CLIMB Lab

Publications

Google Scholar →Lab GitHub →YouTube →

Last updated August 2026

2026

  1. A transformable tethered aerial platform for robot-environment interactions

    Ruobing Wang, Songnan Bai, Kaixu Dong, Hongqiang Wang, Pakpong Chirarattananon · International Journal of Robotics Research (In Press) · 2026

    PDF

  2. Parallel-elastic actuation with reactive latch elevates robotic hopping performance: Jump height and continuity

    Songnan Bai, Runze Ding, Song Li, Ruihan Jia, Ruobing Wang, Zhiyuan Zhang, Fangzheng Wang, Pakpong Chirarattananon · IEEE Transactions on Robotics · 2026

    LinkPDF

  3. A call for a performance-driven approach for soft robotics research

    Yufeng Chen, Pakpong Chirarattananon, Kaushik Jayaram · npj Robotics · 2026

    Link

  4. An aerial robot passively transforming between hovering and forward flight via aerodynamically bistable structure

    Ruihan Jia, Songnan Bai, Song Li, Fangzheng Wang, Hongqiang Wang, Pakpong Chirarattananon · IEEE/ASME Transactions on Mechatronics · 2026

    LinkPDF

2025

  1. An aerial robot achieving bimodal flight and independent attitude control through passive morphing

    Jihao Xu, Pakpong Chirarattananon · Advanced Intelligent Systems · 2025

    Link

  2. A hybrid quadrotor with a passively reconfigurable wheeled leg capable of robust terrestrial maneuvers

    Size Yu, Bingxuan Pu, Kaixu Dong, Songnan Bai, Pakpong Chirarattananon · IEEE Robotics and Automation Letters · 2025

    LinkPDF

  3. Ultrarobust and lightweight electro-pneumatic actuators for soft robotics

    Zean Yuan, Jiaxing Li, Lifu Liu, Xinyu Zhu, Wenbiao Wang, Michael D. Dickey, Guo Zhan Lum, Pakpong Chirarattananon, Jun Luo, Rui Chen · IEEE Transactions on Robotics · 2025

    Link

  4. A high-payload robotic hopper powered by bidirectional thrusters

    Song Li, Songnan Bai, Ruihan Jia, Yixi Cai, Runze Ding, Yu Shi, Fu Zhang, Pakpong Chirarattananon · IEEE Transactions on Robotics · 2025

    LinkPDF

  5. Soft aerial robots: The development of adaptive, multi‐functional and multi‐terrain aerial robots

    P. H. Nguyen, S. Hamaza, P. Chirarattananon, Y. Chen, M. Kovac · Advanced Intelligent Systems · 2025

    Link

  6. Reciprocal actuation core and modular robotic limbs for flying, swimming and running

    Song Li, Fangyuan Liu, Xin Dong, Jinwu Xiang, Daochun Li, Pakpong Chirarattananon, Zhan Tu · Communications Engineering · 2025

    Link

  7. Adaptive color Doppler for axial velocity imaging of microvessel networks

    Yang Liu, Yongchao Wang, Pakpong Chirarattananon, Jianbo Tang · IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control · 2025

    Link

  8. Hybrid locomotion at the insect scale: Combined flying and jumping for enhanced efficiency and versatility

    Yi-Hsuan Hsiao, Songnan Bai, Zhongtao Guan, Suhan Kim, Zhijian Ren, Pakpong Chirarattananon, Yufeng Chen · Science Advances · 2025

    Link
    IEEE SpectrumMIT NewsTech BriefsVeritasium

2024

  1. Corrigendum to 'Virtual camera-based visual servoing for rotorcraft using monocular camera and gyroscopic feedback' [Journal of the Franklin Institute, Volume 359, Issue 15, October 2022, Pages 8307-8330]

    Shangkun Zhong, Pakpong Chirarattananon · Journal of the Franklin Institute · 2024

