Publications

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, 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: )