What we do

We design physically intelligent robots and methodologies that enable co-adaptation between technology, humans, and nature. 

Research

At the Prema Lab, our work focuses on designing robot systems and methodologies that interact with and exploit fluids and complex environments to achieve robust and efficient behaviors. This is accomplished through novel robotic platforms, large-scale experimentation, data-driven design, and fluid analysis. 

Our Team

Publications

Journal Publications

• N. Obayashi, A. Abdulali, F. Iida, and J. Hughes. Embodied intelligence paradigm for human-robot communication. Science Robotics, 2025.

• N. Obayashi, D. Howard, K. L. Walker, J. Jørgensen, M. Gepner, D. Sameoto, et al. A democratized bimodal model of research for soft robotics: Integrating slow and fast science. Science Robotics, 2025.

• N. Obayashi, K. Junge, P. Singh, and J. Hughes. Online hydraulic stiffness modulation of a soft robotic fish tail for improved thrust and efficiency. Soft Robotics, 2025.

• A. Georgopoulou, N. Obayashi, F. Bono, L. Lucherini, J. Hughes, and E. Amstad. Mechanoreceptive soft robotic molluscoids made of granular hydrogel-based organoelectronics. Materials & Design, 2025.

• N. Obayashi, K. Junge, S. Ilić, and J. Hughes. Robotic automation and unsupervised cluster assisted modeling for solving the forward and reverse design problem of paper airplanes. Nature Scientific Reports, 2023.

• N. Obayashi, A. Vicari, K. Junge, K. Shakir, and J. Hughes. Control and morphology optimization of passive asymmetric structures for robotic swimming. IEEE Robotics and Automation Letters, 2023.

• S. Jacquart, N. Obayashi, and J. Hughes. Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles. Frontiers in Robotics and AI, 2023.

• F. Stella, N. Obayashi, C. Della Santina, and J. Hughes. An experimental validation of the polynomial curvature model: Identification and optimal control of a soft underwater tentacle. IEEE Robotics and Automation Letters, 2022.

• K. Junge, N. Obayashi, F. Stella, C. Della Santina, and J. Hughes. Controlling maneuverability of a bio-inspired swimming robot through morphological transformation. IEEE Robotics & Automation Magazine, 2022.

Conference Publications

• N. Obayashi, G. Meyer, K. Junge, and J. Hughes. Environmentally-Driven Morphogenesis of Reconfigurable Floating Structures using Markov Models. IEEE International Conference on Soft Robotics (RoboSoft), 2025.

• G. Bianchi, N. Obayashi, A. Petitti, and J. Hughes. Camera-tracked Soft Underwater Robot Enabling Robust Orientation Control for Maneuverability. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.

• N. Obayashi, Y. S. Wu, and J. Hughes. Improving the Fluency of Robot-Human Interaction Through Embodied Expression of Emotion via Foundation Models. International Workshop on Human-Friendly Robotics, 2024.

• A. Klipfel, N. Obayashi, and J. Hughes. Non-Contact Manipulation of Objects in Fluid with Soft Robots Through Behavioral Primitives and Finite State Machine. IEEE International Conference on Soft Robotics (RoboSoft), 2024.

• A. Vicari, N. Obayashi, F. Stella, G. Raynaud, K. Mulleners, C. Della Santina, and J. Hughes. Proprioceptive sensing of soft tentacles with model based reconstruction for controller optimization. IEEE International Conference on Soft Robotics (RoboSoft), 2023.

• N. Obayashi, C. Bosio, and J. Hughes. Soft passive swimmer optimization: From simulation to reality using data-driven transformation. IEEE International Conference on Soft Robotics (RoboSoft), 2022.

• N. Obayashi, K. Junge, and J. Hughes. Exploration of human-robot collaboration methods for iterative design optimization of paper airplanes. International Workshop on Human-Friendly Robotics, 2022.

Location