    Link

  2. An agile monopedal hopping quadcopter with synergistic hybrid locomotion

    Songnan Bai, Qiqi Pan, Runze Ding, Huaiyuan Jia, Zhengbao Yang, Pakpong Chirarattananon · Science Robotics · 2024

    Link
    IEEE SpectrumTechXploreInteresting EngineeringVeritasium

  3. Dances with drones: Spatial matching and perceived agency in improvised movements with drone and human partners

    Kaixu Dong, Zhiyuan Zhang, Xiaoyu Chang, Pakpong Chirarattananon, Ray LC · Proceedings of the CHI Conference on Human Factors in Computing Systems, CHI 2024 · 2024

    Link

  4. Battery-free, wireless, and electricity-driven soft swimmer for water quality and virus monitoring

    Dengfeng Li, Jingkun Zhou, Zichen Zhao, Xingcan Huang, Hu Li, Qing’ao Qu, Changfei Zhou, Kuanming Yao, Yanting Liu, Mengge Wu, Jingyou Su, Rui Shi, Ya Huang, Jingjing Wang, Zongwen Zhang, Yiming Liu, Zhan Gao, Wooyoung Park, Huiling Jia, Xu Guo, Jiachen Zhang, Pakpong Chirarattananon, Lingqian Chang, Zhaoqian Xie, Xinge Yu · Science Advances · 2024

    Link

  5. A nonresonant and frequency up-conversion motion converter for footstep energy harvesting

    Qiqi Pan, Songnan Bai, Zhihe Long, Yi Zheng, Yuanyi Wang, Pakpong Chirarattananon, Zhengbao Yang · IEEE/ASME Transactions on Mechatronics · 2024

    Link

2023

  1. Stabilizing aerodynamic dampers for cooperative transport of a suspended payload with aerial robots

    Kaixu Dong, Runze Ding, Songnan Bai, Xinyu Cai, Pakpong Chirarattananon · Advanced Intelligent Systems · 2023

    Link

  2. Quadrolltor: A reconfigurable quadrotor with controlled rolling and turning

    Huaiyuan Jia, Runze Ding, Kaixu Dong, Songnan Bai, Pakpong Chirarattananon · IEEE Robotics and Automation Letters · 2023

    LinkPDF

  3. Aerodynamic effect for collision-free reactive navigation of a small quadcopter

    Runze Ding, Songnan Bai, Kaixu Dong, Pakpong Chirarattananon · npj Robotics · 2023

    LinkPDF

  4. Energy efficient perching and takeoff of a miniature rotorcraft

    Yi-Hsuan Hsiao, Songnan Bai, Yongsen Zhou, Huaiyuan Jia, Runze Ding, Yufeng Chen, Zuankai Wang, Pakpong Chirarattananon · Communications Engineering · 2023

    Link

  5. Aerial manipulation via modular quadrotors with passively foldable airframes

    Huaiyuan Jia, Songnan Bai, Pakpong Chirarattananon · IEEE/ASME Transactions on Mechatronics · 2023

    LinkPDF

  6. Achilles’ new heel: Shock absorbing, gait assisting and energy harvesting

    Qiqi Pan, Zhihe Long, Zhuomin Zhang, Weikang Lin, Lingling Zhang, Songnan Bai, Xiaodan Yang, Shiyuan Liu, Yong-Lae Park, Pakpong Chirarattananon, Zhengbao Yang · Nano Energy · 2023

    Link

2022

  1. Cooperative transport of a suspended payload via two aerial robots with inertial sensing

    Heng Xie, Kaixu Dong, Pakpong Chirarattananon · IEEE Access · 2022

    Link

  2. Virtual camera-based visual servoing for rotorcraft using monocular camera and gyroscopic feedback

    Shangkun Zhong, Pakpong Chirarattananon · Journal of the Franklin Institute · 2022

    LinkPDF

  3. Passive wall tracking for a rotorcraft with tilted and ducted propellers using proximity effects

    Runze Ding, Yi Hsuan Hsiao, Huaiyuan Jia, Songnan Bai, Pakpong Chirarattananon · IEEE Robotics and Automation Letters · 2022

