Publications
2026 (submitted)
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Nnamdi Chikere, Yasemin Ozkan-Aydin, "Enhancing Amphibious Flipper-Based Locomotion Through Terrain-Dependent Bayesian Optimization of CPG Control", (submitted, under review), 2026, pdf |
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Sean Even et al., "A variational approach to geometric mechanics for undulating robotic locomotion", 2025 (in preparation), pdf |
2026
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Nnamdi Chikere, Winston Tumbelaka, Kieran Cosden, Gus Hann, Yasemin Ozkan-Aydin, "Topology and coordination govern reconfigurable multi-module robot locomotion in Viscous Environment ", 2026, (accepted) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026), pdf |
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Abu Nayem Md. Asraf Siddiquee, Martín Eduardo Castillo González, Vanessa Utama, Yuhan Zhu, Yasemin Ozkan-Aydin, "Design and Iterative Evaluation of a Sea Star-Inspired Robot with Autonomous Rays ", 2026, (accepted) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026), pdf |
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Elif Pinar Aydin, Yasemin Ozkan-Aydin, "Maneuverability of a SMA-Embedded Soft Flagellated Swimmer in Viscous Environments", 2026, (accepted) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026), pdf |
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Merve Atasever*, Azhang Nazaripouya*, Ali Okhovat, John Nisbet, Omer Kurkutlu, Jyotirmoy Deshmukh, Yasemin Ozkan-Aydin, "Analyzing the Role of Spinal Joint Dynamics in the Movement of a Sprawling Robot ", 2026, (accepted) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026), pdf |
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Nnamdi Chikere, Yasemin Ozkan-Aydin, "Hands-On Experimental Robotics: Enhancing Undergraduate Engagement and Research through an Iterative Project-Based Learning", 2026, (accepted) American Society of Engineering Education (ASEE 2026), pdf |
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Nnamdi Chikere, John Lubker, Yasemin Ozkan-Aydin, "What Supports Graduate Student Success in Engineering Fields? A Scoping Review of Influences and Challenges", 2026, (accepted) American Society of Engineering Education (ASEE 2026), pdf |
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Nnamdi Chikere, Yasemin Ozkan-Aydin, "How Minimalist Bio-inspired Robots Leverage Embodiment for Locomotion in Challenging Environments", 2026, Embodied Intelligence Conference, IOP Conference Series: Materials Science and Engineering, Volume 1343, (EI 2025), pdf |
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Azhang Nazaripouya, Nnamdi Chikere, Yasemin Ozkan-Aydin, "Embodied Intelligence through Appendages: Lessons from Biology to Robotics", 2026, Embodied Intelligence Conference, IOP Conference Series: Materials Science and Engineering, Volume 1343, (EI 2025), pdf |
2025
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Nnamdi Chikere, Sofia Lozano Voticky, Quang D. Tran, Yasemin Ozkan-Aydin, "Flagellar Swimming at Low Reynolds Numbers: Zoospore-Inspired Robotic Swimmers with Dual Flagella for High-Speed Locomotion", 2025, Bioinspiration & Biomimetics, pdf |
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Nnamdi Chikere, Frank Fish, Yasemin Ozkan-Aydin, "Robust Maneuverability in Flipper-Based Systems Across Complex Terrains", 2025, Bioinspiration & Biomimetics, pdf |
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Saurav Kumar Dutta, Yasemin Ozkan-Aydin, "Adjustbot: Bio-Inspired Quadruped Robot with Adjustable Posture and Undulated Body for Challenging Terradynamic Tasks", 2025, Nature Scientific Reports, pdf, video |
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Elif Pinar Aydin, Nnamdi C. Chikere, Vivek Attupuram, and Yasemin Ozkan-Aydin, "Swimming Dynamics of a Soft Flagellated Robot in Low Reynolds Number Environment", 2025, ISER 2025, pdf, video |
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Sean Even, Omer Kurkutlu, Yasemin Ozkan-Aydin, "Evaluating Tools for Collective Soil Excavation: Challenges and Insights", 2025, ISER 2025, pdf, video |
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Nnamdi Chikere, John McElroy, Yasemin Ozkan-Aydin, "Embodied Design for Enhanced Flipper-Based Locomotion in Complex Terrains", 2025, Nature Scientific Reports, pdf, video |
