Publications: 2021 N. Ben David, and D. Zarrouk, "Design and analysis of FCSTAR, a hybrid flying and climbing sprawl tuned robot", IEEE Robotics and Automation Letters. 2020 D. Yacobi, L. Yehezkel, O. Inbar, and D. Zarrouk, "Design and modeling of a parent Big STAR robot platform that carrries a child RSTAR", Applied Sciences MDPI, 2020. PDF
L. Yehezkel, S. Berman and D. Zarrouk, "Overcoming obstacles with a reconfigurable robot using reinforcement learning", IEEE Access, 2020. PDF
G. Bitton, I. Nisky, and D. Zarrouk, "A novel grip force measurement concept for taclite stimulation mechanisms, design, validation and user study", IEEE transactions on Haptics, 2020.
A. Cohen, and D. Zarrouk, "The AmphiSTAR high speed amphibious sprawl tuned robot, design and Experiments", IEEE IROS 2020. PDF movie
T. Dachlika, and D. Zarrouk, "Mechanism of locomotion of a double screw crawling robot", Mechanism and Machine theory, vol. 153, pp. 1-15, 2020 PDF
Y. Ayalon, L. Damti, and D. Zarrouk, "Design and modeling of a minimally actuated serial robot", IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 4899-4906, 2020. PDF movie
N. Dgani,and D. Zarrouk,"Wave-like propulsion robot over flexible surface", CLAWAR 2017.
T. Dachlika, A. Sintov and D. Zarrouk,"Screw-like locomotion over compliant surfaces", CLAWAR 2017. 2016 D. Zarrouk, M. Mann, N. Dgani, A. Hess, "Single actuator wave-like robot (SAW): design, modeling and experiments", Bioinspiration and Biomimemtics, August, 2016. First robot that produces a pure wave with a single motor.PDFmovie Original Robot featured on IEEE Spectrum
D. Zarrouk, I. Sharf, and M. Shoham, "Energetic Analysis and experiments of earthworm-like locomotion with compliant contacts", Bioinspiration and Biomimemtics, Vol. 11, No. 1. 2016. PDF
2015 D. Zarrouk, R. Fearing, "Controlled In-Plane Locomotion of a Hexapod Using a Single Actuator", IEEE, Transaction on Robotics, Vol. 31, No. 1, pp. 157-167. First steerable robot that has a single actuator. PDFmovie Original Robot featured on IEEE Spectrum
2014 X. Zhang , Z. Yu , C. Wang , D. Zarrouk , J.W. Seo , J. Cheng , A. Buchan , K. Takei , Y. Zhao , J. Ager , J. Zhang , M. Hettick , M. Hersam , A. P. Pisano , R. Fearing, A. Javey, "Photoactuators and motors based on carbon nanotubes with selective chirality distributions", Nature Communications, 5, article number 2983, 2014. PDF
K. Karidis, D. Zarrouk, I. Poulakakis, R. Fearing, H.G. Tanner, "Planning with the STAR(s)", IEEE IROS 2014 PDF.
D. Zarrouk, A. Pullin, R. S. Fearing, "Locomotion of in-plane robot with continuously sliding feet", CLAWAR 2014.
D. Zarrouk, R.S. Fearing, "One-Actuator StearAble Robot (1STAR)", (Best video Award finalist IEEE ICRA 2014). movie 2013
N.J. Kohut, D. Zarrouk, K. C. Peterson, R.S. Fearing, "Aerodynamic steering of a 10cm high-speed running robot", (IROS 2013), PDF.
N.J. Kohut, A. Pullin, D. Haldane, D. Zarrouk, R.S. Fearing, "Precise Terrestrial Turning Using an Inertial Appendage", IEEE, ICRA 2013 PDF .
D. Zarrouk, I. Sharf, M. Shoham, "Energy requirements of inchworm crawling on a flexible surface and comparison to earthworm crawling", IEEE, ICRA 2013. PDF
D. Zarrouk, R.S. Fearing, "Cost of locomotion of a Dynamic Hexapedal Robot”, IEEE, ICRA 2013 PDF First locomotion model which accounts for 2D sliding and compliant legs.
2012 D. Zarrouk, I. Sharf, M. Shoham, "Conditions for Worm-Robot Locomotion in Flexible Environment: Theory and Experiments. IEEE trans. Biomedical. Vol. 59 No. 4. pp. 1057-1067, 2012. PDF
D. Zarrouk, and M. Shoham, "Analysis and design of one degree of freedom worm robots for locomotion on rigid and horizontal terrain". ASME, Journal of Mechanical design, Vol. 134 (2), 021010, Feb. 2012. movie First worm robot with a single motor. Original Robot featured on IEEE Spectrum
D. Zarrouk, R.S. Fearing, "Compliance based dynamic steering for hexapods”, IEEE, IROS 2012. PDFmovie
D. Zarrouk, I. Sharf, M. Shoham, "Energy Analysis of Worm Locomotion on Flexible Surfaces", IEEE, IROS 2012 PDF.
N.J. Kohut, D. Haldane, D. Zarrouk, R.S. Fearing, "45 Gram Legged Robot Turning by Internal Impact of An Inertial Tail”, CLAWAR 2012. PDF
A. Pullin, N. J. Kohut, D. Zarrouk, R.S. Fearing, "Dynamic Turning of 13 cm Robot Comparing Tail and Differential Drive", IEEE, ICRA, 2012. PDF
D. Zarrouk, I. Sharf, and M. Shoham, “Modeling and Experiments on Interaction Between Worm Robots and Flexible Environment”, Proceedings IEEE, ICRA, 2012.
2011 D. Zarrouk, M. Shoham, "A note on the screw triangle", ASME, Journal of Mechanisms and Robotics, Vol 3. No. 1, 014502.
D. Zarrouk, I. Sharf, & M. Shoham, “Analysis of worm-like robotic locomotion on compliant surfaces,” IEEE, Trans. On Biomedical Engineering, Vol, 58, No. 2, Feb. 2011, pp. 301-309. PDF
D. Zarrouk, and M. Shoham, "One Degree of Freedom Worm robots". ASME, The 35th Mechanisms and robotics Conference, 2011.
2010 D. Zarrouk, I. Sharf, and M. Shoham, “Worm-like robotic locomotion in flexible environment”, Advances in Robot Kinematics, pp. 81-89, 2010.
D. Zarrouk, I. Sharf, and M. Shoham, “Analysis of earthworm-like robotic locomotion on compliant surfaces,” IEEE ICRA, pp. 1574-1579, 2010.