    LinkPDF

  4. A micro aircraft with passive variable-sweep wings

    Songnan Bai, Runze Ding, Pakpong Chirarattananon · IEEE Robotics and Automation Letters · 2022

    LinkPDF

  5. A bioinspired revolving-wing drone with passive attitude stability and efficient hovering flight

    Songnan Bai, Qingning He, Pakpong Chirarattananon · Science Robotics · 2022

    Link
    SCMPIEEE SpectrumGizmodoYahoo NewsTechXplore

  6. Design, characterization, and liftoff of an insect-scale soft robotic dragonfly powered by dielectric elastomer actuators

    Yufeng Chen, Cathleen Arase, Zhijian Ren, Pakpong Chirarattananon · Micromachines · 2022

    Link

  7. SplitFlyer Air: A modular quadcopter that disassembles into two bicopters mid-air

    Songnan Bai, Pakpong Chirarattananon · IEEE/ASME Transactions on Mechatronics · 2022

    LinkPDF

  8. A quadrotor with a passively reconfigurable airframe for hybrid terrestrial locomotion

    Huaiyuan Jia, Songnan Bai, Runze Ding, Jing Shu, Yanlin Deng, Bee Luan Khoo, Pakpong Chirarattananon · IEEE/ASME Transactions on Mechatronics · 2022

    LinkPDF

  9. A one-step visual–inertial ego-motion estimation using photometric feedback

    Shixin Tan, Shangkun Zhong, Pakpong Chirarattananon · IEEE/ASME Transactions on Mechatronics · 2022

    LinkPDF

2021

  1. An efficient iterated EKF-based direct visual-inertial odometry for MAVs using a single plane primitive

    Shangkun Zhong, Pakpong Chirarattananon · IEEE Robotics and Automation Letters · 2021

    LinkPDF

  2. Collision resilient insect-scale soft-actuated aerial robots with high agility

    YuFeng Chen, Siyi Xu, Zhijian Ren, Pakpong Chirarattananon · IEEE Transactions on Robotics · 2021

    Link
    MIT NewsNPRGizmodoTechCrunchEngadgetMashableZDNet

  3. Dual-foci fast-scanning photoacoustic microscopy with 3.2-MHz A-line rate

    Jiangbo Chen, Yachao Zhang, Songnan Bai, Jingyi Zhu, Pakpong Chirarattananon, Kai Ni, Qian Zhou, Lidai Wang · Photoacoustics · 2021

    Link

  4. 3D printing of dual phase-strengthened microlattices for lightweight micro aerial vehicles

    Ran Xiao, Xiang Li, Huaiyuan Jia, James Utama Surjadi, Jingqi Li, Weitong Lin, Libo Gao, Pakpong Chirarattananon, Yang Lu · Materials & Design · 2021

    Link

2020

  1. Direct visual-inertial ego-motion estimation via iterated extended Kalman filter

    Shangkun Zhong, Pakpong Chirarattananon · IEEE Robotics and Automation Letters · 2020

    Link

  2. Universal flying objects: Modular multirotor system for flight of rigid objects

    Bingguo Mu, Pakpong Chirarattananon · IEEE Transactions on Robotics · 2020

    Link

  3. SplitFlyer: A modular quadcoptor that disassembles into two flying robots

    Songnan Bai, Shixin Tan, Pakpong Chirarattananon · IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 · 2020

    Link

  4. Towards cooperative transport of a suspended payload via two aerial robots with inertial sensing

    Heng Xie, Xinyu Cai, Pakpong Chirarattananon · IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 · 2020

    Link

  5. Electronic skin from high-throughput fabrication of intrinsically stretchable lead zirconate titanate elastomer

    Yiming Liu, Huanxi Zheng, Ling Zhao, Shiyuan Liu, Kuanming Yao, Dengfeng Li, Chunki Yiu, Shenghan Gao, Raudel Avila, Pakpong Chirarattananon, Lingqian Chang, Zuankai Wang, Xian Huang, Zhaoqian Xie, Zhengbao Yang, Xinge Yu · Research · 2020