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Caitlin L. Le et al., "Grand challenges for burrowing soft robots", 2025, Frontiers in Robotics and AI, pdf |
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Jie Zhang et al., "Adaptive, rapid, and stable Trident robotic gripper", 2024, IEEE/ASME Transactions on Mechatronics, pdf |
2024
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K. Schäffer, Y. Ozkan-Aydin, and M. M. Coad, "Soft Wrist Exosuit Actuated by Fabric Pneumatic Artificial Muscles." 2024, IEEE Transactions on Medical Robotics and Bionics, pdf |
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Nnamdi Chikere, Yasemin Ozkan-Aydin, "Harnessing Flagella Dynamics for Enhanced Robot Locomotion at Low Reynolds Number.", IEEE RA-L 2024 (accepted), pdf, video |
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Sean Even, Holden Gordon, Hoeseok Yang, Yasemin Ozkan-Aydin, "Machine Learning-Driven Burrowing with a Snake-Like Robot.", IEEE ICRA 2024, pdf, video |
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Abu Nayem Md. Asraf Siddiquee, Yasemin Ozkan-Aydin, "Utilizing Bioinspired Soft Modular Appendages for Grasping and Locomotion in Multi-Legged Robots on Ground and Underwater." IEEE RA-L, pdf, video |
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Nnamdi Chikere, Fernando Moreno, Yasemin Ozkan-Aydin, "Swarm of Bioinspired Legged Robots for Collective Object Transport ", International Symposium on Distributed Autonomous Robotic Systems (DARS 2024), poster presentation |
2023
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Sean Even, Yasemin Ozkan-Aydin, "Locomotion and Obstacle Avoidance of a Worm-like Soft Robot." IEEE IROS 2023, pdf, video |
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Sean Even, Tongjia Zheng, Hai Lin, Yasemin Ozkan-Aydin, "Real-Time Feedback Control of a Pneumatic Soft Robot via Partial Differential Equations." IEEE IROS 2023, pdf, video |
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Josh Buckley, Nnamdi Chikere, Yasemin Ozkan-Aydin, "The Effect of Tail Stiffness on a Sprawling Quadruped Locomotion.", 2023 (Frontiers in Robotics and AI), pdf, video |
2022
- Shengkai Li*, Yasemin Ozkan-Aydin*, Charles Xiao, Gabriella Small, Hussain N Gynai, Gongjie Li, Jennifer M. Rieser, Pablo Laguna, Daniel I. Goldman,(*equal contribution) "Field-mediated locomotor dynamics on highly deformable surfaces,” PNAS, 2022 | PDF
- Shengkai Li, Tianyu Wang, Velin H. Kojouharov, James McInerney, Enes Aydin, Yasemin Ozkan-Aydin, Daniel I. Goldman, D. Zeb Rocklin, "Robotic swimming in curved space via geometric phase", PNAS, 2022
- Baxi Chong*, Yasemin O Aydin*, Jennifer M Rieser, Guillaume Sartoretti, Tianyu Wang, Julian Whitman, Abdul Kaba, Enes Aydin, Ciera McFarland, Kelimar Diaz Cruz, Jeffery W Rankin, Krijn B Michel, Alfredo Nicieza, John R Hutchinson, Howie Choset, Daniel I Goldman, (*equal contribution) "A general locomotion control framework for multi-legged locomotors", Bioinspiration & Biomimetics, 2022
2021
- Y. Ozkan-Aydin, D. I. Goldman, "Self-reconfigurable multi-legged robots collectively accomplish challenging terradynamic tasks,” Science Robotics, 2021 | PDF
- Y. Ozkan-Aydin, B. Liu, A. Carruthers, M. Seidel, F. L. Hammond III, D. I. Goldman, "Lateral Undulation Aids Biological and Robotic Earthworm Anchoring and Locomotion'', Bioinspiration & Biomimetics, 2021
- Y. Ozkan-Aydin, D.I. Goldman, S. Bhamla, "Collective protection and transport in entangled biological and robotic active matter'', PNAS, 2021 | PDF
- C. Nguyen*, Y. Ozkan-Aydin*, H. Tuazon, D. I. Goldman, M.S. Bhamla, O. Peleg, (*equal contribution), "Emergent collective locomotion in an active polymer model of entangled worm blobs'', Frontiers in Physics, 2021 | PDF
- N. D. Naclerio, A. Karsai, M. Murray-Cooper, Y. Ozkan-Aydin, E. Aydin, D. I. Goldman, E. W. Hawkes, "Controlling subterranean forces to enable a fast, steerable, burrowing soft robot,'' Science Robotics, 2021
- B. Chong, Y. Ozkan-Aydin, C. Gong, G. Sartoretti, Y. Wu, J. M. Rieser, H. Xing, P. E. Schiebel, J. W. Rankin, K. B. Michel, A. Nicieza, J. R. Hutchinson, D. I. Goldman, H. Choset, "Coordination of Lateral Body Bending and Leg Movements for Sprawled Posture Quadrupedal Locomotion'', The International Journal of Robotics Research (IJRR), 2021 | PDF
