The science & engineering of
dynamic & dexterous movement
Mechanical & Aerospace Engineering, UC San Diego

34 . Soft Robot Actuation Strategies for Locomotion in Granular Substrates. D Ortiz, N Gravish, M Tolley. RA-L RoboSoft. 2018.    (In review).       Journal         

33 . Sliding-layer laminates: a robotic material enabling robust and adaptable undulatory locomotion. M Jiang, N Gravish. Intelligent Robots and Systems (IROS). 2018.       Conference    PDF:         VIDEO:      

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. Nat. Communications. 2018.       Journal    PDF:         LINK:              

31 . Robotics-inspired biology. N Gravish, G Lauder. Journal of Experimental Biology. 2018.       Journal    PDF:         LINK:              


30 . 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.       Journal    PDF:              

29 . 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.       Conference    PDF:              

28 . 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.       Journal    PDF:              


27 . Anomalous yaw torque generation from passively pitching wings. N Gravish, RJ Wood. IEEE International Conference on Robotics and Automation (ICRA). 2016.       Conference    PDF:              

26 . Entangled Granular Media. N Gravish, DI Goldman. Fluids, Colloids, and Soft Materials: An Introduction to Soft Matter Physics. 2016.       Book chapter         

25 . 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.       Journal    PDF:              


24 . 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.       Journal    PDF:              

23 . 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.       Journal    PDF:              

22 . Collective Flow Enhancement by Tandem Flapping Wings. N Gravish, JM Peters, SA Combes, RJ Wood. Physical review letters. 2015.       Journal    PDF:              

21 . Glass-like dynamics in confined and congested ant traffic. N Gravish, G Gold, A Zangwill, MAD Goodisman, DI Goldman. Soft matter. 2015.       Journal    PDF:              

20 . 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.       Conference    PDF:              


19 . 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.       Conference    PDF:              

18 . Effect of volume fraction on granular avalanche dynamics. N Gravish, DI Goldman. Physical Review E. 2014.       Journal    PDF:              

17 . Force and flow at the onset of drag in plowed granular media. N Gravish, PB Umbanhowar, DI Goldman. Physical Review E. 2014.       Journal    PDF:              

16 . 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.       Conference    PDF:              

15 . 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.       Journal    PDF:              


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.       Journal    PDF:              


13 . 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.       Conference         

12 . 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.       Journal    PDF:              

11 . Entangled granular media. N Gravish, SV Franklin, DL Hu, DI Goldman. Physical review letters. 2012.       Journal    PDF:              

10 . 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.       Conference         


9 . Drag induced lift in granular media. Y Ding, N Gravish, DI Goldman. Physical Review Letters. 2011.       Journal    PDF:              


8 . Force and flow transition in plowed granular media. N Gravish, PB Umbanhowar, DI Goldman. Physical review letters. 2010.       Journal    PDF:              

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.       Journal    PDF:              

6 . Utilization of granular solidification during terrestrial locomotion of hatchling sea turtles. N Mazouchova, N Gravish, A Savu, DI Goldman. Biology letters. 2010.       Journal    PDF:              


5 . 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.       Journal    PDF:              

4 . 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.       Journal    PDF:              


3 . Frictional and elastic energy in gecko adhesive detachment. N Gravish, M Wilkinson, K Autumn. Journal of The Royal Society Interface. 2008.       Journal    PDF:              

2 . 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.       Journal    PDF:              


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.       Journal    PDF: