J = Journal articles (62) C = Peer-reviewed conference proceedings (26) B = Book chapters(1)
2025
J
89.
Supra-resonant wingbeats in insects.
E Wold,
R Yang,
J Lynch,
E Liu,
N Gravish,
S Sponberg.
2025.
(In Review).
PREPRINT:
C
88.
Multi-functional Granular Propulsion: Bio-inspired Orientation Control and Local Fluidization for Crawl-to-Dig Transitions.
D Li,
M Tolley,
N Gravish.
IEEE IROS. 2025.
J
87.
Burrowing and unburrowing in submerged granular media through fluidization and shape-change.
A Nayak,
H Seo,
N Gravish,
M Tolley.
2025.
(In Press).
LINK:
J
86.
Active contacts control sliding friction.
R Shah,
N Gravish.
Proceedings of the National Academy of Sciences. 2025.
PDF:
LINK:
PREPRINT:
C
85.
Autonomous Burrowing and Retrieval of Soft Robotic Anchors in Granular Media.
D Li,
M Tolley,
N Gravish.
IEEE RoboSoft. 2025.
PDF:
J
84.
Grasping and Rolling In-plane Manipulation Using Deployable Tape spring Appendages.
G He,
C Sparks,
N Gravish.
Science Advances. 2025.
PDF:
LINK:
PREPRINT:
2024
J
83.
The Weis-Fogh number describes resonant performance tradeoffs in flapping insects.
E Wold,
E Liu,
J Lynch,
N Gravish,
S Sponberg.
Integrative and Comparative Biology. 2024.
PDF:
LINK:
J
82.
Moth resonant mechanics are tuned to wingbeat frequency and energetic demands.
E Wold,
B Aiello,
M Harris,
U Bin Sikander,
J Lynch,
N Gravish,
S Sponberg.
Proceedings. Biological Sciences. 2024.
PDF:
LINK:
J
81.
Stability and agility trade-offs in spring-wing systems.
J Lynch,
E Wold,
J Gau,
N Gravish.
Bioinspiration & Biomimetics. 2024.
PDF:
LINK:
J
80.
Multi-modal Locomotion in a Soft Robot through Hierarchical Actuation.
Q Yu,
N Gravish.
Soft Robotics. 2024.
PDF:
LINK:
J
79.
A reconfigurable soft linkage robot via internal virtual joints.
M Jiang,
J Wang,
N Gravish.
Soft Robotics. 2024.
PDF:
LINK:
C
78.
JAMJams: Jagged Anisotropic Mechanically Jamming Appendages for Robot Locomotion.
I Widjaja,
N Gravish.
IEEE RoboSoft. 2024.
PDF:
LINK:
C
77.
Pressure Control of Rolling-Seal Tape Spring Actuators.
C Sparks,
N Gravish.
IEEE RoboSoft 2024. 2024.
PDF:
LINK:
C
76.
Paint-A-Pouch: Mask-Based Fabrication of Pouch Actuators for Pneumatically Actuated Soft Robots.
S Zhang,
J Bahn,
N Gravish.
IEEE RoboSoft 2024. 2024.
PDF:
LINK:
2023
J
75.
Bridging two insect flight modes in evolution, physiology and robophysics.
J Gau,
J Lynch,
B Aiello,
E Wold,
N Gravish,
S Sponberg.
Nature. 2023.
PDF:
LINK:
J
74.
Structural damping renders the insect exoskeleton mechanically insensitive to non-sinusoidal deformations.
E Wold,
J Lynch,
N Gravish,
S Sponberg.
J. Roy. Soc. Interface. 2023.
PDF:
LINK:
PREPRINT:
J
73.
Scalable fluidic matrix circuits for controlling large arrays of individually addressable actuators.
S Jadhav,
P Glick,
M Ishida,
C Chan,
I Abidnazari,
J Shulze,
N Gravish,
M Tolley.
Advanced Intelligent Systems. 2023.
PDF:
LINK:
J
72.
Toward Robotic Sensing and Swimming in Granular Environments using Underactuated Appendages.
S Chopra,
D Vasile,
S Jadhav,
M Tolley,
N Gravish.
Advanced Intelligent Systems. 2023.
PDF:
LINK:
J
71.
Going against the flow: Bumblebees prefer to fly in headwinds, and display more variable body angles and ground speeds in tailwinds.
