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In the last few years, there have been many new developments and significant accomplishments in the research of bionic robot fishes. However, in terms of swimming performance, existing bionic robot fishes lag far behind fish, prompting…
Flagellated microorganisms can swim at low Reynolds numbers and adapt to changes in their environment. Specifically, the flagella can switch their shapes or modes through gene expression. In the past decade, efforts have been made to…
Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…
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…
This paper underscores the importance of environmental monitoring, and specifically of freshwater ecosystems, which play a critical role in sustaining life and global economy. Despite their importance, insufficient data availability…
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise…
Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to…
Soft robots have drawn great interest due to their ability to take on a rich range of shapes and motions, compared to traditional rigid robots. However, the motions, and underlying statics and dynamics, pose significant challenges to…
Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example…
Jumping and hopping locomotion are efficient means of traversing unstructured rugged terrain with the former being the focus of roboticists; a focus that has recently been changing. This focus has led to significant performance and…
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…
The performance of underwater crawling and adjustment of the body posture for underwater manipulating of the deep-sea crawling and swimming robot (DCSR) is directly influenced by the dynamic performance of the underwater mechanical legs…
This paper discusses the design of a novel compliant in-pipe climbing modular robot for small diameter pipes. The robot consists of a kinematic chain of 3 OmniCrawler modules with a link connected in between 2 adjacent modules via compliant…
Crocodiles, known as one of the oldest and most resilient species on Earth, have demonstrated remarkable locomotor abilities both on land and in water, evolving over millennia to adapt to diverse environments. In this paper, we draw…
In nature, animals with exceptional locomotion abilities, such as cougars, often possess asymmetric fore and hind legs. This observation inspired us: could optimizing the leg length of quadruped robots endow them with similar locomotive…
Inspired by the snap-through action of a steel hairclip, we propose a design method for in-plane prestressed mechanisms that exhibit biomimetic morphing and high locomotion performance. Compliant bistable flapping mechanisms are fabricated…
The controlled actuation of hydraulic and pneumatic actuators has unveiled fresh and thrilling opportunities for designing mobile robots with adaptable structures. Previously reported rolling robots, which were powered by fluidic systems,…
Current approaches to humanoid control generally fall into two paradigms: perceptive locomotion, which handles terrain well but is limited to pedal gaits, and general motion tracking, which reproduces complex skills but ignores…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
Animals, such as birds, widely use multi-modal locomotion by combining legged and aerial mobility with dominant inertial effects. The robotic biomimicry of this multi-modal locomotion feat can yield ultra-flexible systems in terms of their…