Inchworm-Inspired Locomotion in Untethered Soft Robots. - Timothy R. Duggan; Logan Horowitz; Asena Ulug; Emilie Baker; Kirstin Petersen (RoboSoft, 2019)

Closed-Form Non-Singular Constant-Curvature Continuum Manipulator Kinematics. - Thomas F. Allen; Levi Rupert; Timothy R. Duggan; Gabriel Hein; Kevin Albert (RoboSoft, 2020)

Improved Continuum Joint Configuration Estimation Using a Linear Combination of Length Measurements and Optimization of Sensor Placement. - Levi Rupert; Timothy R. Duggan; Marc D. Killpack (Frontiers Robotics AI, 2021)

Optimal Design of Continuum Robots With Reachability Constraints. - Hyunmin Cheong; Mehran Ebrahimi; Timothy R. Duggan (IEEE Robotics Autom. Lett., 2021)