S Combes,
N Gravish,
S Gagliardi.
Journal of Experimental Biology. 2023.
PDF:
LINK:
J
70.
The bumpy road ahead: The role of terrain roughness on animal walking, and where to go from here.
G Clifton,
A Stark,
C Li,
N Gravish.
Journal of Experimental Biology. 2023.
PDF:
LINK:
C
69.
Continuous Skin Eversion Enables an Untethered Soft Robot to Burrow in Granular Media.
K Eken,
N Gravish,
M Tolley.
IEEE RoboSoft. 2023.
PDF:
LINK:
J
68.
Directionally Compliant Legs Enable Crevasse Traversal in Small Ground-based Robots.
E Lathrop,
M Tolley,
N Gravish.
Advanced Intelligent Systems. 2023.
PDF:
LINK:
2022
C
67.
Amoeba-inspired swimming through isoperimetric modulation of body shape.
C Sparks,
N Justus,
R Hatton,
N Gravish.
IROS. 2022.
PDF:
LINK:
J
66.
Walking is like slithering: a unifying, data-driven view of locomotion.
D Zhao,
G Clifton,
B Bittner,
N Gravish,
S Revzen.
Proceedings of the National Academy of Sciences. 2022.
PDF:
LINK:
J
65.
Soft Molds with Micro-Machined Internal Skeletons Improve Robustness of Flapping-Wing Robots.
H Gao,
J Lynch,
N Gravish.
Micromachines. 2022.
PDF:
LINK:
C
64.
Compliant thorax design for robustness and elastic energy exchange in flapping-wing robots.
H Gao,
J Lynch,
N Gravish.
IEEE Intelligent Robots and Systems (IROS). 2022.
PDF:
LINK:
J
63.
The hawkmoth wingbeat is not at resonance.
J Gau,
J Lynch,
N Gravish,
S Sponberg.
Biology Letters. 2022.
PDF:
LINK:
J
62.
Lateral contact yields longitudinal cohesion in active undulatory systems.
W Zhou,
J Dezha-Peralta,
Z Hao,
N Gravish.
Physical Review E. 2022.
PDF:
LINK:
PREPRINT:
C
61.
Autonomous actuation of flapping wing robots inspired by asynchronous insect muscle.
J Lynch,
J Gau,
S Sponberg,
N Gravish.
IEEE International Conference on Robotics and Automation (ICRA). 2022.
PDF:
LINK:
C
60.
Anisotropic Forces for a Worm-Inspired Digging Robot.
D Drotman,
S Chopra,
N Gravish,
M Tolley.
IEEE RoboSoft. 2022.
PDF:
LINK:
J
59.
Proprioceptive feedback design for gait synchronization in collective undulatory robots.
Z Hao,
W Zhou,
N Gravish.
Advanced Robotics. 2022.
PDF:
LINK:
2021
J
58.
Collective synchronization of undulatory movement through contact.
W Zhou,
Hao, Z,
N Gravish.
Physical Review X. 2021.
PDF:
LINK:
PREPRINT:
C
57.
Synchronized swimming: adaptive gait synchronization through mechanical interactions instead of communication.
Z Hao,
W Zhou,
N Gravish.
Adaptive Motion in Animals and Machines. 2021.
(Honorable mention for outstanding poster).
PDF:
POSTER:
C
56.
Mechanical and actuation asymmetry in soft appendages leads to robotic propulsion in granular media.
S Chopra,
S Jadhav,
MT Tolley,
N Gravish.
Adaptive Motion in Animals and Machines. 2021.
PDF:
POSTER:
C
55.
Emergent wingstroke in asynchronous insects and robots is governedby time-delayed strain rate feedback.
J Lynch,
J Gau,
S Sponberg,
N Gravish.
Adaptive Motion in Animals and Machines. 2021.
PDF:
POSTER:
J
54.
Anisotropic compliance of robot legs improves recovery from swing-phase collisions.
H Chang,
J Chang,
G Clifton,
N Gravish.
Bioinspiration & Biomimetics. 2021.
PDF:
LINK:
J
53.
Rapid frequency modulation in a resonant system: aerial perturbation recovery in hawkmoths.
J Gau,
R Gemilere,
LDS-VIP team,
J Lynch,
N Gravish,
S Sponberg.
