Do Robotics Lab

Publications

Publications can also be found at our Google Scholar.

2025

Variable Stiffness and Variable Size Particles for Reconfigurable Granular Metamaterials

Monica S. Li, Brian H. Do, Caitlin L. Le, Cory S. O’Hern, Rebecca Kramer-Bottiglio. Variable Stiffness and Variable Size Particles for Reconfigurable Granular Metamaterials. IEEE International Conference on Soft Robotics.

2024

A Motion Planner for Growing Reconfigurable Inflated Beam Manipulators in Static Environments

Rawad EH Altagiuri, Omar HA Zaghloul, Brian H. Do, and Fabio Stroppa. A Motion Planner for Growing Reconfigurable Inflated Beam Manipulators in Static Environments. Robotics and Automation Letters.

A ceiling-mounted vine robot manipulator.

Stiffness Change for Reconfiguration of Inflated Beam Robots

Brian H. Do, Shuai Wu, Renee R. Zhao, and Allison M. Okamura. Stiffness Change for Reconfiguration of Inflated Beam Robots. Soft Robotics.

A vine robot intersecting its body in a T-junction.

Interaction Behaviors of a Vine Robot in a Pipe T-Junction

Lily Behnke, Brian H. Do, Sofia Eristoff, and Rebecca Kramer-Bottiglio. Interaction Behaviors of a Vine Robot in a Pipe T-Junction. IEEE International Conference on Soft Robotics.

2023

Vine robots grown into different shapes.

Passive Shape-Locking for Multi-Bend Growing Inflated Beam Robots

Rianna Jitosho*, Sofia Simón-Trench*, Allison M. Okamura, and Brian H. Do. Passive Shape-Locking for Multi-Bend Growing Inflated Beam Robots. IEEE International Conference on Soft Robotics.

2022

A soft variable impedance actuator enabled by embedded layer jamming.

An All-Soft Variable Impedance Actuator Enabled by Embedded Layer Jamming

Brian H. Do, Inrak Choi, and Sean Follmer. 2022. An All-Soft Variable Impedance Actuator Enabled by Embedded Layer Jamming. IEEE Transactions on Mechatronics.

Time sequence of tape manipulator growing and bending.

A Lightweight, High-Extension, Planar 3-Degree-of-Freedom Manipulator Using Pinched Bistable Tapes

O. Godson Osele, Allison M. Okamura, and Brian H. Do. 2022. A Lightweight, High-Extension, Planar 3-Degree-of-Freedom Manipulator Using Pinched Bistable Tapes. IEEE Conference on Robotics and Automation.

A person wearing a vest embedded with stacked pneumatic pouches.

A Large Area Wearable Soft Haptic Device Using Stacked Pneumatic Pouch Actuation

Cara M. Nunez, Brian H. Do, Andrew K. Low, Laura H. Blumenschein, Katsu Yamane, and Allison M. Okamura. 2022. A Large Area Wearable Soft Haptic Device Using Stacked Pneumatic Pouch Actuation. IEEE/RSJ International Conference on Intelligent Robots and Systems.

A vine robot actuated to a specific configuration.

Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints

Ioannis Exarchos, Karen Wang, Brian H. Do, Fabio Stroppa, Margaret M. Coad, Allison M. Okamura, and C. Karen Liu. 2022. Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints. IEEE International Conference on Robotics and Automation.

2021

A macro-mini pouch test setup.

Macro-Mini Actuation of Pneumatic Pouches for Soft Wearable Haptic Displays

Brian H. Do, Katsu Yamane, Allison M. Okamura, and Laura H. Blumenschein. 2021. Macro-Mini Actuation of Pneumatic Pouches for Soft Wearable Haptic Displays. IEEE International Conference on Robotics and Automation.

2020

A vine robot bent with dynamically reconfigurable stiffness.

Dynamically Reconfigurable Discrete Distributed Stiffness for Inflated Beam Robots

Brian H. Do, Valory Banashek, and Allison M. Okamura. 2020. Dynamically Reconfigurable Discrete Distributed Stiffness for Inflated Beam Robots. IEEE International Conference on Robotics and Automation.

2018

A vine robot wrapped around a cylinder.

Helical Actuation on a Soft Inflated Robot Body

Laura H. Blumenschein, Nathan S. Usevitch, Brian H. Do, Elliot W. Hawkes, and Allison M. Okamura. 2018. Helical Actuation on a Soft Inflated Robot Body. IEEE International Conference on Soft Robotics.