Salamanderbot: A soft-rigid composite continuum mobile robot to traverse complex environments. - Yinan Sun; Yuqi Jiang; Hao Yang 011; Louis-Claude Walter; Junius Santoso; Erik H. Skorina; Cagdas D. Onal (ICRA, 2020)

Motion Planning and Iterative Learning Control of a Modular Soft Robotic Snake. - Ming Luo 004; Zhenyu Wan; Yinan Sun; Erik H. Skorina; Weijia Tao; Fuchen Chen; Lakshay Gopalka; Hao Yang 011; Cagdas D. Onal (Frontiers Robotics AI, 2020)

SLInKi: State Lattice based Inverse Kinematics - A Fast, Accurate, and Flexible IK Solver for Soft Continuum Robot Manipulators. - Shou-Shan Chiang; Hao Yang 011; Erik H. Skorina; Cagdas D. Onal (CASE, 2021)

Surgical tool classification and localization: results and methods from the MICCAI 2022 SurgToolLoc challenge. - Aneeq Zia; Kiran Bhattacharyya; Xi Liu; Max Berniker; Ziheng Wang 003; Rogerio Nespolo; Satoshi Kondo; Satoshi Kasai; Kousuke Hirasawa; Bo Liu; David Austin; Yiheng Wang; et al. (CoRR, 2023)

A Hybrid Model and Learning-Based Force Estimation Framework for Surgical Robots. - Hao Yang 011; Haoying Zhou; Gregory S. Fischer; Jie Ying Wu (IROS, 2024)

An Effectiveness Study Across Baseline and Neural Network-based Force Estimation Methods on the da Vinci Research Kit Si System. - Hao Yang 011; Ayberk Acar; Keshuai Xu; Anton Deguet; Peter Kazanzides; Jie Ying Wu (CoRR, 2024)

Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification. - Haoying Zhou; Hao Yang 011; Anton Deguet; Loris Fichera; Jie Ying Wu; Peter Kazanzides (CoRR, 2025)

Sensorless Remote Center of Motion Misalignment Estimation. - Hao Yang 011; Lidia Al-Zogbi; Ahmet Yildiz; Nabil Simaan; Jie Ying Wu (CoRR, 2025)