Piezoelectric Soft Robot Inchworm Motion by Controlling Ground Friction through Robot Shape. - Zhiwu Zheng; Prakhar Kumar; Yenan Chen; Hsin Cheng; Sigurd Wagner; Minjie Chen; Naveen Verma; James C. Sturm (CoRR, 2021)

Scalable Simulation and Demonstration of Jumping Piezoelectric 2-D Soft Robots. - Zhiwu Zheng; Prakhar Kumar; Yenan Chen; Hsin Cheng; Sigurd Wagner; Minjie Chen; Naveen Verma; James C. Sturm (ICRA, 2022)

Model-Based Control of Planar Piezoelectric Inchworm Soft Robot for Crawling in Constrained Environments. - Zhiwu Zheng; Prakhar Kumar; Yenan Chen; Hsin Cheng; Sigurd Wagner; Minjie Chen; Naveen Verma; James C. Sturm (RoboSoft, 2022)

Wirelessly-Controlled Untethered Piezoelectric Planar Soft Robot Capable of Bidirectional Crawling and Rotation. - Zhiwu Zheng; Hsin Cheng; Prakhar Kumar; Sigurd Wagner; Minjie Chen; Naveen Verma; James C. Sturm (ICRA, 2023)

eViper: A Scalable Platform for Untethered Modular Soft Robots. - Hsin Cheng; Zhiwu Zheng; Prakhar Kumar; Wali Afridi; Ben Kim; Sigurd Wagner; Naveen Verma; James C. Sturm; Minjie Chen (IROS, 2023)

Piezoelectric Soft Robot Inchworm Motion by Tuning Ground Friction Through Robot Shape: Quasi-Static Modeling and Experimental Validation. - Zhiwu Zheng; Prakhar Kumar; Yenan Chen; Hsin Cheng; Sigurd Wagner; Minjie Chen; Naveen Verma; James C. Sturm (IEEE Trans. Robotics, 2024)