Publications
2024
Weston-Dawkes W. P. , Majit M. R. A., Sandoval J., Ochoa E., Liu S., Horgan S., Tolley M. T., "Design of Layer Jamming Liver Retractor for Surgical Access, Deployment, and Removal", IEEE Transactions on Medical Robotics and Bionics, 6 (1), pp. 317-327 .
2023
Jia C., Ramanarayanan S., Sanchez A. L., Tolley M.T. (2023), "Controlling the Motion of Gas-Lubricated Adhesive Disks using Multiple Vibration Sources", Frontiers in Robotics and AI, 10:1231976.
Zhai Y., De Boer A., Yan J., Shih B., Faber M., Speros J., Gupta R., Tolley M. T. (2023) "Desktop Fabrication of Monolithic Soft Robotic Devices with Embedded Fluidic Control Circuits", Science Robotics, 8 (79), eadg3792.
Jadhav S. , Glick P. E., Ishida M., Chan C., Adibnazari I., Schulze J. P., Gravish N., Tolley M. T. (2023) "Scalable Fluidic Matrix Circuits for Controlling Large Arrays of Individually Addressable Actuators", Advanced Intelligent Systems, 5 (8), 2300011.
Chopra S., Vasile D., Jadhav S., Tolley M. T., Gravish N. (2023) "Toward Robotic Sensing and Swimming in Granular Environments", Advanced Intelligent System, 5 (8), 2200404.
Lathrop E., Tolley M. T., Gravish N. (2023) "Directionally Compliant Legs Enabling Crevasse Traversal in Small Ground-Based Robots", Advanced Intelligent Systems, 5 (8), 2200258.
Li G., Wong T. W., Shih B., Guo C., Wang L., Liu J., Wang T., Liu X., Yan J., Wu B., Yu F., Chen Y., Liang T., Xue Y., Wang C., He S., Wen L., Tolley M. T., Zhang A.-M. Laschi C., Li, T. (2023). Bioinspired soft robots for deep-sea exploration. Nature Communications, 14(1), 7097.
Eken K., Gravish N., Tolley M. T. (2023) "Design of a Soft Everting Robot for Exploration in Granular Media". in IEEE-RAS International Conference on Soft Robotics (RoboSoft).
2022
Yan J., Xiang R., Kamensky D., Tolley M. T., Hwang J. T. (2022) "Topology optimization with automated derivative computation for multidisciplinary design problems", Structural and Multidisciplinary Optimization, 65, 151.
Ishida M., Sandoval J. A., Lee S., Huen S., Tolley M. T. (2022) "Locomotion via active suction in a sea star-inspired soft robot", IEEE Robotics and Automation Letters/IROS, 7 (4), 10304-10311.
Zhai Y., Tolley M. T., Ng T. N. (2022) "Digital Programming of Liquid Crystal Elastomers to Achieve High-Fidelity Surface Morphing", Applied Materials Today, 27, 101501.
Glick P.E ., Adibnazari I., Drotman D., Ruffatto D., Tolley M. T. (2022) "Branching Vine Robots for Unmapped Environments", Frontiers in Robotics and AI, 9, 838913.
Minori A. F., Jadhav S., Chen H., Fong S., Tolley M. T. (2022) "Power Amplification for Jumping Soft Robots Actuated by Artificial Muscles", Frontiers in Robotics and AI, 9, 844282.
Sandoval J. A., Xu T., Adibnazari I., Deheyn D. D., Tolley M. T. (2022) "Combining suction and friction to stabilize a soft gripper to shear and normal forces, for manipulation of soft objects in wet environments", IEEE Robotics and Automation Letters/RoboSoft, 7 (2), 4134-4141.
Sandoval J. A.*, Ishida M.*, Jadhav S., Huen S., Tolley M. T. (2022) "Tuning the morphology of suction discs to enable directional adhesion for locomotion in wet environments", Soft Robotics, 9 (6), pp. 1083-1097.
Weston-Dawkes W. P., Tolley M. T. (2022) "Jamming-reinforced inflatable beams for mobile robotics", in Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), V007T07A045.
Chen J., Shih B., Adibnazari I., Park Y.-L., Tolley M. T. (2022) "Open-loop printing of liquid metal for the low-cost rapid fabrication of soft sensors", in IEEE-RAS International Conference on Soft Robotics (RoboSoft), pp 889-896.