Proceedings of the Royal Society B. 2021.
PDF:
LINK:
J
52.
Gas-Lubricated Vibration-Based Adhesion For Robotics.
WP Weston-Dawkes,
M Everman,
A Sanchez,
N Gravish,
M Tolley.
Advanced Intelligent Systems. 2021.
PDF:
LINK:
J
51.
Bio-inspired geotechnical engineering: principles, current work, opportunities and challenges.
Martinez, A.,
DeJong, J.,
...,
Gravish, N.,
...,
Zheng, Junxing,
(Author list in alphabetical order after two first authors).
Géotechnique. 2021.
PDF:
LINK:
J
50.
Flexoskeleton Fingers: 3D Printed Reconfigurable Ridges Enabling Multi-functional and Low-cost Underactuated Grasping.
Q Yu,
M Jiang,
N Gravish.
IEEE Robotics and Automation Letters. 2021.
(Best paper nominee IEEE RoboSoft 2021).
PDF:
LINK:
C
49.
Vacuum induced tube pinching enables reconfigurable flexure joints with controllable bend axis and stiffness.
M Jiang,
Q Yu,
N Gravish.
IEEE RoboSoft. 2021.
PDF:
LINK:
J
48.
Reconfigurable laminates enable multi-functional robotic building blocks.
M Jiang,
N Gravish.
Smart Materials and Structures. 2021.
PDF:
LINK:
J
47.
Dimensional analysis of spring-wing systems reveals performance metrics for resonant flapping-wing flight.
J Lynch,
J Gau,
S Sponberg,
N Gravish.
Journal of The Royal Society Interface. 2021.
PDF:
PREPRINT:
SUPPLEMENTARY:
2020
J
46.
Vision does not impact walking performance in Argentine ants.
G Clifton,
D Holway,
N Gravish.
Journal of Experimental Biology. 2020.
PDF:
LINK:
PREPRINT:
C
45.
Knuckles that buckle: compliant underactuated limbs with joint hysteresis enable minimalist terrestrial robots.
M Jiang,
S Rongzichen,
N Gravish.
Intelligent Robots and Systems (IROS). 2020.
PDF:
LINK:
C
44.
Soft Microrobotic Transmissions Enable Rapid Ground-Based Locomotion.
W Zhou,
N Gravish.
Intelligent Robots and Systems (IROS). 2020.
PDF:
LINK:
J
43.
Rapid two-anchor crawling from a milliscale prismatic-push-pull (3P) robot.
W Zhou,
N Gravish.
Bioinspiration and Biomimetics. 2020.
PDF:
LINK:
C
42.
Shear Strengthened Granular Jamming Feet for Improved Performance over Natural Terrain.
E Lathrop,
I Adibnazari,
N Gravish,
M Tolley.
IEEE RoboSoft Conference. 2020.
PDF:
LINK:
J
41.
Granular Jamming Feet Enable Improved Foot-Ground Interactions for Robot Mobility on Deformable Ground.
S Chopra,
M Tolley,
N Gravish.
IEEE Robotics and Automation Letters. 2020.
PDF:
LINK:
J
40.
Flexoskeleton printing enables versatile fabrication of hybrid soft and rigid robots.
M Jiang,
Z Zhou,
N Gravish.
Soft Robotics. 2020.
PDF:
LINK:
J
39.
Uneven substrates constrain walking speed in ants through modulation of stride frequency more than stride length.
G Clifton,
D Holway,
N Gravish.
Royal Society Open Science. 2020.
PDF:
LINK:
2019
J
38.
Indirect actuation reduces flight power requirements in Manduca sexta via elastic energy exchange.
J Gau,
N Gravish,
S Sponberg.
Journal of The Royal Society Interface. 2019.
PDF:
LINK:
PREPRINT:
J
37.
Impact of Slope on Dynamics of Running and Climbing.
J M Brown,
D Peterson,
J Schmitt,
N Gravish,
JE Clark.
Bioinspiration and Biomimetics. 2019.
PDF:
LINK:
C
36.
Rapid prototyping of insect-exoskeleton inspired robots.
M Jiang,
N Gravish.
Adaptive Motion in Animals and Machines. 2019.
PDF:
J
35.
Piezoelectric actuators with on-board sensing for micro-robotic applications.
