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Publications

Submitted

  1. C. McFarland, F. Fuentes, A. Fick, L. H. Blumenschein, and M. M. Coad, "Why Robots Should Grow Like Vines" (submitted).

2024

  1. K. Schäffer, U. Fallon, and M. M. Coad, "Stretchable Pneumatic Sleeve for Adaptable, Low-Displacement Anchoring in Exosuits," in IEEE International Conference on Soft Robotics, 2024 (in press). PDF Video
  2. T. Zheng, C. McFarland, M. M. Coad, and H. Lin, "Estimating Infinite-Dimensional Continuum Robot States From the Tip," in IEEE International Conference on Soft Robotics, 2024 (in press). PDF Video
  3. K. Schäffer, Y. Ozkan-Aydin, and M. M. Coad, "Soft Wrist Exosuit Actuated by Fabric Pneumatic Artificial Muscles," IEEE Transactions on Medical Robotics and Bionics, 2024 (in press). Paper PDF Video
  4. Y. A. Oquendo, M. M. Coad, S. M. Wren, T. S. Lendvay, I. Nisky, A. M. Jarc, A. M. Okamura, and Z. Chua, "A Comparison of Haptic Guidance and Haptic Error Amplification in a Virtual Surgical Robotic Training Environment," IEEE Transactions on Haptics, 2024 (in press). Paper PDF

2023

  1. M. R. Mitchell, C. McFarland, and M. M. Coad, "Soft Air Pocket Force Sensors for Large Scale Flexible Robots," in IEEE International Conference on Soft Robotics, 2023, pp. 1-8. Paper PDF Video
  2. M. C. Doerfler, K. Schäffer, and M. M. Coad, "Hybrid Soft-Rigid Continuum Robot Inspired by Spider Monkey Tail," in IEEE International Conference on Soft Robotics, 2023, pp. 1-6. Paper PDF Video
  3. C. McFarland and M. M. Coad, "Collapse of Straight Soft Growing Inflated Beam Robots Under Their Own Weight," in IEEE International Conference on Soft Robotics, 2023, pp. 1-8. Paper PDF Video

2022

  1. N. G. Badillo Perez and M. M. Coad, "Self-Propelled Soft Everting Toroidal Robot for Navigation and Climbing in Confined Spaces," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022, pp. 5409-5415. Paper PDF Video
  2. I. Exarchos, K. Wang, B. H. Do, F. Stroppa, M. M. Coad, A. M. Okamura, and C. K. Liu, "Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints," in IEEE International Conference on Robotics and Automation, 2022, pp. 7145-7151. Paper PDF

2021

  1. W. E. Heap, N. D. Naclerio, M. M. Coad, S. Jeong, and E. W. Hawkes, "Soft Retraction Device and Internal Camera Mount for Everting Vine Robots," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021, pp. 4959-4965. Paper PDF Video Finalist for IROS 2021 Best Application Paper Award
  2. M. M. Coad, "Design, modeling, and control of vine robots for exploration of unknown environments," PhD thesis, Stanford University, 2021. Thesis PDF Presentation
  3. A. M. Gruebele*, A. C. Zerbe*, M. M. Coad, A. M. Okamura, and M. R. Cutkosky, "Distributed Sensor Networks Deployed Using Soft Growing Robots," in IEEE International Conference on Soft Robotics, 2021, pp. 66-73. Paper PDF Video *Indicates equal contribution Finalist for RoboSoft 2021 Best Paper Award

2020

  1. L. H. Blumenschein, M. M. Coad, D. A. Haggerty, A. M. Okamura, and E. W. Hawkes, "Design, modeling, control, and application of everting vine robots," Frontiers in Robotics and AI, vol. 7, p. 548266, 2020. Paper PDF
  2. S. Jeong*, M. M. Coad*, L. H. Blumenschein, M. Luo, U. Mehmood, J. Kim, A. M. Okamura, and J. Ryu, "A Tip Mount for Transporting Sensors and Tools using Soft Growing Robots," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020, pp. 8781-8788. Paper PDF Video Presentation *Indicates equal contribution Finalist for IROS 2020 Best Paper Award in Robot Mechanisms and Design
  3. F. Stroppa, M. Luo, K. Yoshida, M. M. Coad, L. H. Blumenschein, and A. M. Okamura, "Human Interface for Teleoperated Object Manipulation with a Soft Growing Robot," in IEEE International Conference on Robotics and Automation, 2020, pp. 726-732. Paper PDF Presentation Finalist for ICRA 2020 Best Paper Award in Human-Robot Interaction
  4. M. M. Coad, R. P. Thomasson, L. H. Blumenschein, N. S. Usevitch, E. W. Hawkes, and A. M. Okamura, "Retraction of Soft Growing Robots without Buckling," IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2115-2122, 2020. Paper PDF Video Presentation
  5. M. M. Coad, L. H. Blumenschein, S. Cutler, J. A. Reyna Zepeda, N. D. Naclerio, H. El-Hussieny, U. Mehmood, J. Ryu, E. W. Hawkes, and A. M. Okamura, "Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration," IEEE Robotics and Automation Magazine, vol. 27, no. 3, pp. 120-132, 2020. Paper PDF Video Presentation Winner of RAM Best Paper Award for 2020

2019

  1. F. Stroppa, M. Luo, G. Gerboni, M. M. Coad, J. Walker, and A. M. Okamura, "Human-Centered Control of a Growing Soft Robot for Object Manipulation," in IEEE World Haptics Conference Work-In-Progress, 2019. PDF
  2. Y. A. Oquendo, Z. Chua, M. M. Coad, I. Nisky, A. Jarc, S. Wren, T. S. Lendvay, and A. M. Okamura, "Robot-Assisted Surgical Training Over Several Days in a Virtual Surgical Environment with Divergent and Convergent Force Fields," in Hamlyn Symposium, 2019. PDF

2018

  1. N. Enayati, A. M. Okamura, A. Mariani, E. Pellegrini, M. M. Coad, G. Ferrigno, and E. De Momi, "Robotic Assistance-as-Needed for Enhanced Visuomotor Learning in Surgical Robotics Training: An Experimental Study," in IEEE International Conference on Robotics and Automation, 2018, pp. 6631-6636. Paper Video

2017

  1. M. M. Coad, A. M. Okamura, S. Wren, Y. Mintz, T. Lendvay, A. M. Jarc, and I. Nisky, "Training in Divergent and Convergent Force Fields During 6-DOF Teleoperation with a Robot-Assisted Surgical System," in IEEE World Haptics Conference, 2017, pp. 195-200. Paper