Publications

2023

CurveQuad: A centimeter-scale origami quadruped that leverages curved creases to self-fold and crawl with one motor

Feshbach, Daniel; Wu, Xuelin; Vasireddy, Satviki; Beardell, Louis; To, Bao; Baryshnikov, Yuliy; Sung, Cynthia

CurveQuad: A centimeter-scale origami quadruped that leverages curved creases to self-fold and crawl with one motor (Conference)

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.

(Abstract | BibTeX | Links: )

Drag coefficient characterization of the origami magic ball

Chen, Guanyu; Chen, Dongsheng; Weakly, Jessica; Sung, Cynthia

Drag coefficient characterization of the origami magic ball (Proceedings Article)

In: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), Forthcoming.

(Abstract | BibTeX | Links: )

Electronics Design and Verification for Robots With Actuation and Sensing Requirements

Chen, Dongsheng; Huang, Zonghao; Sung, Cynthia

Electronics Design and Verification for Robots With Actuation and Sensing Requirements (Conference)

ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), Forthcoming.

(Abstract | BibTeX | Links: )

The Impact of Robotics Expertise on Iterative Robot Design Decisions and Vulnerability to Anchoring Bias

Wilson, Cristina; Brown, Kallahan; Sung, Cynthia

The Impact of Robotics Expertise on Iterative Robot Design Decisions and Vulnerability to Anchoring Bias (Conference)

ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), Forthcoming.

(Abstract | BibTeX | Links: )

Design and Control of a Tunable-Stiffness Coiled-Spring Actuator

Misra, Shivangi; Mitchell, Mason; Chen, Rongqian; Sung, Cynthia

Design and Control of a Tunable-Stiffness Coiled-Spring Actuator (Conference)

IEEE International Conference on Robotics and Automation (ICRA), 2023.

(Abstract | BibTeX | Links: )

DOQ: A Dynamic Origami Quadrupedal Robot

Chen, Wei-Hsi; Rozen-Levy, Shane; Addison, Griffin; Peach, Lucien; Koditschek, Daniel E.; Sung, Cynthia R.

DOQ: A Dynamic Origami Quadrupedal Robot (Workshop)

ICRA Workshop on Origami-based Structures for Designing Soft Robots with New Capabilities, 2023.

(BibTeX)

2022

Kinegami: Algorithmic Design of Compliant Kinematic Chains From Tubular Origami

Chen, Wei-Hsi; Yang, Woohyeok; Peach, Lucien; Koditschek, Daniel E.; Sung, Cynthia R.

Kinegami: Algorithmic Design of Compliant Kinematic Chains From Tubular Origami (Journal Article)

In: IEEE Transactions on Robotics, vol. 39, iss. 2, pp. 1260-1280, 2022.

(Abstract | BibTeX | Links: )

EvoRobogami: Co-designing with Humans in Evolutionary Robotics Experiments

Huang, Zonghao; Wu, Quinn; Howard, David; Sung, Cynthia

EvoRobogami: Co-designing with Humans in Evolutionary Robotics Experiments (Conference)

Genetic and Evolutionary Computation Conference (GECCO), 2022.

(Abstract | BibTeX | Links: )

Increasing Reliability of Self-Folding of the Origami Hypar

Liu, Addison; Johnson, Mykell; Sung, Cynthia

Increasing Reliability of Self-Folding of the Origami Hypar (Journal Article)

In: ASME Journal of Mechanisms and Robotics, vol. 14, no. 6, pp. 061003, 2022.

(Abstract | BibTeX | Links: )

Forward kinematics and control of a segmented tunable-stiffness 3-D continuum manipulator

Misra, Shivangi; Sung, Cynthia

Forward kinematics and control of a segmented tunable-stiffness 3-D continuum manipulator (Conference)

IEEE International Conference on Robotics and Automation (ICRA), 2022.

(Abstract | BibTeX | Links: )

Repeated jumping with the REBOund: Self-righting jumping robot leveraging bistable origami-inspired design

Sun*, Yuchen; Wang*, Joanna; Sung, Cynthia

Repeated jumping with the REBOund: Self-righting jumping robot leveraging bistable origami-inspired design (Conference)

IEEE International Conference on Robotics and Automation (ICRA), 2022, (* = co-first author).