Drotman D., Chopra S., Gravish N., Tolley M. T.(2022) "Anisotropic Forces for a Worm-Inspired Digging Robot", in IEEE-RAS International Conference on Soft Robotics (RoboSoft), pp. 261-266.
2021
Weston-Dawkes W. P., Adibnazari I., Hu Y.-W., Everman M., Gravish N., Tolley M. T. (2021), "Gas-lubricated vibration-based adhesion for robotics", Advanced Intelligent Systems, 3:7, 2100001.
Drotman D., Jadhav S., Sharp D., Chan C., and Tolley M. T., (2021), "Electronics-Free Pneumatic Circuits for Controlling Soft-Legged Robots", Science Robotics, 6:51, eaay2627.
Jadhav, S., Majit, M. R. A., Shih, B., Schulze, J. P., & Tolley, M. T. (2021), "Variable Stiffness Devices Using Fiber Jamming for Application in Soft Robotics and Wearable Haptics", Soft Robotics, 9:1, pp. 173-186.
Martinez A. et al, (2021), "Bio-inspired Geotechnical Engineering: Principles, Current Work, Opportunities and Challenges", Geotechnique, 72:8, pp. 687-705.
Hawkes E. W., Majidi C., Tolley M. T. (2021) "Hard questions for soft robotics", Science Robotics, 6:53, eabg6049.
Chopra S., Jadhav S., Tolley M.T., Gravish N. (2021) "Mechanical and actuation asymmetry in soft appendages leads to robotic propulsion in granular media." Adaptive Motion in Animals and Machines, virtual.
2020
Sandoval J. A., Sommers J., Peddireddy K. R., Robertson-Anderson R. M., Tolley M. T., Deheyn D. D. (2020), "Toward bioinspired wet adhesives: Lessons from assessing surface structures of the suction disc of intertidal clingfish", ACS Applied Materials and Interfaces, 12: 40, 45460-45475.
Shih B., Shah D. S., Li J., Thuruthel T. G., Park Y.-L., Iida F., Bao Z., Kramer-Bottiglio R., Tolley M. T. (2020), “Electronic skins and machine learning for intelligent soft robots”, Science Robotics, 5:41, eaaz9239.
Christianson C., Cui Y., Ishida M., Bi X., Zhu Q., Pawlak G., Tolley M. T., (2020), "Cephalopod-Inspired Robot Capable of Cyclic Jet Propulsion Through Shape Change", Bioinspiration and Biomimetics, 16, 016014.
Minori A., He Q., Glick P.E., Adibnazari I., Stopol A., Cai S. Tolley M. T. (2020), "Reversible actuation for self-folding modular machines using liquid crystal elastomer", Smart Materials and Structures, 29:10, 105003.
Leps T., Glick P., Ruffatto III D., Parness A., Tolley M. T., Hartzell C., (2020), "A Low-Power, Jamming, Magnetorheological Valve Using Electropermanent Magnets Suitable for Distributed Control in Soft Robots", Smart Materials and Structures, 29:10, 105025.
Glick P. E., Drotman D., Ruffatto D., Tolley M. T. (2020) "High Strength Inflatable Pouch Anchors", IEEE Robotics and Automation Letters/Robosoft, 5:3, pp. 3761-3767.
Chopra S., Tolley M. T., Gravish N. (2020) "Granular Jamming Feet Enable Improved Foot-Ground Interactions for Robot Mobility on Deformable Ground", IEEE Robotics and Automation Letters/Robosoft, 5:3, pp. 3975-3981.
Su F. Y., Sabet F. A., Tang K., Pang S., Tolley M. T., Jasiuk I., McKittrick J., (2020) "Scale and Size Effects on the Mechanical Properties of Bioinspired 3D Printed Two-phase Composites", Journal of Materials Research and Technology, 9:6, pp. 14945-14959.
Hermes, M., Ishida, M., Luhar, M., Tolley, M. T. (2020), "Bioinspired Shape-Changing Soft Robots for Underwater Locomotion: Actuation and Optimization for Crawling and Swimming", In Paley, D. A.,, Wereley, N. M. (Eds.), Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems (pp. 7-39).
