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In this paper, we report the results from the analysis of a numerical model used for the design of a magnetic linear actuator with applications to fin-based locomotion. Most of the current robotic fish generate bending motion using rotary…
Autonomous ocean-exploring vehicles have begun to take advantage of onboard sensor measurements of water properties such as salinity and temperature to locate oceanic features in real time. Such targeted sampling strategies enable more…
This study presents the development and experimental verification of a biomimetic manta ray robot for underwater autonomous exploration. Inspired by manta rays, the robot uses flapping motion for propulsion to minimize seabed disturbance…
The robotic fish with high propulsion efficiency and good maneuverability achieves underwater fishlike propulsion by commonly adopting the motor to drive the fishtail, causing the significant fluctuations of the motor power due to the…
In this paper we show the application of the new robotic multi-platform system HSURF to a specific use case of teleoperation, aimed at monitoring and inspection. The HSURF system, consists of 3 different kinds of platforms: floater, sinker…
Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in…
Biomimetic underwater robots use lateral periodic oscillatory motion to propel forward, which is seen in most fishes known as body caudal fin (BCF) propulsion. The lateral oscillatory motion makes slender-bodied fish-like robots roll…
Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling…
Many species of fish, as well as biorobotic underwater vehicles, employ body caudal fin propulsion, in which a wave-like body motion culminates in high-amplitude caudal fin oscillations to generate thrust. This study uses high fidelity…
Understanding and modeling animal behavior is essential for studying collective motion, decision-making, and bio-inspired robotics. Yet, evaluating the accuracy of behavioral models still often relies on offline comparisons to static…
Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design…
The ocean vast unexplored regions and diverse soft-bodied marine organisms have spurred interest in bio-inspired underwater soft robotics. Recent advances have enabled new capabilities in underwater movement, sensing, and interaction.…
In the field of fixed wing aircraft, many morphing technologies have been applied to the wing, such as adaptive airfoil, variable span aircraft, variable swept angle aircraft, etc., but few are aimed at the tail. The traditional fixed wing…
Deformable substrates such as sand and mud present significant challenges for terrestrial robots due to complex robot-terrain interactions. Inspired by mudskippers, amphibious animals that naturally adjust their tail morphology and movement…
Accurate simulation of soft mechanisms under dynamic actuation is critical for the design of soft robots. We address this gap with our differentiable simulation tool by learning the material parameters of our soft robotic fish. On the…
This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform…
This paper introduces the concept of employing neuromorphic methodologies for task-oriented underwater robotics applications. In contrast to the increasing computational demands of conventional deep learning algorithms, neuromorphic…
Fish often travel in highly organized schools. One of the most quoted functions of these configurations is energy savings. Here, we verified the hypothesis and explored the mechanism through series of experiments on "schooling" robotic…
Biomimetic autonomous underwater vehicle (BAUV) with multi-link mechanism is widely used in aquatic life observation and environmental surveys due to its low power consumption and high maneuverability. An environmental survey requires a…
Flapping-fin unmanned underwater vehicle (UUV) propulsion systems provide high maneuverability for naval tasks such as surveillance and terrain exploration. Recent work has explored the use of time-series neural network surrogate models to…