(Abstract | BibTeX | Links: )

TrussBot: Modeling, design and control of a compliant, helical truss of tetrahedral modules

Qin*, Yuhong; Ting*, Linda; Saven*, Celestina; Amemiya, Yumika; Tanis, Michael; Kamien, Randall; Sung, Cynthia

TrussBot: Modeling, design and control of a compliant, helical truss of tetrahedral modules (Conference)

IEEE International Conference on Robotics and Automation, 2022, (*=co-first author).

(Abstract | BibTeX | Links: )

Control of a segmented tunable-stiffness 3-D continuum manipulator

Misra, Shivangi; Sung, Cynthia

Control of a segmented tunable-stiffness 3-D continuum manipulator (Workshop)

ICRA Workshop on Compliant Robot Manipulation: Challenges and New Opportunities, 2022.

(BibTeX)

2021

Tendon-Driven Auxetic Tubular Springs for Resilient Hopping Robots

Lee, Young-Joo; Misra, Shivangi; Chen, Wei-Hsi; Koditschek, Daniel E.; Sung, Cynthia; Yang, Shu

Tendon-Driven Auxetic Tubular Springs for Resilient Hopping Robots (Journal Article)

In: Advanced Intelligent Systems, vol. 4, pp. 2100152, 2021.

(Abstract | BibTeX | Links: )

Programmable Stiffness and Applications of 3D Printed TPU Diamond Lattices

Yuan, Yifan; Sung, Cynthia

Programmable Stiffness and Applications of 3D Printed TPU Diamond Lattices (Conference)

International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, no. DETC2021-69826, V08AT08A016, 2021.

(Abstract | BibTeX | Links: )

Origami-inspired robot that swims via jet propulsion

Yang, Zhiyuan; Chen, Dongsheng; Levine, David J.; Sung, Cynthia

Origami-inspired robot that swims via jet propulsion (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7145-7152, 2021.

(Abstract | BibTeX | Links: )

Reconfiguring Non-Convex Holes in Pivoting Modular Cube Robots

Feshbach, Daniel; Sung, Cynthia

Reconfiguring Non-Convex Holes in Pivoting Modular Cube Robots (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 6701-6708, 2021.

(Abstract | BibTeX | Links: )

Carbon fiber–aluminum sandwich for micro-aerial vehicles and miniature robots

Cha, Wujoon; Kaspar, Luke; Campbell, Matthew F.; Calenza, Thomas J.; Popov, George A.; Wang, Jeremy; Sung, Cynthia R.; Yim, Mark; Bargatin, Igor

Carbon fiber–aluminum sandwich for micro-aerial vehicles and miniature robots (Journal Article)

In: MRS Advances, vol. 6, pp. 477–481, 2021.

(Abstract | BibTeX | Links: )

Soft hybrid aerial vehicle via bistable mechanism

Li*, Xuan; McWilliams*, Jessica; Li, Minchen; Sung, Cynthia; Jiang, Chenfanfu

Soft hybrid aerial vehicle via bistable mechanism (Conference)

IEEE International Conference on Robotics and Automation (ICRA), 2021, (*=co-first author, best paper in mechanisms and design).

(Abstract | BibTeX | Links: )

Push On, Push Off: A compliant bistable gripper with mechanical sensing and actuation

McWilliams, Jessica; Yuan, Yifan; Friedman, Jason; Sung, Cynthia

Push On, Push Off: A compliant bistable gripper with mechanical sensing and actuation (Conference)

IEEE International Conference on Soft Robotics (RoboSoft), 2021.

(Abstract | BibTeX | Links: )

Fabrication and characterization of I-cord knitted SMA actuators

Kim, Christopher; Chien, Athena; Tippur, Megha; Sung, Cynthia

Fabrication and characterization of I-cord knitted SMA actuators (Conference)

IEEE International Conference on Soft Robotics (RoboSoft), 2021.

(Abstract | BibTeX | Links: )

2020

Microfabricated foldable wings for centimeter-scale microflyers

Cha, Wujoon; Campbell, Matthew F.; Popov, George A.; Stanczak, Christopher H.; Estep, Anna K.; Steager, Edward B.; Sung, Cynthia R.; Yim, Mark H.; Bargatin, Igor

Microfabricated foldable wings for centimeter-scale microflyers (Journal Article)

In: Journal of Microelectromechanical Systems, vol. 29, no. 5, pp. 1127-1129, 2020.

