soft Quadruped via Trajectory Optimization and Iterative Learning
- An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle
- Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation: Morphology Driven Control of a Swimming Robot