Related papers: A laser-microfabricated electrohydrodynamic thrust…
Optical flow estimation is a critical task for tiny mobile robotics to enable safe and accurate navigation, obstacle avoidance, and other functionalities. However, optical flow estimation on tiny robots is challenging due to limited onboard…
Exploring bodies of water on their surface allows robots to efficiently communicate and harvest energy from the sun. On the water surface, however, robots often face highly unstructured environments, cluttered with plant matter, animals,…
Triphibious robots capable of multi-domain motion and cross-domain transitions are promising to handle complex tasks across diverse environments. However, existing designs primarily focus on dual-mode platforms, and some designs suffer from…
Physical joint limits are common in legged robots and can restrict workspace, constrain gait design, and increase the risk of hardware damage. This paper introduces MiNI-Q^2, a miniature, wire-free quadruped robot with independently…
This paper describes the process and challenges behind the design and development of a micro-gravity enabling aerial robot. The vehicle, designed to provide at minimum 4 seconds of micro-gravity at an accuracy of .001 g's, is designed with…
Growing robots based on the eversion principle are known for their ability to extend rapidly, from within, along their longitudinal axis, and, in doing so, reach deep into hitherto inaccessible, remote spaces. Despite many advantages,…
This paper introduces Q8bot, an open-source, miniature quadruped designed for robotics research and education. We present the robot's novel zero-wire design methodology, which leads to its superior form factor, robustness, replicability,…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
We present ECHO, an edge--cloud framework for language-driven whole-body control of humanoid robots. A cloud-hosted diffusion-based text-to-motion generator synthesizes motion references from natural language instructions, while an…
This paper presents a novel design for a compact, lightweight 6-axis force/torque sensor intended for use in legged robots. The design promotes easy manufacturing and cost reduction, while introducing innovative calibration methods that…
Modern robots embody power and precision control. Yet, as robots undertake tasks that apply forces on humans, this power brings risk of injury. Soft robotic actuators use deformation to produce smooth, continuous motions and conform to…
Small-scale robots offer significant potential in minimally-invasive medical procedures. Due to the nature of soft biological tissues, however, robots are exposed to complex environments with various challenges in locomotion, which is…
In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight…
Flying robots are usually rather delicate and require protective enclosures when facing the risk of collision, while high complexity and reduced payload are recurrent problems with collision-resilient flying robots. Inspired by arthropods'…
Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish…
The purpose of this study is to find ideal forces for reducing cell stress in wound healing process by micro robots. Because of this aim, we made two simulations on COMSOL Multiphysics with micro robot to find correct force. As a result of…
Growing soft materials which follow a 3D path in space are critical to applications such as search and rescue and minimally invasive surgery. Here, we present a concept for a single-input growing multi-stable soft material, based on a…
In everyday life, we often find that we can maintain an object's equilibrium on a tray by adjusting its orientation. Building upon this observation and extending the method we previously proposed to suppress sloshing in a moving vessel,…
This paper introduces a cube-based reconfigurable robot that utilizes an electromagnet-based actuation framework to reconfigure in three dimensions via pivoting. While a variety of actuation mechanisms for self-reconfigurable robots have…
Micro-organisms propel themselves in viscous environments by the periodic, nonreciprocal beating of slender appendages known as flagella. Active materials have been widely exploited to mimic this form of locomotion. However, the realization…