(Abstract | BibTeX | Links: )

REBOund: Untethered origami jumping robot with controllable jump height

Carlson, Jaimie; Friedman, Jason; Kim, Christopher; Sung, Cynthia

REBOund: Untethered origami jumping robot with controllable jump height (Conference)

IEEE International Conference on Robotics and Automation (ICRA), 2020.

(Abstract | BibTeX | Links: )

A tendon-driven origami hopper triggered by proprioceptive contact detection

Chen, Wei-Hsi; Misra, Shivangi; Caporale, J. Diego; Koditschek, Daniel E.; Yang, Shu; Sung, Cynthia

A tendon-driven origami hopper triggered by proprioceptive contact detection (Conference)

IEEE International Conference on Soft Robotics (RoboSoft), 2020.

(Abstract | BibTeX | Links: )

A programmably compliant origami mechanism for dynamically dexterous robots

Chen, Wei-Hsi; Misra, Shivangi; Gao, Yuchong; Lee, Young-Joo; Koditschek, Daniel E.; Yang, Shu; Sung, Cynthia

A programmably compliant origami mechanism for dynamically dexterous robots (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2131-2137, 2020.

(Abstract | BibTeX | Links: )

2019

Optimal Structure Synthesis for Environment Augmenting Robots

Tosun, Tarik; Sung, Cynthia; McCloskey, Colin; Yim, Mark

Optimal Structure Synthesis for Environment Augmenting Robots (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1069-1076, 2019.

(Abstract | BibTeX | Links: )

2018

Programmable 3-D surfaces using origami tessellations

Yuan, Hang; Pikul, James; Sung, Cynthia

Programmable 3-D surfaces using origami tessellations (Conference)

7th International Meeting on Origami in Science, Mathematics, and Education, 2018.

(Abstract | BibTeX | Links: )

Leveraging compliance in origami robot legs for robust and natural locomotion

Deng, Xiang; Sung, Cynthia

Leveraging compliance in origami robot legs for robust and natural locomotion (Conference)

7th International Meeting on Origami in Science, Mathematics, and Education, 2018.

(Abstract | BibTeX | Links: )

Animatronic soft robots by additive folding

Yim, Sehyuk; Sung, Cynthia; Miyashita, Shuhei; Rus, Daniela; Kim, Sangbae

Animatronic soft robots by additive folding (Journal Article)

In: International Journal of Robotics Research, vol. 37, no. 6, pp. 611-628, 2018.

(Abstract | BibTeX | Links: )

Spotlight on origami robots

Rus, Daniela; Sung, Cynthia

Spotlight on origami robots (Journal Article)

In: Science Robotics, vol. 3, no. 15, pp. eaat0938, 2018.

(Abstract | BibTeX | Links: )

2017

Interactive Robogami: An end-to-end system for design of robots with ground locomotion

Schulz, Adriana; Sung, Cynthia; Spielberg, Andrew; Zhao, Wei; Cheng, Yu; Grinspun, Eitan; Rus, Daniela; Matusik, Wojciech

Interactive Robogami: An end-to-end system for design of robots with ground locomotion (Journal Article)

In: International Journal of Robotics Research, vol. 36, no. 10, pp. 1131-1147, 2017.

(Abstract | BibTeX | Links: )

Self-folded soft robotic structures with controllable joints

Sung, Cynthia; Lin, Rhea; Miyashita, Shuhei; Yim, Sehyuk; Kim, Sangbae; Rus, Daniela

Self-folded soft robotic structures with controllable joints (Conference)

IEEE International Conference on Robotics and Automation (ICRA), 2017.

(Abstract | BibTeX | Links: )

Functional co-optimization of articulated robots

Spielberg, Andrew; Araki, Brandon; Sung, Cynthia; Tedrake, Russ; Rus, Daniela

Functional co-optimization of articulated robots (Conference)

IEEE International Conference on Robotics and Automation (ICRA), 2017.

(Abstract | BibTeX | Links: )

2015

Feldman, Dan; Sung, Cynthia; Sugaya, Andrew; Rus, Daniela

iDiary: From GPS signals to a text-searchable diary (Journal Article)

In: ACM Transactions on Sensor Networks, vol. 11, no. 4, pp. 60, 2015.

