Magnetic quadrupole assemblies with arbitrary shapes and magnetizations. - Hongri Gu; Quentin Boehler; Daniel Ahmed; Bradley J. Nelson (Sci. Robotics, 2019)

Bioinspired acousto-magnetic microswarm robots with upstream motility. - Daniel Ahmed; Alexander Sukhov; David Hauri; Dubon Rodrigue; Gian Maranta; Jens Harting; Bradley J. Nelson (Nat. Mach. Intell., 2021)

Programmable Control of Ultrasound Swarmbots through Reinforcement Learning. - Matthijs Schrage; Mahmoud Medany; Daniel Ahmed (CoRR, 2022)

SonoRotor: An Acoustic Rotational Robotic Platform for Zebrafish Embryos and Larvae. - Zhiyuan Zhang; Leonardo K. Allegrini; Naoki Yanagisawa; Yong Deng; Stephan C. F. Neuhauss; Daniel Ahmed (IEEE Robotics Autom. Lett., 2023)

Soft Acoustic End-effector. - Zhiyuan Zhang; Michael Koch 020; Daniel Ahmed (ICRA, 2024)