    Link

2019

  1. A quadrotor with an origami-inspired protective mechanism

    Jing Shu, Pakpong Chirarattananon · IEEE Robotics and Automation Letters · 2019

    Link

  2. Trajectory generation for underactuated multirotor vehicles with tilted propellers via a flatness-based method

    Bingguo Mu, Pakpong Chirarattananon · IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 · 2019

    Link

  3. Design and take-off flight of a samara-inspired revolving-wing robot

    Songnan Bai, Pakpong Chirarattananon · 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 · 2019

    Link

  4. Formation-based 3D mapping of micro aerial vehicles

    Mark Lester F. Padilla, Pakpong Chirarattananon, Argel A. Bandala, Ryan Rhay P. Vicerra, Renann G. Baldovino, Elmer P. Dadios · IEEE/SICE International Symposium on System Integration, SII 2019 · 2019

    Link

  5. Ceiling effects for hybrid aerial-surface locomotion of small rotorcraft

    Yi Hsuan Hsiao, Pakpong Chirarattananon · CoRR · 2019

    Link

  6. Controlled flight of a microrobot powered by soft artificial muscles

    Yufeng Chen, Huichan Zhao, Jie Mao, Pakpong Chirarattananon, E. Farrell Helbling, Nak-seung Patrick Hyun, David R. Clarke, Robert J. Wood · Nature · 2019

    Link
    Harvard GazetteEngadgetIEEE SpectrumDaily Mail

2018

  1. Aeromechanic models for flapping-wing robots with passive hinges in the presence of frontal winds

    Zhiwei Li, Sompol Suntharasantic, Songnan Bai, Pakpong Chirarattananon · IEEE Access · 2018

    LinkPDF

  2. Simplified quasi-steady aeromechanic model for flapping-wing robots with passively rotating hinges

    Zhiwei Li, Sompol Suntharasantic, Pakpong Chirarattananon · 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, May 21-25, 2018 · 2018

    LinkPDF

  3. Ceiling effects for surface locomotion of small rotorcraft

    Yi Hsuan Hsiao, Pakpong Chirarattananon · 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 · 2018

    LinkPDF

  4. A direct optic flow-based strategy for inverse flight altitude estimation with monocular vision and IMU measurements

    Pakpong Chirarattananon · Bioinspiration & biomimetics · 2018

    PDF

2017

  1. Stabilizing air dampers for hovering aerial robotics: Design, insect-scale flight tests, and scaling

    Sawyer B. Fuller, Zhi Ern Teoh, Pakpong Chirarattananon, Néstor Osvaldo Pérez-Arancibia, Jack D. Greenberg, Robert J. Wood · Autonomous Robots · 2017

    LinkPDF

  2. A biologically inspired, flapping-wing, hybrid aerial-aquatic microrobot

    Hongqiang Wang, E. Farrell Helbling, Noah T. Jafferis, Raphael Zufferey, Aaron C. Ong, Kevin Y. Ma, Nicholas G. Gravish, Pakpong Chirarattananon, Mirko Kovac, Robert J. Wood · Science Robotics · 2017

    Link
    Harvard SEASAAAS ScienceBoston GlobeForbesTechCrunchThe VergeEngadgetPopular MechanicsDaily Mail

  3. Adaptive control for multirotor systems with completely uncertain dynamics

    Bingguo Mu, Ee Huei Ng, Pakpong Chirarattananon · 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 · 2017

    LinkPDF

  4. Dynamics and flight control of a flapping-wing robotic insect in the presence of wind gusts

    Pakpong Chirarattananon, Yufeng Chen, E Farrell Helbling, Kevin Y Ma, Richard Cheng, Robert J Wood · Interface Focus · 2017

    PDF

2016

  1. Perching with a robotic insect using adaptive tracking control and iterative learning control

    Pakpong Chirarattananon, Kevin Y. Ma, Robert J. Wood · The International Journal of Robotics Research · 2016

