Programmable Pressure Amplification Using a Soft Folding Actuator. - Zachary Brei; R. Brent Gillespie (RoboSoft, 2022)

Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects. - Yizhou Chen; Yiting Zhang; Zachary Brei; Tiancheng Zhang 002; Yuzhen Chen; Julie Wu; Ram Vasudevan (CoRL, 2024)

HASEL Actuator Design for Out-of-Plane Bending: A Parametric Study of Planar Geometry. - Zachary Brei; Chae Woo Lim; Anneliese Ferguson; Anvay A. Pradhan; Varshni Vinayagam Sangeetha; Xiangyun Bu; Brent Usui; Daniel B. Johnson; Ram Vasudevan; Talia Y. Moore (RoboSoft, 2024)

TALE-teller: Tendon-Actuated Linked Element Robotic Testbed for Investigating Tail Functions. - Margaret J. Zhang; Anvay A. Pradhan; Zachary Brei; Xiangyun Bu; Xiang Ye; Saima Jamal; Chae Woo Lim; Xiaonan Huang; Talia Y. Moore (CoRR, 2024)

The "Fluid Jacobian": Modeling force-motion relationships in fluid-driven soft robots. - C. David Remy; Zachary Brei; Daniel Bruder; Jan Remy; Keith W. Buffinton; R. Brent Gillespie (Int. J. Robotics Res., 2024)

Serving Time: Real-Time, Safe Motion Planning and Control for Manipulation of Unsecured Objects. - Zachary Brei; Jonathan B. Michaux; Bohao Zhang; Patrick D. Holmes; Ram Vasudevan (IEEE Robotics Autom. Lett., 2024)