Glick P. E., Van Crey N., Tolley M. T., Ruffatto D. (2020), "Robust capture of unknown objects with a highly under-actuated gripper", in IEEE International Conference on Robotics and Automation, pp. 3996-4002.
Adibnazari, I., Jeon, B. J., Park, Y.-L., Tolley, M. T. (2020), "Versatile rotary actuators for small-scale robotic systems", in 2020 IEEE-RAS International Conference on Soft Robotics (RoboSoft), pp. 873-878.
Lathrop, E., Adibnazari, I., Gravish, N., Tolley, M.T. (2020), "Shear Strengthened Granular Jamming Feet for Improved Performance over Natural Terrain", in 2020 IEEE-RAS International Conference on Soft Robotics (Robosoft), pp. 388-393.
Shih, B., Lathrop, E., Adibnazari, I., Martin, R., Park, Y.-L., Tolley, M.T. (2020), "Classification of components of affective touch using rapidly manufacturable, soft, sensor skins", in 2020 IEEE-RAS International Conference on Soft Robotics (ROSO20), pp. 182-187.
2019
Christianson, C., Bayag, C., Li, G., Jadhav, S., Giri, A., Agba, C., Li, T., Tolley, M. T. (2019). "Jellyfish-Inspired Soft Robot Driven by Fluid Electrode Dielectric Organic Robotic Actuators", Frontiers in Robotics and AI, 6, 126.
He Q., Wang Z., Wang Y., Minori A., Tolley M.T., Cai S. (2019), "Electrically controlled liquid crystal elastomer–based soft tubular actuator with multimodal actuation", Science Advances, 5:10, eaax5746.
Sandoval J.A., Jadhav S., Quan H., Deheyn D.D., Tolley M. T. (2019) "Reversible adhesion to rough surfaces both in and out of water, inspired by the clingfish suction disc", Bioinspiration and Biomimetics, 14, 066016.
Ishida M., Drotman D., Shih B., Hermes M., Luhar M., and Tolley M. T. (2019), "Morphing structure for changing hydrodynamic characteristics of a soft robot walking underwater", IEEE Robotics and Automation Letters, 4 (4), 4163-4169.
Thuruthel T. G.*, Shih B.*, Laschi C., Tolley M. T. (2019) "Soft robot perception using embedded soft sensors and recurrent neural networks", Science Robotics, 4:26, eaav1488.
Shih B., Christianson C., Gillespie K., Lee S., Mayeda J., Huo Z., Tolley M. T. (2019) "Design considerations for 3D printed, soft, multimaterial resistive sensors for soft robotics", Frontiers in Robotics and AI, 6, 30.
Ortiz D., Gravish N., Tolley M. T. (2019) "Soft Robot Actuation Strategies for Locomotion in Granular Substrates", IEEE Robotics and Automation Letters, 4:3, pp. 2630 - 2636 .
Yan, J., Li, N., Luo, T., Tolley, M. T., and Hwang, J. T. (2019), "Optimal control and design of an underactuated ball-pitching robotic arm using large-scale multidisciplinary optimization", AIAA Aviation 2019 Forum. (AIAA 2019-3450)
Luong J.*, Glick P.*, Ong A.*, deVries M. S., Sandin S., Hawkes E. W., Tolley M. T. (2019) "Eversion and Retraction of a Soft Robot Towards the Exploration of Coral Reefs", in IEEE-RAS International Conference on Soft Robotics (RoboSoft), April 2019, pp. 801-807.
B. Shih, E. Lathrop, I. Adibnazari, R. Martin, Y.-L. Park, M. T. Tolley, “Towards classification of components of affective touch using rapidly manufacturable, soft, sensor skins”, RoboTac 2019 workshop, Int. Conf. on Intelligent Robots and Systems (IROS19), Macau, China, Nov. 2019.
2018
Drotman D., Ishida M., Jadhav S., Tolley M. T., (2018) "Application-Driven Design of Soft, 3D Printed, Pneumatic Actuators with Bellows", IEEE Transactions on Mechatronics, 24:1, pp. 78-87.
Rus D., Tolley M. T., (2018) "Design, fabrication and control of origami robots", Nature Reviews Materials, 3, pp. 101–112.
