Related papers: Mechanics-based Analysis on Flagellated Robots

Algorithms that use derivatives of governing equations have accelerated rigid robot simulations and improved their accuracy, enabling the modeling of complex, real-world capabilities. However, extending these methods to soft and hybrid…

Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…

Task-driven design of soft robots requires models that are physically accurate and computationally efficient, while remaining transferable across actuator designs and task scenarios. However, existing modeling approaches typically face a…

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…

Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…

Soft robots require directional control to navigate complex terrains. However, achieving such control often requires multiple actuators, which increases mechanical complexity, complicates control systems, and raises energy consumption.…

Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…

Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…

Soft robotics has emerged as a promising technology that holds great potential for various application areas. This is due to soft materials unique properties, including flexibility, safety, and shock absorption, among others. Despite many…

Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…

We combine experiments with simulations to investigate the fluid-structure interaction of a flexible helical rod rotating in a viscous fluid, under low Reynolds number conditions. Our analysis takes into account the coupling between the…

The design and control of soft robots operating in fluid environments requires a careful understanding of the interplay between large elastic body deformations and hydrodynamic forces. Here we show that this interplay leads to novel…

Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…

Soft robots have high adaptability and safeness which are derived from their softness, and therefore it is paid attention to use them in human society. However, the controllability of soft robots is not enough to perform dexterous behaviors…

Robot arms with lighter weight can reduce unnecessary energy consumption which is desirable in robotic industry. However, lightweight arms undergo undesirable elastic deformation. In this paper, the planar motion of a lightweight flexible…

A new, and extremely fast, computational modeling paradigm is introduced here for specific finite elasticity problems that arise in the context of soft robotics. Whereas continuum mechanics is a very classical area of study, and significant…

This paper presents the application of the concepts and approaches of linear graph (LG) theory in the modeling and simulation of a 4-wheel skid-steer mobile robotic system. An LG representation of the system is proposed and the accompanying…

The development of versatile robots capable of traversing challenging and irregular environments is of increasing interest in the field of robotics, and metameric robots have been identified as a promising solution due to their slender,…

Soft robotic systems have gained widespread attention due to their inherent flexibility, adaptability, and safety, making them well-suited for varied applications. Among bioinspired designs, earthworm locomotion has been extensively studied…

Soft robots have the ability to adapt to their environment, which makes them suitable for use in disaster areas and agricultural fields, where their mobility is constrained by complex terrain. One of the main challenges in developing soft…