Shape-centric Modeling for Soft Robot Inchworm Locomotion. - Alexander H. Chang; Caitlin Freeman; Arun Niddish Mahendran; Vishesh Vikas; Patricio A. Vela (IROS, 2021)

Multi-Gait Locomotion Planning and Tracking for Tendon-Actuated Terrestrial Soft Robot (TerreSoRo). - Arun Niddish Mahendran; Caitlin Freeman; Alexander H. Chang; Michael McDougall; Patricio A. Vela; Vishesh Vikas (IROS, 2023)

Environment-Centric Learning Approach for Gait Synthesis in Terrestrial Soft Robots. - Caitlin Freeman; Arun Niddish Mahendran; Vishesh Vikas (IEEE Trans. Robotics, 2025)