    LinkPDF

  2. Perching and takeoff of a robotic insect on overhangs using switchable electrostatic adhesion

    MA Graule, P Chirarattananon, SB Fuller, NT Jafferis, KY Ma, M Spenko, R Kornbluh, RJ Wood · Science · 2016

    PDFSupplementary material (PDF)
    Harvard GazetteBBCThe GuardianWSJNY TimesForbes

  3. Aerodynamics, sensing and control of insect-scale flapping-wing flight

    Wei Shyy, Chang-kwon Kang, Pakpong Chirarattananon, Sridhar Ravi, Hao Liu · Proceedings of the Royal Society A · 2016

    PDF

2015

  1. Wind disturbance rejection for an insect-scale flapping-wing robot

    Pakpong Chirarattananon, Kevin Y. Ma, Richard Cheng, Robert J. Wood · 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 · 2015

    LinkPDF

  2. Design and fabrication of an insect-scale flying robot for control autonomy

    Kevin Y. Ma, Pakpong Chirarattananon, Robert J. Wood · 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 · 2015

    LinkPDF

2014

  1. Fly on the wall

    Pakpong Chirarattananon, Kevin Y. Ma, Robert J. Wood · 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, Brazil, August 12-15, 2014 · 2014

    LinkPDF

    Best paper award finalist.

  2. Single-loop control and trajectory following of a flapping-wing microrobot

    Pakpong Chirarattananon, Kevin Y. Ma, Robert J. Wood · 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, May 31 - June 7, 2014 · 2014

    LinkPDF

  3. Flight control of a millimeter-scale flapping-wing robot

    Pakpong Chirarattananon · Harvard University · 2014

  4. Adaptive control of a millimeter-scale flapping-wing robot

    Pakpong Chirarattananon, Kevin Y Ma, Robert J Wood · Bioinspiration & biomimetics · 2014

    PDF

    Highlighted article of 2014, Bioinspiration & Biomimetics.

  5. Using a MEMS gyroscope to stabilize the attitude of a fly-sized hovering robot

    Sawyer B Fuller, E Farrell Helbling, Pakpong Chirarattananon, Robert J Wood · IMAV 2014: International Micro Air Vehicle Conference and Competition 2014, Delft, The Netherlands, August 12-15, 2014 · 2014

    PDF

2013

  1. Identification of flight aerodynamics for flapping-wing microrobots

    Pakpong Chirarattananon, Robert J. Wood · 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013 · 2013

    LinkPDF

  2. Adaptive control for takeoff, hovering, and landing of a robotic fly

    Pakpong Chirarattananon, Kevin Y. Ma, Robert J. Wood · 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 · 2013

    LinkPDF

    Best student paper award finalist.

  3. Controlled flight of a biologically inspired, insect-scale robot

    Kevin Y Ma, Pakpong Chirarattananon, Sawyer B Fuller, Robert J Wood · Science · 2013

    PDF
    Harvard GazetteThe EconomistNY TimesBBCThe GuardianUSA TodayLA TimesScientific American

2012

  1. Wing trajectory control for flapping-wing microrobots using combined repetitive and minimum-variance adaptive methods

    Pakpong Chirarattananon, Néstor Osvaldo Pérez-Arancibia, Robert J. Wood · American Control Conference, ACC 2012 · 2012

    LinkPDF

  2. A hovering flapping-wing microrobot with altitude control and passive upright stability

    Zhi Ern Teoh, Sawyer B. Fuller, Pakpong Chirarattananon, Néstor Osvaldo Pérez-Arancibia, Jack D. Greenberg, Robert J. Wood · 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 · 2012

    LinkPDF

2011

  1. Pitch-angle feedback control of a biologically inspired flapping-wing microrobot

    Néstor Osvaldo Pérez-Arancibia, Pakpong Chirarattananon, Benjamin M. Finio, Robert J. Wood · 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 · 2011

    LinkPDF

    Best paper in Biomimetics award finalist.