Planar fabrication of a mesoscale voice coil actuator. - Benjamin Goldberg 003; Michael Karpelson; Onur Özcan; Robert J. Wood (ICRA, 2014)

A wirelessly powered, biologically inspired ambulatory microrobot. - Michael Karpelson; Benjamin H. Waters; Benjamin Goldberg 003; Brody J. Mahoney; Onur Özcan; Andrew T. Baisch; Pierre-Marie Meyitang; Joshua R. Smith 001; Robert J. Wood (ICRA, 2014)

Bio-inspired mechanisms for inclined locomotion in a legged insect-scale robot. - Benedikt F. Seitz; Benjamin Goldberg 003; Neel Doshi; Onur Özcan; David L. Christensen; Elliot Wright Hawkes; Mark R. Cutkosky; Robert J. Wood (ROBIO, 2014)

High speed locomotion for a quadrupedal microrobot. - Andrew T. Baisch; Onur Özcan; Benjamin Goldberg 003; Daniel Ithier; Robert J. Wood (Int. J. Robotics Res., 2014)

Feedback control of a legged microrobot with on-board sensing. - Remo Bruhwiler; Benjamin Goldberg 003; Neel Doshi; Onur Özcan; Noah Jafferis; Michael Karpelson; Robert J. Wood (IROS, 2015)

Model driven design for flexure-based Microrobots. - Neel Doshi; Benjamin Goldberg 003; Ranjana Sahai; Noah Jafferis; Daniel Aukes; Robert J. Wood (IROS, 2015)

Phase control for a legged microrobot operating at resonance. - Neel Doshi; Kaushik Jayaram; Benjamin Goldberg 003; Robert J. Wood (ICRA, 2017)

High speed trajectory control using an experimental maneuverability model for an insect-scale legged robot. - Benjamin Goldberg 003; Neel Doshi; Robert J. Wood (ICRA, 2017)

A high speed motion capture method and performance metrics for studying gaits on an insect-scale legged robot. - Benjamin Goldberg 003; Neel Doshi; Kaushik Jayaram; Je-Sung Koh; Robert J. Wood (IROS, 2017)

Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot. - Neel Doshi; Kaushik Jayaram; Benjamin Goldberg 003; Zachary Manchester; Robert J. Wood; Scott Kuindersma (Robotics: Science and Systems, 2018)

Power and Control Autonomy for High-Speed Locomotion With an Insect-Scale Legged Robot. - Benjamin Goldberg 003; Raphael Zufferey; Neel Doshi; Elizabeth Farrell Helbling; Griffin Whittredge; Mirko Kovac; Robert J. Wood (IEEE Robotics Autom. Lett., 2018)

Inverted and vertical climbing of a quadrupedal microrobot using electroadhesion. - Benjamin Goldberg 003; Neel Doshi; Kaushik Jayaram; Jack Zhou; Robert J. Wood (Sci. Robotics, 2018)