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 (accepted)

Flagellated robot CAD drawing

Nnamdi Chikere, Yasemin Ozkan-Aydin, "Harnessing Flagella Dynamics for Enhanced Robot Locomotion at Low Reynolds Number.", IEEE RA-L 2024 (accepted), pdf, video



Sean Even, Holden Gordon, Hoeseok Yang, Yasemin Ozkan-Aydin, "Machine Learning-Driven Burrowing with a Snake-Like Robot.", IEEE ICRA 2024, pdf, video

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



Saurav Kumar Dutta, Yasemin Ozkan-Aydin, "Adjustbot: Bio-Inspired Quadruped Robot with Adjustable Posture and Undulated Body for Challenging Terradynamic Tasks", 2023 (submitted), pdf

Nnamdi Chikere, Yasemin Ozkan-Aydin, "The Effect of Flagella Stiffness on the Locomotion of a Multi-Flagellated Robot at Low Reynolds Environment.", 2023 (submitted), pdf

Abu Nayem Md. Asraf Siddiquee, Benjamin Colfer, Yasemin Ozkan-Aydin, "Design of Soft, Modular Appendages for a Bio-inspired Multi-Legged Terrestrial Robot." 2023 (submitted), pdf

Sean Even, Yasemin Ozkan-Aydin, "Locomotion and Obstacle Avoidance of a Worm-like Soft Robot." IEEE IROS 2023, pdf, video

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

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


  • 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 


  • 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


  •  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


  • 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