Journal Articles
- J11. P. So, A. Sarabakha, F. Wu, U. Culha, F.J. Abu-Dakka, S. Haddadin, “Digital Robot Judge: Building a Task-centric Performance Database of Real-World Manipulation With Electronic Task Boards”, IEEE Robotics & Automation Magazine, pp. 2-14, 2024. DOI: 10.1109/MRA.2023.3336473
- J10. H. Daguerre, S.O. Demir, U. Culha, F. Marionnet, M. Gauthier, M. Sitti, and A. Bolopion, “A Localization Method for Untethered Small-Scale Robots Using Electrical Impedance Tomography”, IEEE/ASME Transactions on Mechatronics, pp. 1-11, 2022. DOI: 10.1109/TMECH.2022.3142924
- J9. G. Dogan, S.O. Demir, R. Gutzler, H. Gruhn, C.B. Dayan, U.T. Sanli, C. Silber, U. Culha, M. Sitti, G. Schütz, C. Grévent, and K. Keskinbora, “Bayesian Machine Learning for Efficient Minimization of Defects in ALD Passivation Layers”, ACS Applied Materials & Interfaces, vol. 13, no. 45, pp. 54503–54515, 2021. DOI: 10.1021/acsami.1c14586
- J8. S.O. Demir, U. Culha, A.C. Karacakol, A. Pena-Francesch, S. Trimpe, and M. Sitti, “Task space adaptation via the learning of gait controllers of magnetic soft Millirobots”, International Journal of Robotics Research, vol. 40, no. 12-14, pp. 1331-1351, 2021. DOI: 10.1177/02783649211021869
- J7. U. Culha, Z.S. Davidson, M. Mastrangeli, and M. Sitti, Statistical reprogramming of macroscopic self-assembly with dynamic boundaries”, Proceedings of the National Academy of Sciences, vol. 117, no. 21, pp. 11306 – 11313, 2020. DOI: 10.1073/pnas.2001272117
- J6. J. Hughes, U. Culha, F. Giardina, F. Guenther, A. Rosendo, and F. Iida, “Soft manipulators and grippers: a review”, Frontiers in Robotics and AI, vol. 3, p. 69, 2016. DOI: 10.3389/frobt.2016.00069
- J5. U. Culha and F. Iida, “Enhancement of finger motion range with compliant anthropomorphic joint design”, Bioinspiration and Biomimetics, vol. 11, no. 2, p. 026001, 2016. DOI: 10.1088/1748-3190/11/2/026001
- J4. U. Culha, S. G. Nurzaman, F. Clemens, and F. Iida, ”SVAS3 : Strain vector aided sensorization of soft structures”, Sensors, vol. 14, no. 7, pp. 12748 – 12770, 2014. DOI: 10.3390/s140712748
- J3. L. Wang, U. Culha, and F. Iida, “A dragline-forming mobile robot inspired by spiders”, Bioinspiration and Biomimetics, vol. 9, no. 1, p. 016006, 2014. DOI: 10.1088/1748-3182/9/1/016006
- J2. X. Yu, S. G. Nurzaman, U. Culha, and F. Iida, “Soft robotics education”, Soft Robotics, vol. 1, no. 3, pp. 202 – 212, 2014. DOI: 10.1089/soro.2014.0009
- J1. S. G. Nurzaman, U. Culha, L. Brodbeck, L. Wang, and F. Iida, ”Active sensing system with in situ adjustable sensor morphology”, PLoS ONE, vol. 8, no. 12, e84090, 2013. DOI: 10.1371/journal.pone.0084090
Conference Proceedings
- CP8. H. Zwirnmann, D. Knobbe, U. Culha, S. Haddadin, “Towards Flexible Biolaboratory Automation: Container Taxonomy-Based, 3D-Printed Gripper Fingers”, in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023. DOI: 10.1109/IROS55552.2023.10342218
- CP7. U. Culha, S.O. Demir, S. Trimpe, and M. Sitti, “Learning of sub-optimal gait controllers for magnetic walking soft millirobots”, in Robotics: Science and Systems (RSS), Corvalis, Oregon, USA, 2020. DOI: 10.15607/RSS.2020.XVI.070
- CP6. M. Chepisheva, U. Culha, and F. Iida, “A biologically inspired soft robotic hand using chopsticks for grasping tasks”, in 14th Int. Conf. on Simulation of Adaptive Behaviour (SAB)), pp. 195 – 206, 2016. (Best Technical Paper Award) DOI: 10.1007/978-3-319-43488-9_18
- CP5. U. Culha, U. Wani, S. G. Nurzaman, F. Clemens, and F. Iida, “Motion pattern discrimination for soft robots with morphologically flexible sensors”, in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 567 – 572, Chicago, USA, 2014. DOI: 10.1109/IROS.2014.6942616
- CP4. L. Wang, C. Peruzzi, U. Culha, M. Jovic, and F. Iida, “Modelling of continuous dragline formation in a mobile robot”, in Proc. of the IEEE Int. Conf. on Robot. (ICRA), pp. 4229 – 4234, Hong Kong, China, 2014. DOI: 10.1109/ICRA.2014.6907474
- CP3. L. Wang, U. Culha, and F. Iida, “Free-space locomotion with thread formation”, in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 4046 – 4051, Tokyo Big Sight, Japan, 2013. DOI: 10.1109/IROS.2013.6696935
- CP2. H.G. Marques, C. Maufroy, A. Lenz, K. Dalamagkidis, and U. Culha, “MYOROBOTICS: A modular toolkit for legged locomotion research using musculoskeletal designs”, in Proc. of the 6th Int. Symp. on Adaptive Motion of Animals and Machines (AMAM)), Darmstadt, Germany, 2013.
- CP1. U. Culha and U. Saranli, “Quadrupedal bounding with an actuated spinal joint”, in Proc. of the IEEE Int. Conf. on Robot. (ICRA), pp. 1392 – 1397, Shanghai, China, 2011. DOI: 10.1109/ICRA.2011.5980176
Book Chapters
- BC2. U. Culha, J. Hughes, A. Rosendo, F. Giardina, and F. Iida, “Design Principles for Soft-Rigid Hybrid Manipulators”, In Soft Robotics: Trends, Applications and Challenges, Springer, pp. 87-94, 2016. DOI: 10.1007/978-3-319-46460-2_11
- BC1. F. Iida, L. Wang, L. Brodbeck, D. Leach, S. G. Nurzaman, and U. Culha, “The Solving by Building Approach Based on Thermoplastic Adhesives”, In Robotics Research, Springer, pp 221-236, 2016. DOI: 10.1007/978-3-319-28872-7_13
Conference Abstracts
- CA2. U. Culha, Z.S. Davidson, M. Mastrangeli, and M. Sitti, ”Reprogramming granular self-assembly with the control of dynamic boundaries”, in Materials Research Society (MRS) Fall Meeting, Boston, MA, USA, December 2019.
- CA1. U. Culha, Z.S. Davidson, M. Mastrangeli, and M. Sitti, “Reprogrammable granular self-assembly”, in Gordon Research Seminar and Conference (GRS/GRC) on Soft Condensed Matter Physics, New London, NH, USA, August 2019.
Pre-prints
- PP1. A. Jiao, T. P. Patel, S. Khurana, AM. Korol, L. Brunke, V. K. Adajania, U. Culha, S. Zhou, and A. P. Schoellig, “Swarm-GPT: Combining Large Language Models with Safe Motion Planning for Robot Choreography Design”, 2023. arXiv:2312.01059