publications

2027

1. 

   PHABS (Portable Haptic Assisted Bimanual System) for Force-Annotated Bimanual Shared Object Teleoperated Data

   In preparation for ICRA 2027, 2027

   Bib

   @article{joyce2027phabs,
     title = {PHABS (Portable Haptic Assisted Bimanual System) for Force-Annotated Bimanual Shared Object Teleoperated Data},
     journal = {In preparation for ICRA 2027},
     year = {2027},
   }

2. 

   How Safe Is Robotic Infant Handling? Benchmarking Learning from Demonstration Against Clinical Thresholds for Neonatal Pickup and CPAP Mask Repositioning

   In preparation for ICRA 2027, 2027

   Bib

   @article{joyce2027ric,
     title = {How Safe Is Robotic Infant Handling? Benchmarking Learning from Demonstration Against Clinical Thresholds for Neonatal Pickup and CPAP Mask Repositioning},
     journal = {In preparation for ICRA 2027},
     year = {2027},
   }

2026

1. 

   In vivo feasibility study of humanoid robots in surgery

   Zekai Liang, Nikita Thareja, Peihan Zhang, Calvin Joyce, Soofiyan Atar, Florian Richter, Garth Jacobsen, Shanglei Liu, Ryan Broderick, and Michael C. Yip

   Nature, 2026

   DOI Bib HTML

   @article{liang2026invivo,
     title = {In vivo feasibility study of humanoid robots in surgery},
     author = {Liang, Zekai and Thareja, Nikita and Zhang, Peihan and Joyce, Calvin and Atar, Soofiyan and Richter, Florian and Jacobsen, Garth and Liu, Shanglei and Broderick, Ryan and Yip, Michael C.},
     journal = {Nature},
     year = {2026},
     doi = {10.1038/s41586-026-10796-x},
   }

2. ICRA

   LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy

   Zekai Liang, Xiao Liang, Soofiyan Atar, Sreyan Das, Zoe Chiu, Peihan Zhang, Calvin Joyce, Florian Richter, Shanglei Liu, and Michael C. Yip

   In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2026

   arXiv Bib

   @inproceedings{liang2026lapsurgie,
     title = {LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy},
     author = {Liang, Zekai and Liang, Xiao and Atar, Soofiyan and Das, Sreyan and Chiu, Zoe and Zhang, Peihan and Joyce, Calvin and Richter, Florian and Liu, Shanglei and Yip, Michael C.},
     booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2026},
   }

3. 

   ARCSnake V2: Mechanical Adaptations For An Amphibious Multi-Domain Screw-Propelled Snake-Like Robot

   Sara Wickenhiser^*, Elizabeth Peiros^*, Calvin Joyce, Peter Gavrilov, Sujaan Mukherjee, Syler Sylvester, Junrong Zhou, Mandy Cheung, Jason Lim, Florian Richter, and 1 more author

   In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), to appear, 2026

   arXiv Bib

   @inproceedings{wickenhiser2026arcsnake,
     title = {ARCSnake V2: Mechanical Adaptations For An Amphibious Multi-Domain Screw-Propelled Snake-Like Robot},
     author = {Wickenhiser, Sara and Peiros, Elizabeth and Joyce, Calvin and Gavrilov, Peter and Mukherjee, Sujaan and Sylvester, Syler and Zhou, Junrong and Cheung, Mandy and Lim, Jason and Richter, Florian and Yip, Michael C.},
     booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), to appear},
     year = {2026},
   }

2025

1. 

   Haptic Shoulder for Rendering Biomechanically Accurate Joint Limits for Human-Robot Physical Interactions

   Calvin Joyce^*, Elizabeth Peiros^*, Tarun Murugesan^*, Roger Nguyen, Isabella Fiorini, Rizzi Galibut, and Michael C. Yip

   In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2025

   arXiv Bib HTML

   @inproceedings{peiros2025haptic,
     title = {Haptic Shoulder for Rendering Biomechanically Accurate Joint Limits for Human-Robot Physical Interactions},
     author = {Joyce, Calvin and Peiros, Elizabeth and Murugesan, Tarun and Nguyen, Roger and Fiorini, Isabella and Galibut, Rizzi and Yip, Michael C.},
     booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2025},
   }

2. 

   Humanoids in Hospitals: A Technical Study of Humanoid Surrogates for Dexterous Medical Interventions

   Soofiyan Atar, Calvin Joyce^*, Xiao Liang^*, Florian Richter, William Ricardo, Casey Goldberg, Preetham Suresh, and Michael C. Yip

   arXiv preprint arXiv:2503.12725, 2025

   arXiv Bib

   @article{atar2025humanoids,
     title = {Humanoids in Hospitals: A Technical Study of Humanoid Surrogates for Dexterous Medical Interventions},
     author = {Atar, Soofiyan and Joyce, Calvin and Liang, Xiao and Richter, Florian and Ricardo, William and Goldberg, Casey and Suresh, Preetham and Yip, Michael C.},
     journal = {arXiv preprint arXiv:2503.12725},
     year = {2025},
   }

2024

1. 

   NASU – Novel Actuating Screw Unit: Origami-Inspired Screw-Based Propulsion on Mobile Ground Robots

   Calvin Joyce, Jason Lim, Roger Nguyen, Michael Owens, Sara Wickenhiser, Elizabeth Peiros, Florian Richter, and Michael C. Yip

   In Proc. International Symposium of Robotics Research (ISRR), 2024

   arXiv Bib

   @inproceedings{joyce2024nasu,
     title = {NASU -- Novel Actuating Screw Unit: Origami-Inspired Screw-Based Propulsion on Mobile Ground Robots},
     author = {Joyce, Calvin and Lim, Jason and Nguyen, Roger and Owens, Michael and Wickenhiser, Sara and Peiros, Elizabeth and Richter, Florian and Yip, Michael C.},
     booktitle = {Proc. International Symposium of Robotics Research (ISRR)},
     year = {2024},
   }

2023

1. 

   Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media

   Calvin Joyce^*, Jason Lim^*, Elizabeth Peiros, Mingwei Yeoh, Peter V. Gavrilov, Sara G. Wickenhiser, Dimitri A. Schreiber, Florian Richter, and Michael C. Yip

   In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2023

   arXiv Bib HTML

   @inproceedings{lim2023mobility,
     title = {Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media},
     author = {Joyce, Calvin and Lim, Jason and Peiros, Elizabeth and Yeoh, Mingwei and Gavrilov, Peter V. and Wickenhiser, Sara G. and Schreiber, Dimitri A. and Richter, Florian and Yip, Michael C.},
     booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2023},
   }