S Chopra,
N Gravish.
Smart Materials and Structures. 2019.
PDF:
LINK:
J
34.
Soft Robot Actuation Strategies for Locomotion in Granular Substrates.
D Ortiz,
N Gravish,
M Tolley.
IEEE Robotics and Automation Letters. 2019.
PDF:
LINK:
2018
C
33.
Sliding-layer laminates: a robotic material enabling robust and adaptable undulatory locomotion.
M Jiang,
N Gravish.
Intelligent Robots and Systems (IROS). 2018.
PDF:
LINK:
VIDEO:
J
32.
Spatial fidelity of workers predicts collective response to disturbance in a social insect.
JD Crall,
N Gravish,
AM Mountcastle,
SD Kocher,
RL Oppenheimer,
NE Pierce,
SA Combes.
Nature Communications. 2018.
PDF:
LINK:
J
31.
Robotics-inspired biology.
N Gravish,
G Lauder.
Journal of Experimental Biology. 2018.
PDF:
LINK:
2017
C
30.
An Actuated Gaze Stabilization Platform for a Flapping-Wing Microrobot.
S Mange,
EF Helbling,
N Gravish,
RJ Wood.
IEEE International Conference on Robotics and Automation (ICRA). 2017.
PDF:
LINK:
J
29.
Wings as impellers: honey bees co-opt flight system to induce nest ventilation and disperse pheromones.
JM Peters,
N Gravish,
SA Combes.
Journal of Experimental Biology. 2017.
PDF:
J
28.
A biologically inspired, flapping wing, hybrid aerial-aquatic microrobot.
Y Chen,
H Wang,
EF Helbling,
N Jafferis,
R Zufferey,
A Ong,
K Ma,
N Gravish,
P Chirarattananon,
M Kovac,
RJ Wood.
Science Robotics. 2017.
PDF:
LINK:
2016
J
27.
Experimental and computational studies of the aerodynamic performance of a flapping and passively rotating insect wing.
Y Chen,
N Gravish,
AL Desbiens,
R Malka,
RJ Wood.
Journal of Fluid Mechanics. 2016.
PDF:
LINK:
B
26.
Entangled Granular Media.
N Gravish,
DI Goldman.
Fluids, Colloids, and Soft Materials: An Introduction to Soft Matter Physics. 2016.
LINK:
C
25.
Anomalous yaw torque generation from passively pitching wings.
N Gravish,
RJ Wood.
IEEE International Conference on Robotics and Automation (ICRA). 2016.
PDF:
LINK:
2015
C
24.
Hybrid aerial and aquatic locomotion in an at-scale robotic insect.
Y Chen,
EF Helbling,
N Gravish,
K Ma,
RJ Wood.
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on. 2015.
PDF:
LINK:
J
23.
Glass-like dynamics in confined and congested ant traffic.
N Gravish,
G Gold,
A Zangwill,
MAD Goodisman,
DI Goldman.
Soft matter. 2015.
PDF:
LINK:
J
22.
Collective Flow Enhancement by Tandem Flapping Wings.
N Gravish,
JM Peters,
SA Combes,
RJ Wood.
Physical review letters. 2015.
PDF:
LINK:
J
21.
Behavioral and mechanical determinants of collective subsurface nest excavation.
D Monaenkova,
N Gravish,
G Rodriguez,
R Kutner,
MAD Goodisman,
DI Goldman.
Journal of Experimental Biology. 2015.
PDF:
LINK:
J
20.
BEEtag: a low-cost, image-based tracking system for the study of animal behavior and locomotion.
JD Crall,
N Gravish,
AM Mountcastle,
SA Combes.
PloS one. 2015.
PDF:
LINK:
CODE:
2014
J
19.
Sidewinding with minimal slip: Snake and robot ascent of sandy slopes.
H Marvi,
C Gong,
N Gravish,
H Astley,
M Travers,
RL Hatton,
JR Mendelson,
H Choset,
DL Hu,
DI Goldman.
Science. 2014.
PDF:
LINK:
C
18.
High-throughput study of flapping wing aerodynamics for biological and robotic applications.
N Gravish,
Y Chen,
SA Combes,
RJ Wood.
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2014.
PDF:
LINK:
J
17.
Force and flow at the onset of drag in plowed granular media.