(Abstract | BibTeX | Links: )

Sung, Cynthia; Rus, Daniela

Data-driven task assignment for multi-vehicle package delivery (Workshop)

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), ECHORD++ Workshop on Urban Robotic Applications, 2015.

(BibTeX)

Sung, Cynthia; Rus, Daniela

Automated fabrication of foldable robots using thick materials (Conference)

International Symposium on Robotics Research, 2015.

(Abstract | BibTeX | Links: )

Schulz, Adriana; Sung, Cynthia; Spielberg, Andrew; Zhao, Wei; Cheng, Yu; Mehta, Ankur; Grinspun, Eitan; Rus, Daniela; Matusik, Wojciech

Interactive Robogami: Data-driven design for 3D print and fold robots with ground locomotion (Workshop)

ACM SIGGRAPH Talks, ACM, 2015.

(Abstract | BibTeX | Links: )

Niiyama, Ryuma; Sun, Xu; Sung, Cynthia; An, Byoungkwon; Rus, Daniela; Kim, Sangbae

Pouch motors: Printable soft actuators integrated with computational design (Journal Article)

In: Soft Robotics, vol. 2, no. 2, pp. 59-70, 2015.

(Abstract | BibTeX | Links: )

Sung, Cynthia; Bern, James; Romanishin, James; Rus, Daniela

Reconfiguration planning for pivoting cube modular robots (Conference)

IEEE International Conference on Robotics and Automation (ICRA), 2015.

(Abstract | BibTeX | Links: )

Miyashita, Shuhei; Guitron, Steven; Ludersdorfer, Marvin; Sung, Cynthia; Rus, Daniela

An untethered miniature origami robot that self-folds, walks, swims, and degrades (Conference)

IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2015.

(Abstract | BibTeX | Links: )

Sung, Cynthia; Rus, Daniela

Foldable joints for foldable robots (Journal Article)

In: ASME Journal of Mechanisms and Robotics, vol. 7, no. 2, pp. 021012, 2015.

(Abstract | BibTeX | Links: )

Miyashita, Shuhei; DiDio, Isabello; Ananthabhotla, Ishwarya; An, Byoungkwon; Sung, Cynthia; Arabagi, Slava; Rus, Daniela

Folding angle regulation by curved crease design for self-assembling origami propellers (Journal Article)

In: ASME Journal of Mechanisms and Robotics, vol. 7, no. 2, pp. 021013, 2015.

(Abstract | BibTeX | Links: )

2014

Sung, Cynthia; Rus, Daniela

Foldable joints for foldable robots (Conference)

International Symposium on Experimental Robotics (ISER), 2014.

(Abstract | BibTeX | Links: )

2013

Feldman, Dan; Sugaya, Andrew; Sung, Cynthia; Rus, Daniela

iDiary: From GPS signals to a text-searchable diary (Conference)

11th ACM Conference on Embedded Networked Sensor Systems (SenSys), ACM, 2013.

(Abstract | BibTeX | Links: )

Sung, Cynthia; Demaine, Erik D.; Demaine, Martin L.; Rus, Daniela

Edge-compositions of 3-D surfaces (Journal Article)

In: ASME Journal of Mechanical Design, vol. 135, no. 11, pp. 111001, 2013.

(Abstract | BibTeX | Links: )

Sung, Cynthia; Demaine, Erik D.; Demaine, Martin L.; Rus, Daniela

Joining unfoldings of 3-D surfaces (Conference)

ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), ASME, 2013.

(Abstract | BibTeX | Links: )

Sung, Cynthia; Ayanian, Nora; Rus, Daniela

Improving the performance of multi-robot systems by task switching (Conference)

IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2013.

(Abstract | BibTeX | Links: )

Wu, Cathy; Feldman, Dan; Sung, Cynthia; Rus, Daniela

Using coresets for map making for long-term operation of robots (Workshop)

IEEE International Conference on Robotics and Automation (ICRA), Workshop on Long-Term Autonomy, 2013.

(BibTeX)

2012

Feldman, Dan; Sung, Cynthia; Rus, Daniela

The single pixel GPS: Learning big data signals from tiny coresets (Conference)

20th ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems (GIS 2012), ACM, 2012.

(Abstract | BibTeX | Links: )

Sung, Cynthia; Feldman, Dan; Rus, Daniela

Trajectory clustering for motion prediction (Conference)

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2012.

(Abstract | BibTeX | Links: )