Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm. - Azadeh Doroudchi; Sachin Shivakumar; Rebecca E. Fisher; Hamid Marvi 001; Daniel Aukes; Ximin He; Spring Berman; Matthew M. Peet (CDC, 2018)

A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots. - Amir Salimi Lafmejani; Hamed Farivarnejad; Azadeh Doroudchi; Spring Berman (ACC, 2020)

Dynamic Modeling of a Hydrogel-based Continuum Robotic Arm with Experimental Validation. - Azadeh Doroudchi; Roozbeh Khodambashi; Amir Salimi Lafmejani; Daniel M. Aukes; Spring Berman (RoboSoft, 2020)

Kinematic Modeling and Trajectory Tracking Control of an Octopus-Inspired Hyper-Redundant Robot. - Amir Salimi Lafmejani; Azadeh Doroudchi; Hamed Farivarnejad; Ximin He; Daniel Aukes; Matthew M. Peet; Hamidreza Marvi 001; Rebecca E. Fisher; Spring Berman (IEEE Robotics Autom. Lett., 2020)

Configuration Tracking for Soft Continuum Robotic Arms Using Inverse Dynamic Control of a Cosserat Rod Model. - Azadeh Doroudchi; Spring Berman (RoboSoft, 2021)

Tracking Control of a Miniature 2-DOF Manipulator With Hydrogel Actuators. - Azadeh Doroudchi; Roozbeh Khodambashi; Mohammad Sharifzadeh; Dongting Li; Spring Berman; Daniel M. Aukes (IEEE Robotics Autom. Lett., 2021)

Configuration Tracking Control of a Multi-Segment Soft Robotic Arm Using a Cosserat Rod Model. - Azadeh Doroudchi; Zhi Qiao; Wenlong Zhang; Spring Berman (CoRR, 2022)

Implementation of a Cosserat Rod-Based Configuration Tracking Controller on a Multi-Segment Soft Robotic Arm. - Azadeh Doroudchi; Zhi Qiao; Wenlong Zhang; Spring Berman (IROS, 2023)