Granular Jamming Feet Enable Improved Foot-Ground Interactions for Robot Mobility on Deformable Ground. - Shivam Chopra; Michael Thomas Tolley; Nick Gravish (IEEE Robotics Autom. Lett., 2020)

Anisotropic Forces for a Worm-Inspired Digging Robot. - Dylan Drotman; Shivam Chopra; Nick Gravish; Michael Thomas Tolley (RoboSoft, 2022)

Toward Robotic Sensing and Swimming in Granular Environments using Underactuated Appendages. - Shivam Chopra; Drago Vasile; Saurabh Jadhav; Michael Thomas Tolley; Nick Gravish (Adv. Intell. Syst., 2023)