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A key goal in developing molecular microrobots that mimic real-world animal dynamic behavior is to understand better the self-continuous progressive motion resulting from collective molecular transformation. This study reports, for the…
Oscillations of flagella and cilia play an important role in biology, which motivates the idea of functional mimicry as part of bio-inspired applications. Nevertheless, it still remains challenging to drive their artificial counterparts to…
Fish rheotaxis, or alignment into flow currents, results from intertwined sensory, neural and actuation mechanisms, all coupled with hydrodynamics to produce a behavior that is critical for upstream migration and position holding in…
The increasing complexity of marine operations has intensified the need for intelligent robotic systems to support ocean observation, exploration, and resource management. Underwater swarm robotics offers a promising framework that extends…
Nature has always inspired scientists and engineers to understand the underlying mechanism leading to optimal design in bio-inspired dynamics. This study presents a computational framework for optimizing undulatory swimming profiles using a…
Drag-based swimming with rowing appendages, fins, and webbed feet is a widely adapted locomotion form in aquatic animals. To develop effective underwater and swimming vehicles, a wide range of bioinspired drag-based paddles have been…
This paper presents the design and experimental validation of a bio-inspired soft aquatic robot, the DilBot, which uses a bistable shape memory alloy-driven engine for pulse-jet locomotion. Drawing inspiration from the efficient swimming…
Underwater robots are widely deployed for ocean exploration and manipulation. Underactuated mechanisms are particularly advantageous in aquatic environments, as reducing actuator count lowers the risk of motor leakage while introducing…
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…
The behavior of living systems is based on the experience they gained through their interactions with the environment [1]. This experience is stored in the complex biochemical networks of cells and organisms to provide a relationship…
In this work we developed a mathematical model and a simulation platform for a fish-inspired robotic template, namely Magnetic, Modular, Undulatory Robotics ($\mu$Bots). Through this platform, we systematically explored the effects of…
Robotic pollination offers a promising alternative to manual labor and bumblebee-assisted methods in controlled agriculture, where wind-driven pollination is absent and regulatory restrictions limit the use of commercial pollinators. In…
To simply and effectively realize the trajectory tracking control of a bionic joint actuated by a single pneumatic artificial muscle (PAM), a cascaded control strategy is proposed based on the robust modeling method. Firstly, the…
Viscoelasticity governs the locomotion strategies of deformable microorganisms, rendering it a fundamental mechanical property of microbial motility and an integral component in the design of envisioned microbots. Recent studies have shown…
The weakly electric fish \emph{Eigenmannia virescens} naturally swims back and forth to stay within a moving refuge, tracking its motion using visual and electrosensory feedback. Previous experiments show that when the refuge oscillates as…
This paper delineates the formulation and verification of an innovative robotic forearm and elbow design, mirroring the intricate biomechanics of human skeletal and ligament systems. Conventional robotic models often undervalue the…
A three-dimensional model of a low-Reynold's swimmer is introduced and analyzed in this paper. This model consists of two large and small spheres connected by two perpendicular thin rods. The geometry of this system is motivated by the…
Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to…
Fish typically swim by periodic bending of their bodies. Bending seems to follow a universal rule; it occurs at about one-third from the posterior end of the fish body with a maximum bending angle of about $30^o$. However, the hydrodynamic…
Squid span four orders of magnitude in size yet rely on pulsed jets. We show that the funnel (siphon) is a compliant nozzle whose dilation and recoil lag mantle contraction, storing and returning energy within each pulse, a mechanism we…