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Publications:

                                                                                           2018
D. Zarrouk, L. Yeheskel, "Rising STAR, a Highly Reconfigurable Sprawl Tuned Robot", IEEE Robotics and Automation Letters. PDF

                                                                                           2017
M. Mann, L. Damti, G. Tirosh, D. Zarrouk, "Minimally actuates serial robot", Robotica, First robot that mobile motors which travel on the links.  PDF     movie
Original Robot featured on IEEE Spectrum

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.
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                                                                                            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. PDF     movie
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.   PDF    movie
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.

D. Zarrouk, A. Pullin, N.J. Kohut, R.S. Fearing, "STAR - Sprawl Tuned Autonomous Robot”,  IEEE, ICRA 2013 PDF       movie    First robot that Sprawls its legs (very high performance). 
Original Robot featured on IEEE Spectrum

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. PDF    movie

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.