Christianson, C., Goldberg, N. N., Deheyn, D., Cai, S., Tolley, M. T., (2018) "Translucent Soft Robots Driven by Frameless Fluid Electrode Dielectric Elastomer Actuators", Science Robotics, 3:17, eaat1893.
Ruffatto III D., Glick P., Tolley M.T., Parness A., (2018), "Long Duration Surface Anchoring with a Hybrid Electrostatic and Gecko-Inspired Adhesive", IEEE Robotics and Automation Letters, 3:4, pp. 4201 - 4208.
Glick P., Suresh S.A., Ruffatto III D., Cutkosky M., Tolley M.T., Parness, A., (2018) "A soft robotic gripper with gecko-inspired adhesive", IEEE Robotics and Automation Letters, 3:2, pp. 903 - 910.
An B., Miyashita S., Ong A., Tolley M. T., Demaine M., Demaine E., Wood R., Rus D. (2018) "An End-to-End Approach to Self-Folding Origami Structures", IEEE Transactions on Robotics, 13:6, pp. 1409-1424.
Shih B., Mayeda J., Huo Z., Christianson C., and Tolley M. T. (2018) "3D printed resistive soft sensors," in 2018 IEEE-RAS International Conference on Soft Robotics (RoboSoft), Livorno Italy, Apr 2018, pp 152-157. *Best Poster Finalist*
Christianson, C., Goldberg, N. N., Tolley, M. T. (2018) "Elastomeric diaphragm pump driven by fluid electrode dielectric elastomer actuators (FEDEAs)," in SPIE Electroactive Polymer Actuators and Devices (EAPAD) XX, Denver CO, March 2018, 105940O.
2017
Kumar K.*, Liu J.*, Christianson C., Ali M., Tolley M. T., Aizenberg J., Ingber D. E., Weaver J. C., Bertoldi K., (2017) "Biologically Inspired Functionally Graded End Effectors for Soft Robotic Applications", Soft Robotics, 4:4, pp. 317-323.
Kim Y. S., Lu J., Shih B., Gharibans A., Zou Z., Matsuno K., Aguilera R., Xiao J., Meek A., Tolley M. T., Coleman T. P. (2017) “Scalable Manufacturing of Solderable and Stretchable Physiologic Sensing Systems”, Advanced Materials, 1701312.
Polygerinos P., Correll N., Morin S. A., Mosadegh B., Onal C. D., Petersen K., Cianchetti M., Tolley M. T., Shepherd, R. F. (2017), "Soft Robotics: Review of Fluid-Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human-Robot Interaction", Advanced Engineering Materials, e201700016.
Kalisky T., Wang Y., Shih B., Drotman D., Jadhav S., Aronoff-Spencer E., and Tolley M. T. (2017) “Differential Pressure Control of 3D Printed Soft Fluidic Actuators,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sept 2017, pp. 6207–6213.
Shih B., Drotman D., Christianson C., Huo Z., White R., Christensen H. I., and Tolley M. T. (2017) “Custom Soft Robotic Gripper Sensor Skins for Haptic Object Visualization,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Sept 2017, pp. 494–501.
Weston-Dawkes W. P., Ong A. C., Majit M. R. A., Joseph F., and Tolley M. T. (2017) “Towards Rapid Mechanical Customization of cm-scale Self-Folding Agents,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sept 2017, pp. 4312–4318.
Minori A., Jadhav S., He Q., Cai S., Tolley M. T. (2017) "Reversible actuation of origami inspired composites using liquid crystal elastomers", ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Snowbird UT, Sept. 2017, V001T08A015. *Best Student Paper Finalist*
Drotman D., Jadhav S., Karimi M., deZonia P., Tolley M. T., (2017) "3D Printed Soft Actuators for a Legged Robot Capable of Navigating Unstructured Terrain", Int. Conf. on Robotics and Automation (ICRA), Singapore, May 2017, pp. 5532-5538.
Christianson C., Goldberg N. , Cai S., Tolley M. T., (2017) “Fluid electrodes for submersible robotics based on dielectric elastomer actuators,” SPIE Electroactive Polymer Actuators and Devices (EAPAD) XIX, Portland OR, March 2017. *Winner of First Place SPIE Best Student Paper Award*
Jadhav S., Kannanda V., Kang B., Tolley M. T., Schulze J. P., (2017) "Soft robotic glove for kinesthetic haptic feedback in virtual reality environments", IS&T Electronic Imaging: The Engineering Reality for Virtual Reality proceedings, IS&T Springfield VA, 2017, pp. 19-24.
