Related papers: Designing a Magnetic Micro-Robot for Transporting …
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often…
Microrobots have the potential to impact many areas such as microsurgery, micromanipulation and minimally invasive sensing. Due to their small size, microrobots swim in a regime that is governed by low Reynolds number hydrodynamics. In this…
Magnetically actuated microrobots have been used as wireless, non-contact manipulation tools at microscales, making them promising for minimally invasive applications. However, their control remains challenging due to indirect actuation,…
Integrating Brain-Machine Interfaces into non-clinical applications like robot motion control remains difficult - despite remarkable advancements in clinical settings. Specifically, EEG-based motor imagery systems are still error-prone,…
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
Hair care robots can help address labor shortages in elderly care while enabling those with limited mobility to maintain their hair-related identity. We present MOE-Hair, a soft robot system that performs three hair-care tasks: head…
Noncontact particle manipulation (NPM) technology has significantly extended mankind's analysis capability into micro and nano scale, which in turn greatly promoted the development of material science and life science. Though NPM by means…
Swimming micro-organisms such as flagellated bacteria and sperm cells have fascinating locomotion capabilities. Inspired by their natural motion, there is an ongoing effort to develop artificial robotic nano-swimmers for potential in-body…
Autonomous delivery of goods using a MAV is a difficult problem, as it poses high demand on the MAV's control, perception and manipulation capabilities. This problem is especially challenging if the exact shape, location and configuration…
Recent experiments proposed to use confined bacteria in order to generate flows near surfaces. We develop a mathematical and a computational model of this fluid transport using a linear superposition of fundamental flow singularities. The…
Non-contact manipulation has emerged as a transformative approach across various industrial fields. However, current flexible 2D and 3D non-contact manipulation techniques are often limited to microscopic scales, typically controlling…
Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
In this paper, we analyze the inverse dynamics and control of a bacteria-inspired uniflagellar robot in a fluid medium at low Reynolds number. Inspired by the mechanism behind the locomotion of flagellated bacteria, we consider a robot…
Shape change enables new capabilities for robots. One class of robots capable of dramatic shape change is soft growing "vine" robots. These robots usually feature global actuation methods for bending that limit them to simple,…
Combining the unmatched soft-tissue imaging capabilities of magnetic resonance imaging (MRI) with high precision robotics has the potential to improve the accuracy, precision, and safety of a wide range of image-guided medical procedures.…
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…
Soft robots enable safe, adaptive interaction with complex environments but remain difficult to sense and control due to their highly deformable structures. Architected soft materials such as helicoid lattices offer tunable stiffness and…
This paper presents a novel design and experimental investigation for a self-propelled capsule robot that can be used for painless colonoscopy during a retrograde progression from the patient's rectum. The steerable robot is driven forward…