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The characteristic ``in-plane" bending associated with soft robots' deformation make them preferred over rigid robots in sophisticated manipulation and movement tasks. Executing such motion strategies to precision in soft deformable robots…
In recent years, the medical industry has witnessed a growing interest in minimally invasive procedures, with magnetic microrobots emerging as a promising approach. These micro-robots possess the ability to navigate through various media,…
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…
This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three…
Magnetic soft robots have attracted growing interest due to their unique advantages in terms of untethered actuation and excellent controllability. However, finding the required magnetization patterns or magnetic fields to achieve the…
Microscale manipulation has advanced substantially in controlled locomotion and targeted transport, yet many biomedical applications require precise and adaptive interaction with biological micro-objects. At these scales, manipulation is…
Everting, soft growing vine robots benefit from reduced friction with their environment, which allows them to navigate challenging terrain. Vine robots can use air pouches attached to their sides for lateral steering. However, when all…
Navigation and inspection in confined environments, such as tunnels and pipes, pose significant challenges for existing robots due to limitations in maneuverability and adaptability to varying geometries. Vine robots, which are soft growing…
Magnetic elastomers deform under a magnetic field, working as a soft actuator. Untethered microbot made of magnetic elastomers have great potentials in performing medical tasks inside human body as mini doctors. However, the lack of a…
The motion of biological micro-robots -- similar to that of swimming microorganisms such as bacteria or spermatozoa -- is governed by different physical rules than what we experience in our daily life. This is particularly due to the…
Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks which require the robot to interact with an unstructured and/or unknown…
Magnetic microrobots that swim through liquid media are of interest for minimally invasive medical procedures, bioengineering, and manufacturing. Many of the envisaged applications, such as micromanipulation and targeted cargo delivery,…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Electrically-driven soft robots based on piezoelectric actuators may enable compact form factors and maneuverability in complex environments. In most prior work, piezoelectric actuators are used to control a single degree of freedom. In…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom…
Controllable rotation of micro-/nano-objects provides tremendous opportunities for cellular biology, three-dimensional (3D) imaging, and micro/nanorobotics. Among different rotation techniques, optical rotation is particularly attractive…
The 3D flight control of a flapping wing robot is a very challenging problem. The robot stabilizes and controls its pose through the aerodynamic forces acting on the wing membrane which has complex dynamics and it is difficult to develop a…
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…