Kalisky T., Tolley M. T. (2017) " Starfish Inspired Actuation of Soft Robotic Tube Feet ", Robotics Inspired Biology Workshop, Int. Conf. on Intelligent Robots and Systems (IROS), Vancouver, Sept. 2017.
Shih B., Drotman D., Christianson C., Mayeda J., Tolley M. T. (2017) "Towards Rapid Fabrication of Sensors for Haptic Interaction and Perception in Soft Robot Hands", Soft Morphological Design for Haptic Sensation, Interaction and Display workshop, Int. Conf. on Intelligent Robots and Systems (IROS), Vancouver, Sept. 2017.
Shih B., Drotman D., Christianson C., Lee S., Tolley M. T. (2017) "Towards Rapid Fabrication of Soft Robot Hands for Haptic Object Visualization", Robotic Materials workshop, Robotics: Science and Systems (RSS), Boston, MA, July 2017.
2016
Schultz J., Mengüç Y., Tolley M., Vanderborght B., (2016) "What Is the Path Ahead for Soft Robotics?", Soft Robotics, 3(4), pp. 159-160.
Nisser M., Felton S., Tolley M. T., Rubenstein M., Wood R. (2016) "Feedback-Controlled Self-Folding of Autonomous Robot Collectives", Int. Conf. on Intelligent Robots and Systems (IROS), Daejeon, Korea, Oct. 2016, pp. 1254-1261.
Koh J.S., Aukes D.M., Araki B., Pohorecky S., Mulgaonkar Y., Tolley M. T., Kumar V., Rus D., Wood, R.J. (2016) "A Modular Folded Laminate Robot Capable of Multi Modal Locomotion". In International Symposium on Experimental Robotics, Tokyo, Japan, pp. 59-70.
Haj-Omar A., Kim Y.-S., Glick P., Tolley M. T., Thompson II W., Coleman T. (2016) "Stretchable and Flexible Adhesive-Integrated Antenna for Biomedical Applications", IEEE International Symposium on Antennas and Propagation/USNC-URSI National Radio Science, Fajardo, PR, June 2016, pp. 459-460.
Mulgaonkar Y., Araki B., Koh J.-S., Guerrero-Bonilla L., Aukes D. M., Makineni A., Tolley M. T., Rus D., Wood R. J., Kumar V. (2016) “The Flying monkey: a multifunctional mesoscale robot that can run, fly, and grasp”, Int. Conf. on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016, pp. 4672-4679.
Minori A., Shih B., Christianson C., Tolley M. T., "3D Printed Shape Memory Polymer Composite for Fabric Actuation", Robot Makers 2 Workshop, Robotics: Science and Systems (RSS), Ann Arbor, MI, June 2016.
Dezonia P., Drotman D., Tolley M. (2016) "Low-Cost Open-Source Mechanical Tester for Soft Robotics", Robot Makers 2 Workshop, Robotics: Science and Systems (RSS), Ann Arbor, MI, June 2016.
2015
Bezzo, N., Mehta, A., Onal, C., Tolley, M. T. (2015) "Robot Makers: The Future of Digital Rapid Design and Fabrication of Robots", in Robotics & Automation Magazine, IEEE , 22:4, pp. 27-36. *Winner of 2016 RAM Best Paper Award*
Bartlett N. W.*, Tolley M. T.*, Overvelde J.T.B., Weaver J.C., Mosadegh B., Bertoldi K, Whitesides G. M., Wood R. J. (2015) “A 3D Printed, Functionally Graded Soft Robot Powered by Combustion”, Science, 349:6244, pp. 161-165 . *these authors contributed equally to this work
Rus D., Tolley, M. T. (2015) "Design, fabrication and control of soft robots", Nature, 521, pp. 467–475.
Onal C. D., Tolley M. T., Wood R. J., Rus D. (2015) “Origami Inspired Printed Robots”, Transactions on Mechatronics, 20:5, pp. 2214-2221.
Trimmer B., Vanderborght B., Mengüç Y., Tolley M., Schultz J. (2015) "Soft Robotics as an Emerging Academic Field", Soft Robotics, 2(4), pp.131-134.