- I. Taylor, K. Lehner, E. McCaskey, N. Nirmal, Y. Ozkan-Aydin, M. Murray-Cooper, R. Jain, E. W. Hawkes, P. C. Ronald, D. I. Goldman, P. N. Benfey "Mechanism and function of root circumnutation'', PNAS, 2021 | PDF
- K. Diaz, T. L. Robinson, Y. Ozkan-Aydin, E. Aydin, D. I. Goldman, K. Y. Wan, "A minimal robophysical model of quadriflagellate self-propulsion'', Bioinspiration & Biomimetics, 2021 | PDF
2020
- R. Goldoni*, Y. Ozkan-Aydin*, Y. S. Kim*, J. Kim, N. Zavanelli, M. Mahmood, B. Liu, F. Hammond, D. I. Goldman, W. H. Yeo, (*equal contribution) "Stretchable Nanocomposite Sensors, Nanomembrane Interconnectors, and Wireless Electronics Toward Feedback-Loop Control of a Soft Earthworm Robot”, ACS Applied Materials & Interfaces, 2020
- Y. Ozkan-Aydin, B. Chong, E. Aydin, D. I. Goldman, “A systematic approach to creating terrain-capable hybrid soft/hard myriapod robots”, RoboSoft- IEEE RASInternational Conference on Soft Robotics, 2020
- S. Shrivastava, A. Karsai, Y. Ozkan-Aydin, W. Bluethmann, R. Ambrose, R. Pettinger, D.I. Goldman, "Material remodeling and unconventional gaits facilitate locomotion of a robophysical rover over granular terrain,” Science Robotics, Vol. 5, Issue 42, May 2020
- B. Lin, B. Zhong,Y. Ozkan-Aydin, E. Aydin, H. Choset, D. I. Goldman, G. Blekher-man “Optimizing coordinate choice for locomotion systems with toroidal shape spaces”, IEEE International Conference on Intelligent Robots and Systems (IROS), 2020
2019
- Y. Ozkan-Aydin, J.M. Rieser, C.M. Hubicki, W. Savoie, D.I. Goldman, "Physics approaches to natural locomotion: Every robot is an experiment'', Robotic Systems and Autonomous Platforms, 109-127, 2019
- Y. Ozkan-Aydin, B. Liu, F. L. Hammond III, D. I. Goldman, “Lateral UndulationAids Soft Earthworm Robot Anchoring and Locomotion in Heterogeneous Environments”, Society of Engineering Science 56th Annual Technical Meeting, October 13-15, 2019
- B. Chong, G. Sartoretti, Y. Wu,Y. Ozkan-Aydin, C. Gong, J. M Rieser, H. Xing, D.I Goldman, H. Choset, “Geometric mechanics as a seed for learning-based gait design”, Learning Legged Locomotion Workshop ICRA, 2019
- B. Chong,Y. Ozkan-Aydin, G. Sartoretti, J. M Rieser, C. Gong, H. Xing, H. Choset,D. I Goldman “A Hierarchical Geometric Framework to Design Locomotive Gaits for Highly Articulated Robots”, Robotics: Science and Systems (RSS), 2019
- B. Liu,Y. Ozkan-Aydin, D.I. Goldman, F.L. Hammond III “Kirigami Skin ImprovesSoft Earthworm Robot Anchoring and Locomotion Under Cohesive Soil”, RoboSoft-IEEE RAS International Conference on Soft Robotics, 2019
2010- 2018
- Y. Ozkan-Aydin, J. Molnar, D.I. Goldman,F.L. Hammond “Design of Soft Robo-physical Earthworm Model”, RoboSoft- IEEE RAS International Conference on Soft Robotics, Italy, Apr, 2018
- B. Zhong,Y. Ozkan-Aydin, Chaohui Gong, G. Sartoretti, Y. Wu, J. Rieser, H. Xing, J.Rankin, K. Michel, A. Nicieza, J. Hutchinson, D. Goldman, H. Choset, “Coordinationof legs and body undulation during turning in quadruped locomotion” Robotics:Science and Systems (RSS), 2018
- N. D. Naclerio, C. M. Hubicki,Y. Ozkan-Aydin, D. I Goldman, Elliot W Hawkes,“Soft Robotic Burrowing Device with Tip-Extension and Granular Fluidization”, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),5918-5923, 2018
- Y. Ozkan-Aydin, B. Chong, C. Gong, J. M. Rieser, J. W. Rankin, K. Michel, A. G. Nicieza,J. Hutchinson, H. Choset, D. I. Goldman, “Geometric Mechanics Applied to Tetra-pod Locomotion on Granular Media”, Conference on Biomimetic and Biohybrid Systems (595-603), Springer,2017
- Y. Ozkan-Aydin, A. Saranli, Y. Yazicioglu, U. Saranli and~K.Leblebicioglu,"Optimal Control of a Half Circular Compliant Legged Monopod'', Control Engineering Practice, Vol. 33, Pages 10 - 21, December 2014
- Y. Ozkan-Aydinand K. Leblebicioglu , “Single Step Optimal Control Of The HalfCircular Legged Monopod ,” International Workshop on Research and Education in Mechatronics, Kocaeli, Turkiye, 2011
- Y. Ozkan-Aydin, K. Galloway, Y. Yazicioglu, D. Koditschek, “Modeling the Compliance of a Variable Stiffness C-Shaped Leg Using Castigliano’s Theorem,” ASME International Design Engineering Technical Conferences (IDETC), Montreal, Quebec,Canada, 2010
- H. Komsuoglu, A. Majumdar,Y. Ozkan-AydinD. E. Koditschek, “Characterization of Dynamic Behaviors in a Hexapod Robot”, International Symposium on Experimental Robotics, December 2010
Other Documents
Yasemin Ozkan-Aydin, "Burrowing animals", 2026, Small database, xlsx