Related papers: OriWheelBot: An origami-wheeled robot
Origami, which transforms flat sheets into three-dimensional shapes through folding patterns, has inspired the emergence of deployable systems in architecture and civil realms. Most existing origami-inspired deployable systems are based on…
For robots to handle the numerous factors that can affect them in the real world, they must adapt to changes and unexpected events. Evolutionary robotics tries to solve some of these issues by automatically optimizing a robot for a specific…
Self-folding origami, structures that are engineered flat to fold into targeted, three-dimensional shapes, have many potential engineering applications. Though significant effort in recent years has been devoted to designing fold patterns…
Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset of these robots which utilize soft, compliant actuators to…
Due to its rigid foldability and predictable kinematics, the reverse fold is the fundamental mechanism behind some of the most well known origami kinematic structures, including the Miura Ori, Yoshimura, and waterbomb patterns. However, the…
This paper presents a novel design of a crawler robot which is capable of transforming its chassis from an Omni crawler mode to a large-sized wheel mode using a novel mechanism. The transformation occurs without any additional actuators.…
Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to…
While most micro-robots face difficulty traveling on rugged and uneven terrain, beetles can walk smoothly on the complex substrate without slipping or getting stuck on the surface due to their stiffness-variable tarsi and expandable hooks…
The article studies the elastic and locomotive properties of Miura-ori-type paper origami. The mechanics of a single paper crease is studied experimentally, and its non-elastic properties turn out to be crucial. The entire origami…
Soft actuators have shown great advantages in compliance and morphology matched for manipulation of delicate objects and inspection in a confined space. There is an unmet need for a soft actuator that can provide torsional motion to e.g.…
Nature has evolved a vast array of strategies for propulsion at the air-fluid interface. Inspired by a survival mechanism initiated by the honeybee (Apis mellifera) trapped on the surface of water, we here present the SurferBot: a…
Designing soft robots poses considerable challenges: automated design approaches may be particularly appealing in this field, as they promise to optimize complex multi-material machines with very little or no human intervention.…
The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and leveraging local resources, and facilitating…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
Wheeled-legged robots, which have wheels at their feet and achieve high mobility by coordinating wheel drive and leg drive, have been developed. These robots have been developed purely as platforms specialized for locomotion. Therefore,…
Reorientation (turning in plane) plays a critical role for all robots in any field application, especially those that in confined spaces. While important, reorientation remains a relatively unstudied problem for robots, including limbless…
In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel…
In this paper, we focus on the kangaroo, which has powerful legs capable of jumping and a soft and strong tail. To incorporate these unique structure into a robot for utilization, we propose a design method that takes into account both the…
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…
Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its…