Trimmer B., Bartlett N.W., Tolley M.T. (2015) "New Developments in Soft Robotics: An Interview with Nicholas W. Bartlett and Michael T. Tolley", Soft Robotics, 2(3), pp.93-95.
Drotman D., Friesen J. M., Otani K., Tolley M. T. (2015) "Multiple Degree of Freedom Pneumatic Actuation for an Untethered Soft Robotic Quadruped", Soft Robotics: Actuation, Integration, and Applications Workshop, Int. Conf. on Robotics and Automation (ICRA), Seattle WA, May 2015.
2014
Felton S. M., Tolley M. T., Demaine E., Rus D., Wood R. J. (2014) “A Method for Building Self-Folding Machines”, Science, 345:6197, pp. 644-646.
Tolley M. T., Shepherd R. F., Mosadegh B., Galloway K. C., Wehner M., Karpelson M., Wood R. J., Whitesides G. M. (2014) “A Resilient, Untethered Soft Robot”, Soft Robotics, 1:3, pp. 213-223.
Wehner M., Tolley M. T., Menguc Y., Park Y.-L., Mozeika A., Ding Y., Onal C., Shepherd R. F., Whitesides G. M., Wood R. J. (2014), “Pneumatic Energy Sources for Autonomous and Wearable Soft Robotics”, Soft Robotics, 1:4, pp. 263-274.
Tolley M. T., Felton S. M., Miyashita S., Aukes D., Rus D., Wood R. J. (2014) “Self-folding origami: shape memory composites activated by uniform heating”, Smart Materials and Structures, 23:9, 094006.
Miyashita S., Meeker L., Tolley M. T., Wood R. J., Rus D. (2014) “Self-Folding Miniature Elastic Electric Devices”, Smart Materials and Structures, 23:9, 094005.
Tolley M. T., Shepherd R. F., Karpelson M., Bartlett N. W., Galloway K. C., Wehner M., Nunes R., Whitesides G. M., Wood R. J. (2014) “An Untethered Jumping Soft Robot”, Int. Conf. on Intelligent Robots and Systems (IROS), Chicago, IL, Sept. 2014, pp. 561-566. *JTCF Novel Technology Award Finalist*
Stergiopulos C., Vogt D., Tolley M. T., Wehner M., Barber J., Whitesides G. M., Wood R. J.(2014) “A Soft Combustion-Driven Pump for Soft Robots”, ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Newport, RI, Sept. 2014.
Felton S. M., Tolley M. T., Wood R. J. (2014) “Mechanically Programmed Self-Folding at the Millimeter Scale”, Int. Conf. on Automation Science and Engineering (CASE), Taipei, Taiwan, Aug. 2014, pp. 1232-1237.
Shin B.H., Felton S. M., Tolley M. T., Wood R. J. (2014) “Self-Assembling Sensors for Printable Machines”, Int. Conf. on Robotics and Automation (ICRA), Hong Kong, China, May 2014, pp. 4417-4422.
An B., Miyashita S., Tolley M. T., Aukes D. M., Meeker L., Demaine E. D., Demaine M. L., Wood R. J., Rus D. (2014) “An End-to-End Approach to Making Self-Folded 3D Surface Shapes by Uniform Heating”, Int. Conf. on Robotics and Automation (ICRA), Hong Kong, China, May 2014, pp. 1466-1473.
Napp N., Araki B., Tolley M. T., Nagpal R., Wood R. J. (2014) “Simple Passive Valves for Addressable Pneumatic Actuation”, Int. Conf. on Robotics and Automation (ICRA), Hong Kong, China, May 2014, pp. 1440-1445.
2013
Felton S. M., Tolley M. T., Shin B.H., Onal C. D., Demaine E., Rus D., Wood R. J. (2013) “Self-folding with shape memory composites”, Soft Matter, 9, pp. 7688-7694. *Cover article*
Tolley M. T., Felton S. M., Miyashita S., Xu L., Shin B.H., Zhou M., Rus D., Wood R. J. (2013) “Self-Folding Shape Memory Laminates for Automated Fabrication”, Int. Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, November 2013, pp. 4931-4936.
Felton S. M., Tolley M. T., Onal C. D., Rus D., Wood R. J. (2013) “Robot Self-Assembly by Folding: A Printed Inchworm Robot”, Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013, pp. 277-282.
