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Fish locomotion is enabled by fin rays-actively deformable boney rods, which manipulate the fin to facilitate complex interaction with surrounding water and enable propulsion. Replicating the performance and kinematics of the biological fin…
Fish-inspired aquatic robots are gaining increasing attention in marine robot communities due to their high swimming speeds and efficient propulsion enabled by flexible bodies that generate undulatory motions. To support the design…
Artificial micro-swimmers actuated by external magnetic fields hold significant promise for targeted biomedical applications, including drug delivery and micro-robot-assisted therapy. However, their dynamics remain challenging to control…
Robotic fish have attracted growing attention in recent years owing to their biomimetic design and potential applications in environmental monitoring and biological surveys. Among robotic fish employing the Body-Caudal Fin (BCF) locomotion…
In the application of underwater creature study, comparing with propeller-powered ROVs and servo motor actuated robotic fish, novel biomimetic fish robot designs with soft actuation structure could interact with aquatic creatures closely…
This paper presents modeling of a compliant 2D manipulator, a so called soft hydraulic/fluidic elastomer actuator. Our focus is on fiber-Reinforced Fluidic Elastomer Actuators (RFEA) driven by a constant pressure hydraulic supply and…
Electromechanical models are crucial in the design and control of motors and actuators. Modeling, identification, drive, and current control loop of a limited-rotation actuator with magnetic restoration is presented. New nonlinear and…
In this paper, we present an approach to study the behavior of compliant plates in granular media and optimize the performance of a robot that utilizes this technique for mobility. From previous work and fundamental tests on thin plate…
Magnetically actuated fish-like robots offer promising solutions for underwater exploration due to their miniaturization and agility; however, precise control remains a significant challenge because of nonlinear fluid dynamics, flexible fin…
Unmanned micro aerial vehicle research is an active area of development due to the vast potential applications. Prior work towards realizing flapping flight has achieved some success however they have relied heavily upon the use of rotary…
Dynamic modeling has been capturing attention for its fundamentality in precise locomotion analyses and control of underwater robots. However, the existing researches have mainly focused on investigating two-dimensional motion of underwater…
The robotic fish with high propulsion efficiency and good maneuverability achieves underwater fishlike propulsion by commonly adopting the motor to drive the fishtail, causing the significant fluctuations of the motor power due to the…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element modeling approach to characterize their bending. The model…
In this work we developed a mathematical model and a simulation platform for a fish-inspired robotic template, namely Magnetic, Modular, Undulatory Robotics ($\mu$Bots). Through this platform, we systematically explored the effects of…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
Swimming micro-organisms such as flagellated bacteria and sperm cells have fascinating locomotion capabilities. Inspired by their natural motion, there is an ongoing effort to develop artificial robotic nano-swimmers for potential in-body…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
Active flexible filaments form the classical continuum framework for modelling the locomotion of spermatozoa and algae driven by the periodic oscillation of flagella. This framework also applies to the locomotion of various artificial…
Soft robots - due to their intrinsic flexibility of the body - can adaptively navigate unstructured environments. One of the most popular locomotion gaits that has been implemented in soft robots is undulation. The undulation motion in soft…