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In this work we are going to perform a simulation of a positive corona discharge in nitrogen gas, using two different asymmetric capacitor geometries. This work represents an improvement over previous work in order to accomplish higher ion…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic actuators (MMA), additively manufactured…
Semiconductor microelectronics are emerging as a powerful tool for building smart, autonomous robots too small to see with the naked eye. Yet a number of existing microrobot platforms, despite significant advantages in speed, robustness,…
Magnetohydrodynamics (MHD) is a subject concerned with the dynamics of electrically conducting fluids (plasma) and can be applied in electric power generation. As a unique technology for producing direct-current electricity without moving…
Macroscale robotic systems have demonstrated great capabilities of high speed, precise, and agile functions. However, the ability of soft robots to perform complex tasks, especially in centimeter and millimeter scale, remains limited due to…
Whenever a flapping robot moves along a trajectory it experiences some vibration about its mean path. Even for a hovering case, a flier experiences such vibration due to the oscillatory nature of the aerodynamic forces. In this paper we…
We introduce Bee$^+$, a 95-mg four-winged microrobot with improved controllability and open-loop-response characteristics with respect to those exhibited by state-of-the-art two-winged microrobots with the same size and similar weight…
This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with…
Soft robots have struggled to support large forces and moments while also supporting their own weight against gravity. This limits their ability to reach certain configurations necessary for tasks such as inspection and pushing objects up.…
Achieving both agile maneuverability and high energy efficiency in aerial robots, particularly in dynamic wind environments, remains challenging. Conventional thruster-powered systems offer agility but suffer from high energy consumption,…
Aerial robots are evolving from avoiding obstacles to exploiting the environmental contact interactions for navigation, exploration and manipulation. A key challenge in such aerial physical interactions lies in handling uncertain contact…
Today\'s world of space\'s primary concern is the uncontrolled growth of space debris and its probability of collision with spacecraft, particularly in the low earth orbit (LEO) regions. This paper is aimed to design an optimized…
Reduced traction limits the ability of mobile robotic systems to resist or apply large external loads, such as tugging a massive payload. One simple and versatile solution is to wrap a tether around naturally occurring objects to leverage…
Dielectric barrier discharge (DBD) plasma actuators generate an electrohydrodynamic (EHD) force through the ionization and acceleration of charged species. Most active flow control DBD applications are only practical at lower Reynolds…
In this paper, a coaxial pulsed plasma thruster was designed, built, and tested. This design confirmed PPT operation at substantially reduced discharge voltages of 100 to 200 V across the discharge plasma at a discharge current level of…
In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic…
Electroadhesion (EA) provides electrically switchable adhesion and is a promising mechanism for perching micro aerial robots on smooth surfaces. However, practical implementations of soft and stretchable EA pads for aerial perching remain…
Scaling down miniature rotorcraft and flapping-wing flyers to sub-centimeter dimensions is challenging due to complex electronics requirements, manufacturing limitations, and the increase in viscous damping at low Reynolds numbers.…
Jet-powered vertical takeoff and landing (VTOL) drones require precise thrust estimation to ensure adequate stability margins and robust maneuvering. Small-scale turbojets have become good candidates for powering heavy aerial drones.…
There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…