Kernel-based visual servoing. - Vinutha Kallem; Maneesh Dewan; John P. Swensen; Gregory D. Hager; Noah J. Cowan (IROS, 2007)

Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing. - Robert J. Webster III; John P. Swensen; Joseph M. Romano; Noah J. Cowan (ISER, 2008)

An almost global estimator on SO(3) with measurement on S2. - John P. Swensen; Noah J. Cowan (ACC, 2012)

Torsional dynamics compensation enhances robotic control of tip-steerable needles. - John P. Swensen; Noah J. Cowan (ICRA, 2012)

Optimization of parallel spring antagonists for Nitinol shape memory alloy actuators. - John P. Swensen; Aaron M. Dollar (ICRA, 2014)

Simple, scalable active cells for articulated robot structures. - John P. Swensen; Ahsan I. Nawroj; Paul E. I. Pounds; Aaron M. Dollar (ICRA, 2014)

Torsional Dynamics of Steerable Needles: Modeling and Fluoroscopic Guidance. - John P. Swensen; MingDe Lin; Allison M. Okamura; Noah J. Cowan (IEEE Trans. Biomed. Eng., 2014)

Injected 3D electrical traces in additive manufactured parts with low melting temperature metals. - John P. Swensen; Lael U. Odhner; Brandon Araki; Aaron M. Dollar (ICRA, 2015)

Design of mesoscale active cells for networked, compliant robotic structures. - Ahsan I. Nawroj; John P. Swensen; Aaron M. Dollar (IROS, 2015)

Compliant, bi-stable mechanisms with multiple stiffnesses through controlled spring buckling. - Brian LaFerriere; Carson E. Schlect; John P. Swensen (ICRA, 2017)

Toward Modular Active-Cell Robots (MACROs): SMA Cell Design and Modeling of Compliant, Articulated Meshes. - Ahsan I. Nawroj; John P. Swensen; Aaron M. Dollar (IEEE Trans. Robotics, 2017)

Towards Water-Jet Steerable Needles. - Mahdieh Babaiasl; Fan Yang 101; John P. Swensen (BioRob, 2018)

Configuration Modeling of a Soft Robotic Element with Selectable Bending Axes. - Emily A. Allen; Brandon C. Townsend; John P. Swensen (IROS, 2019)

Predicting Depth of Cut of Water-jet in Soft Tissue Simulants based on Finite Element Analysis with the Application to Fracture-directed Water-jet Steerable Needles. - Mahdieh Babaiasl; Fan Yang 101; Yao Chen; Jow-Lian Ding; John P. Swensen (ISMR, 2019)

Fracture-Directed Steerable Needles. - Fan Yang 101; Mahdieh Babaiasl; John P. Swensen (J. Medical Robotics Res., 2019)

Fracture-directed Waterjet Needle Steering: Design, Modeling, and Path Planning. - Mahdieh Babaiasl; Fan Yang 101; Stefano Boccelli; John P. Swensen (BioRob, 2020)

Design of a Highly-Maneuverable Pneumatic Soft Actuator Driven by Intrinsic SMA Coils (PneuSMA Actuator) *. - Emily A. Allen; John P. Swensen (IROS, 2020)

Resultant Radius of Curvature of Stylet-and-Tube Steerable Needles Based on the Mechanical Properties of the Soft Tissue, and the Needle. - Fan Yang 101; Mahdieh Babaiasl; Yao Chen; Jow-Lian Ding; John P. Swensen (IROS, 2020)

Duty Cycling of Waterjet Can Improve Steerability and Radius-of-Curvature (ROC) for Waterjet Steerable Needles. - Mahdieh Babaiasl; Fan Yang 101; John P. Swensen (ISMR, 2020)

Predictive mechanics-based model for depth of cut (DOC) of waterjet in soft tissue for waterjet-assisted medical applications. - Mahdieh Babaiasl; Stefano Boccelli; Yao Chen; Fan Yang 101; Jow-Lian Ding; John P. Swensen (Medical Biol. Eng. Comput., 2020)

Robotic needle steering: state-of-the-art and research challenges. - Mahdieh Babaiasl; Fan Yang 101; John P. Swensen (Intell. Serv. Robotics, 2022)

Provably-stable neural network-based control of nonlinear systems. - Anran Li 005; John P. Swensen; Mehdi Hosseinzadeh 002 (Eng. Appl. Artif. Intell., 2024)

A Guaranteed-Stable Neural Network Approach for Optimal Control of Nonlinear Systems. - Anran Li 005; John P. Swensen; Mehdi Hosseinzadeh 002 (CoRR, 2025)