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Despite a slow neuromuscular system, humans easily outperform modern robot technology, especially in physical contact tasks. How is this possible? Biological evidence indicates that motor control of biological systems is achieved by a…
The concept of aerial-aquatic robots has emerged as an innovative solution that can operate both in the air and underwater. Previous research on the design of such robots has been mainly focused on mature technologies such as fixed-wing and…
There is a growing need for robots that can change their shape, size and mechanical properties to adapt to evolving tasks and environments. However, current shape-changing systems generally utilize bespoke, system-specific mechanisms that…
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…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is…
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…
Soft underwater robots typically explore bioinspired designs at the expense of power efficiency when compared to traditional underwater robots, which limits their practical use in real-world applications. We leverage a fluidic closed-loop…
This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes…
Amphibious robots, operating seamlessly across land and water, are advancing applications in conservation, disaster response, and defense. Their performance depends on locomotion mechanisms, actuation technologies, and sensor-control…
Under-actuated compliant robotic systems offer a promising approach to mitigating actuation and control challenges by harnessing pre-designed, embodied dynamic behaviors. This paper presents Flix-Walker, a novel, untethered,…
Designing robotic systems that can change their physical form factor as well as their compliance to adapt to environmental constraints remains a major conceptual and technical challenge. To address this, we introduce the Granulobot, a…
Soft actuators have drawn significant attention from researchers with an inherently compliant design to address the safety issues in physical human-robot interactions. However, they are also vulnerable and pose new challenges in the design,…
Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is interesting to study from a robotics perspective since it can…
This paper describes the Pogobot, an open-source platform specifically designed for research at the interface of swarm robotics and active matter. Pogobot features vibration-based or wheel-based locomotion, fast infrared communication, and…
In most macro-scale robotics systems , propulsion and controls are enabled through a physical tether or complex on-board electronics and batteries. A tether simplifies the design process but limits the range of motion of the robot, while…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
Swarm robotics has experienced a rapid expansion in recent years, primarily fueled by specialized multi-robot systems developed to achieve dedicated collective actions. These specialized platforms are in general designed with swarming…
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…
Autonomous robots can transform how we observe marine ecosystems, but close-range operation in reefs and other cluttered habitats remains difficult. Vehicles must maneuver safely near animals and fragile structures while coping with…