2012
Onal C. D., Tolley M. T., Koyanagi K., Wood R. J., Rus D. (2012) “Shape Memory Alloy Actuation Of A Folded Bio-Inspired Hexapod”, IROS workshop: Smart Materials and Alternative Technologies for Bio-Inspired Robots and Systems (ATBio), Vilamoura, Portugal October, 2012.
2011
Tolley M. T., Lipson H. (2011) “On-line Assembly Planning for Stochastically Reconfigurable Systems”, International Journal of Robotics Research, 30:13, pp. 1566 - 1584.
Tolley, M. T., Lipson, H. (2011) “Programmable 3D Stochastic Fluidic Assembly of cm-Scale Modules”, IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2011), San Francisco CA, September 2011, pp. 4366-4371.
Tolley, M. T., Hiller, J., Lipson, H. (2011) "Evolutionary Design and Assembly Planning for Stochastic Modular Robots", in Bredeche N., Doncieux S. and Mouret J.-B. (Eds.), New Horizons in Evolutionary Robotics: post-proceedings of the 2010 EvoDeRob workshop, pp. 211-225. Berlin, Germany: Springer.
2010
Kalontarov M., Tolley M. T., Lipson H., Erickson D. (2010) “Hydrodynamically Driven Docking of Blocks for 3D Fluidic Assembly”, Microfluidics and Nanofluidics, 9, pp. 551–558.
Tolley M. T., Kalontarov M., Neubert J., Erickson D., Lipson H. (2010) “Stochastic Modular Robotic Systems: A Study of Fluidic Assembly Strategies”, IEEE Transactions on Robotics, 26, pp. 518-530.
Tolley, M. T., Lipson, H. (2010) “Fluidic Manipulation for Scalable Stochastic 3D Assembly of Modular Robots”, Int. Conf. on Robotics and Automation (ICRA), Anchorage AK, May 2010, pp. 2473-2478.
2009
Krishnan M., Tolley M. T., Lipson H., Erickson D. (2009) “Hydrodynamically Tunable Affinities for Fluidic Assembly”, Langmuir, 25, pp. 3769-3774.
2008
Tolley M. T., Krishnan M., Erickson D., Lipson H. (2008) “Dynamically Programmable Fluidic Assembly”, Applied Physics Letters, 93, 254105.
Krishnan M., Tolley M. T., Lipson H., Erickson D. (2008) “Increased Robustness for Fluidic Self Assembly”, Physics of Fluids, 20, 073304.
Krishnan M., Tolley M. T., Lipson H., Erickson D. (2008) “Dynamically Tunable Affinities for Fluidic Self Assembly”, Am. Inst. of Chem. Engineers (AICHE) Annual Meeting, Philadelphia PA, November 2008, 485e.
Tolley M. T., Krishnan M., Lipson H., Erickson D. (2008) “Advances Towards Programmable Matter”, Int. Conf. Miniaturized Systems for Chemistry and Life Sciences (MicroTAS), San Diego CA, October 2008, pp. 653-655.
Chung M., Malone E., Tolley M. T., Chepaitis A. J., Lipson H. (2008) “Object Augmentation for the Visually Impaired Using RP”, Solid Freeform Fabrication Symp. (SFF), Austin TX, August 2008.
Tolley M. T., Baisch A., Krishnan M., Erickson D., Lipson H. (2008) “Interfacing Methods for Fluidically-Assembled Microcomponents”, IEEE Int. Conf. Micro Electro Mechanical Systems (MEMS), Tucson AZ, January 2008, pp. 1073-1076.
2007
Krishnan M., Tolley M. T., Lipson H., Erickson D. (2007) “Directed Hierarchical Self Assembly - Active Fluid Mechanics at the Micro and Nanoscales”, ASME Int. Mechanical Engineering Cong. and Expo. (IMECE), Seattle WA, November 2007. *Winner of Best Presentation award*
2006
Tolley M. T., Zykov V., Lipson H., Erickson D. (2006) “Directed Fluidic Self-Assembly of Microscale Tiles”, Int. Conf. Miniaturized Systems for Chemistry and Life Sciences (MicroTAS), Tokyo Japan, October 2006, pp. 1552-1554.