N Gravish,
PB Umbanhowar,
DI Goldman.
Physical Review E. 2014.
PDF:
LINK:
J
16.
Effect of volume fraction on granular avalanche dynamics.
N Gravish,
DI Goldman.
Physical Review E. 2014.
PDF:
LINK:
C
15.
A bio-inspired wing driver for the study of insect-scale flight aerodynamics.
N Gravish,
S Combes,
RJ Wood.
Conference on Biomimetic and Biohybrid Systems. 2014.
PDF:
LINK:
2013
J
14.
Climbing, falling, and jamming during ant locomotion in confined environments.
N Gravish,
D Monaenkova,
MAD Goodisman,
DI Goldman.
Proceedings of the National Academy of Sciences. 2013.
PDF:
LINK:
2012
C
13.
Towards a terramechanics for bio-inspired locomotion in granular environments.
C Li,
Y Ding,
N Gravish,
RD Maladen,
A Masse,
PB Umbanhowar,
H Komsuoglu,
DE Koditschek,
DI Goldman.
Earth and Space 2012: Engineering, Science, Construction, and Operations in Challenging Environments. 2012.
LINK:
J
12.
Entangled granular media.
N Gravish,
SV Franklin,
DL Hu,
DI Goldman.
Physical review letters. 2012.
PDF:
LINK:
J
11.
Effects of worker size on the dynamics of fire ant tunnel construction.
N Gravish,
M Garcia,
N Mazouchova,
L Levy,
PB Umbanhowar,
MAD Goodisman,
DI Goldman.
Journal of The Royal Society Interface. 2012.
PDF:
LINK:
C
10.
Comparative studies reveal principles of movement on and within granular media.
Y Ding,
N Gravish,
C Li,
RD Maladen,
N Mazouchova,
SS Sharpe,
PB Umbanhowar,
DI Goldman.
Natural Locomotion in Fluids and on Surfaces. 2012.
LINK:
2011
J
9.
Drag induced lift in granular media.
Y Ding,
N Gravish,
DI Goldman.
Physical Review Letters. 2011.
PDF:
LINK:
2010
J
8.
Utilization of granular solidification during terrestrial locomotion of hatchling sea turtles.
N Mazouchova,
N Gravish,
A Savu,
DI Goldman.
Biology letters. 2010.
PDF:
LINK:
J
7.
Rate-dependent frictional adhesion in natural and synthetic gecko setae.
N Gravish,
M Wilkinson,
S Sponberg,
A Parness,
N Esparza,
D Soto,
T Yamaguchi,
M Broide,
M Cutkosky,
C Creton.
Journal of the royal society interface. 2010.
PDF:
LINK:
J
6.
Force and flow transition in plowed granular media.
N Gravish,
PB Umbanhowar,
DI Goldman.
Physical review letters. 2010.
PDF:
LINK:
2009
J
5.
The crowding model as a tool to understand and fabricate gecko-inspired dry adhesives.
NS Pesika,
N Gravish,
M Wilkinson,
B Zhao,
H Zeng,
Y Tian,
J Israelachvili,
K Autumn.
The Journal of Adhesion. 2009.
PDF:
LINK:
J
4.
A microfabricated wedge-shaped adhesive array displaying gecko-like dynamic adhesion, directionality and long lifetime.
A Parness,
D Soto,
N Esparza,
N Gravish,
M Wilkinson,
K Autumn,
M Cutkosky.
Journal of the Royal Society Interface. 2009.
PDF:
LINK:
2008
J
3.
Microscopic Modeling of the Dynamics of Frictional Adhesion in the Gecko Attachment System.
T Yamaguchi,
N Gravish,
K Autumn,
C Creton.
The Journal of Physical Chemistry B. 2008.
PDF:
LINK:
J
2.
Frictional and elastic energy in gecko adhesive detachment.
N Gravish,
M Wilkinson,
K Autumn.
Journal of The Royal Society Interface. 2008.
PDF:
LINK:
2006
J
1.
High friction from a stiff polymer using microfiber arrays.
C Majidi,
RE Groff,
Y Maeno,
B Schubert,
S Baek,
B Bush,
R Maboudian,
N Gravish,
M Wilkinson,
K Autumn.
Physical review letters. 2006.
PDF:
LINK:
