A surgical parallel continuum manipulator with a cable-driven grasper. - Andrew L. Orekhov; Caroline E. Bryson; John Till; Scotty Chung; D. Caleb Rucker (EMBC, 2015)

Efficient computation of multiple coupled Cosserat rod models for real-time simulation and control of parallel continuum manipulators. - John Till; Caroline E. Bryson; Scotty Chung; Andrew L. Orekhov; D. Caleb Rucker (ICRA, 2015)

Analysis and Validation of a Teleoperated Surgical Parallel Continuum Manipulator. - Andrew L. Orekhov; Caroline B. Black; John Till; Scotty Chung; D. Caleb Rucker (IEEE Robotics Autom. Lett., 2016)

Modeling parallel continuum robots with general intermediate constraints. - Andrew L. Orekhov; Vincent A. Aloi; D. Caleb Rucker (ICRA, 2017)

Design Considerations and Redundancy Resolution for Variable Geometry Continuum Robots. - Colette Abah; Andrew L. Orekhov; Nabil Simaan (ICRA, 2018)

A Multi-modal Sensor Array for Safe Human-Robot Interaction and Mapping. - Colette Abah; Andrew L. Orekhov; Garrison L. H. Johnston; Peng Yin 001; Howie Choset; Nabil Simaan (ICRA, 2019)

Snake-Like Robots for Minimally Invasive, Single Port, and Intraluminal Surgeries. - Andrew L. Orekhov; Colette Abah; Nabil Simaan (CoRR, 2019)

Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints. - Garrison L. H. Johnston; Andrew L. Orekhov; Nabil Simaan (ICRA, 2020)

Solving Cosserat Rod Models via Collocation and the Magnus Expansion. - Andrew L. Orekhov; Nabil Simaan (IROS, 2020)

Unsupervised Deformable Ultrasound Image Registration and Its Application for Vessel Segmentation. - Abhimanyu; Andrew L. Orekhov; Ananya Bal; John M. Galeotti; Howie Choset (IROS, 2023)

Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations. - Andrew L. Orekhov; Garrison L. H. Johnston; Nabil Simaan (IROS, 2023)

EELS: Towards Autonomous Mobility in Extreme Terrain with a Versatile Snake Robot with Resilience to Exteroception Failures. - Rohan Thakker; Michael Paton; Marlin P. Strub; R. Michael Swan; Guglielmo Daddi; Rob Royce; L. Phillipe Tosi; Matthew Gildner; Tiago Vaquero; Marcel Veismann; Peter V. Gavrilov; Eloise Marteau; et al. (IROS, 2023)

Statics Modeling of Discrete Joint Surgical Probes with Tendon-based Stiffening. - Yilin Cai; Andrew L. Orekhov; Howie Choset (ISMR, 2023)

Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms. - Garrison L. H. Johnston; Andrew L. Orekhov; Nabil Simaan (CoRR, 2023)

Unsupervised Deformable Image Registration for Respiratory Motion Compensation in Ultrasound Images. - Abhimanyu; Andrew L. Orekhov; John M. Galeotti; Howie Choset (CoRR, 2023)

Lie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots With General String Encoder Routing. - Andrew L. Orekhov; Elan Z. Ahronovich; Nabil Simaan (IEEE Trans. Robotics, 2023)

Closed Loop Static Control of Multi-Magnet Soft Continuum Robots. - Giovanni Pittiglio; Andrew L. Orekhov; Tomás da Veiga; Simone Caló; James Henry Chandler; Nabil Simaan; Pietro Valdastri (IEEE Robotics Autom. Lett., 2023)

Reinforcement learning-driven parametric curve fitting for snake robot gait design. - Jack Naish; Jacob Rodriguez; Jenny Zhang; Bryson Jones; Guglielmo Daddi; Andrew L. Orekhov; Rob Royce; Michael Paton; Howie Choset; Masahiro Ono; Rohan Thakker (L4DC, 2024)

EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration. - Tiago Stegun Vaquero; Guglielmo Daddi; Rohan Thakker; Michael Paton; Ashkan Jasour; Marlin P. Strub; R. Michael Swan; Rob Royce; Matthew Gildner; L. Phillipe Tosi; Marcel Veismann; Peter V. Gavrilov; et al. (Sci. Robotics, 2024)

Automatic Cannulation of Femoral Vessels in a Porcine Shock Model. - Nico Zevallos; Cecilia G. Morales; Andrew L. Orekhov; Tejas Rane; Hernando Gomez; Francis X. Guyette; Michael R. Pinsky; John M. Galeotti; Artur Dubrawski; Howie Choset (CoRR, 2025)