Related papers: Architectures of Soft Robotic Locomotion Enabled b…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
Soft robotic systems have gained widespread attention due to their inherent flexibility, adaptability, and safety, making them well-suited for varied applications. Among bioinspired designs, earthworm locomotion has been extensively studied…
Robots excel at avoiding obstacles but struggle to traverse complex 3-D terrain with cluttered large obstacles. By contrast, insects like cockroaches excel at doing so. Recent research in our lab elucidated how locomotor transitions emerge…
The ocean vast unexplored regions and diverse soft-bodied marine organisms have spurred interest in bio-inspired underwater soft robotics. Recent advances have enabled new capabilities in underwater movement, sensing, and interaction.…
Natural systems integrate the work of many sub-units (cells) toward a large-scale unified goal (morphological and behavioral), which can counteract the effects of unexpected experiences, damage, or simply changes in tasks demands. In this…
The development of versatile robots capable of traversing challenging and irregular environments is of increasing interest in the field of robotics, and metameric robots have been identified as a promising solution due to their slender,…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
Locomotive robots that do not rely on electronics and/or electromagnetic components will open up new perspectives and applications for robotics. However, these robots usually involve complicated and tedious fabrication processes, limiting…
Soft robots have demonstrated superior flexibility and functionality than conventional rigid robots. These versatile devices can respond to a wide range of external stimuli (including light, magnetic field, heat, electric field, etc.), and…
Robots are becoming increasingly essential for traversing complex environments such as disaster areas, extraterrestrial terrains, and marine environments. Yet, their potential is often limited by mobility and adaptability constraints. In…
We examine the problem of snake-like locomotion by studying a system consisting of a planar inextensible elastic rod that is able to control its spontaneous curvature. Using a Cosserat model we derive, through variational principles, the…
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…
Microscopic robots could perform tasks with high spatial precision, such as acting in biological tissues on the scale of individual cells, provided they can reach precise locations. This paper evaluates the feasibility of in vivo locomotion…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited extensively in the bio-inspired field of soft robotics. In…
Snake robots are inspired by the ability of biological snakes to move over rock, grass, leaves, soil, up trees, along pavement and more. Their ability to move in multiple distinct environments is due to their legless locomotion strategy,…
Locomotive soft robots (SoRos) have gained prominence due to their adaptability. Traditional locomotive SoRo design is based on limb structures inspired by biological organisms and requires human intervention. Evolutionary robotics,…
The Drosophila larva, a soft-body animal, can bend its body and roll efficiently to escape danger. However, contrary to common belief, this rolling motion is not driven by the imbalance of gravity and ground reaction forces. Through…