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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…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
The logarithmic spiral is observed as a common pattern in several living beings across kingdoms and species. Some examples include fern shoots, prehensile tails, and soft limbs like octopus arms and elephant trunks. In the latter cases,…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
Robotic blimps, as lighter-than-air aerial platforms, offer extended operational duration and enhanced safety in human-robot interactions due to their buoyant lift. However, achieving robust flight performance under environmental airflow…
Programming physical intelligence into mechanisms holds great promise for machines that can accomplish tasks such as navigation of unstructured environments while utilizing a minimal amount of computational resources and electronic…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…
Studying snake robot locomotion in a cluttered environment has been a complicated task because the motion model is discontinuous due to the physical contact with obstacles, and the contact force cannot be determined solely by contact…
Within minutes of birth a newborn gnu or giraffe works to stand and walk, asserting postural balance and organised animate behaviour in an apparently goal-directed manner. In contrast, robots learning to stand and walk from scratch begin…
This paper presents a single-actuator passive gripper that achieves both stable grasping and continuous bidirectional in-hand rotation through mechanically encoded power transmission logic. Unlike conventional multifunctional grippers that…
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high…
Utilizing orthoses and exoskeleton technology in various applications and medical industries, particularly to help elderly and ordinary people in their daily activities is a new growing field for research institutes. In this paper, after…
Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in…
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats are known for their pronounced, fast wing articulations,…
Bipedal robots are a fascinating and advanced category of robots designed to mimic human form and locomotion. The development of the bipedal robots is a significant milestone in robotics. However, even the most advanced bipedal robots are…
Bristle-bots are legged robots that can be easily made out of a toothbrush head and a small vibrating engine. Despite their simple appearance, the mechanism enabling them to propel themselves by exploiting friction with the substrate is far…
Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three…
Robots are still poor at traversing cluttered large obstacles required for important applications like search and rescue. By contrast, animals are excellent at doing so, often using direct physical interaction with obstacles rather than…
Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through…