Andrew Petruska

Assistant Professor, Mechanical Engineering

Headshot of Dr. Andrew Petruska outdoorsAndrew Petruska joined the Mechanical Engineering department at Colorado School of Mines in 2016, where he is currently an Assistant Professor.  He graduated from Carnegie Mellon University, Pittsburgh, PA, USA in 2005 with dual B.S. degrees in Mechanical Engineering and Physics as well as an M.S. degree in Mechanical Engineering. For the next four years, he worked as a Design Engineer at ATK Launch Systems in Utah and was responsible for designing, testing, and qualifying solid rocket motor components. In 2010, he enrolled at the University of Utah and was awarded an NSF IGERT Fellowship to study noncontact magnetic manipulation. He received his PhD in 2014 after developing the first real-time reconfigurable magnetic manipulation system. In 2014, he joined the Multiscale Robotics Laboratory in the Institute of Robotics and Intelligent Systems at ETH Zurich and was awarded a Max Planck ETH Center for Learning Systems fellowship, where he investigated the magnetic manipulation of needles, endoscopes, and catheters. His research interests are in the areas of complex system modeling and design, dynamics and control, and advanced magnetic manipulation.


Brown Hall W470F

Labs and Research Centers

M3 Robotics


  • A. J. Petruska, J. Edelmann, and B. J. Nelson, “Model-based calibration for magnetic manipulation,” IEEE Trans Magn, In Press, 2017
  • B. Zeydan, A. J. Petruska, L. Somm, R. Pieters, Y. Fang, D. F. Sargent, and B. J. Nelson, “Automated particle collection for protein crystal harvesting,” IEEE Robot Autom Lett, In Press, 2017
  • H.-W. Huang, A. J. Petruska, and B. J. Nelson, “Soft micro-robots for military medicine,” J Homeland Defense & Security Information Analysis Center, vol. Special Nanotechnology Issue, pp. 25–27, Feb. 2017
  • J. Edelmann, A. J. Petruska, and B. J. Nelson, “Magnetic control of continuum devices,” Int J Rob Res, vol. 36, no. 1, pp. 68–85, Jan. 2017
  • A. Hong, S. Charreyron, O. Ergeneman, S. Pané, M. F. Toy, A. J. Petruska, and B. J. Nelson, “Real-Time Holographic Tracking for the 3D Control of Microrobots,” IEEE Robot Autom Lett, vol. 2, no. 1, pp. 143–148, Jan. 2017
  • B. Jang, W. Wang, S. Wiget, A. J. Petruska, X. Chen, C. Hu, A. Hong, D. Folio, A. Ferreira, S. Pané, and B. J. Nelson, “Catalytic locomotion of core-shell nanowire motors,” ACS Nano, vol. 10, no. 11, pp. 9983–9991, Oct. 2016
  • F. Ullrich, J. Lussi, D. Felekis, S. Michels, A.J. Petruska, and B.J. Nelson, “Perforation Forces of the Intact Porcine Anterior Lens Capsule,” J Mech Behavior Biomed Mat, no. 62, pp. 347–354, Sep. 2016
  • H.-W. Huang, M. S. Sakar, A. J. Petruska, S. Pané, and B. J. Nelson, “Soft micromachines with programmable motility and morphology,” Nature Comm, vol. 7, no. 12263, pp. 1–10, Jul. 2016
  • M. Hoop, Y. Shen, X.-Z. Chen, F. Mushtaq, L. M. Iuliano, M. S. Sakar, A. Petruska, M. J. Loessner, B. J. Nelson, and S. Pané, “Magnetically driven silver-coated nanocoils for efficient bacterial contact killing,” Adv Func Mater, Dec. 2015
  • T.-Y. Huang, M. S. Sakar, A. Mao, A. J. Petruska, F. Qiu, X.-B. Chen, S. Kennedy, D. Mooney, and B. J. Nelson, “3D Printed Microtransporters: Compound Micromachines for Spatiotemporally Controlled Delivery of Therapeutic Agents,” Adv Mater, 2015
  • A. J. Petruska and B. J. Nelson, “Minimum Bounds on the Number of Electromagnets Required for Remote Magnetic Manipulation,” IEEE Tran Robot, vol. 31, no. 3, pp. 714–722, Jun. 2015
  • A. J. Petruska, A. W. Mahoney, and J. J. Abbott, “Remote Manipulation with a Stationary Computer-Controlled Magnetic Dipole Source,” IEEE Tran Robot, vol. 30, no. 5, pp. 1222–1227, Oct. 2014
  • A. J. Petruska and J. J. Abbott, “Omnimagnet: An Omnidirectional Electromagnet for Controlled Dipole-Field Generation,” IEEE Trans Magn, vol. 50, no. 7, pp. 1–10, Jul. 2014
  • A. J. Petruska and J. J. Abbott, “Optimal Permanent-Magnet Geometries for Dipole Field Approximation,” IEEE Trans Magn, vol. 49, no. 2, pp. 811–819, Feb. 2013
  • J. Greer, A. J. Petruska, A. W. Mahoney, M. Nambi, E. Bamberg, and J. J. Abbott, “Experimental investigation of wire electrical discharge machining of NdFeB permanent magnets with an RC-Type machine,” J Mater Eng Perform, vol. 23, no. 4, pp. 1392–1401, 2013

Recent Courses

  • Robot Mechanics: Kinematics, Dynamics and Control