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The use of soft robotics for real-world underwater applications is limited, even more than in terrestrial applications, by the ability to accurately measure and control the deformation of the soft materials in real time without the need for…
Developing soft robots that can control their own life-cycle and degrade on-demand while maintaining hyper-elasticity is a significant research challenge. On-demand degradable soft robots, which conserve their original functionality during…
Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully reconstructed by limbless robotic systems for effective movement…
Developing a framework for the locomotion of a six-legged robot or a hexapod is a complex task that has extensive hardware and computational requirements. In this paper, we present a bio-inspired framework for the locomotion of a hexapod.…
Soft robotic grippers are essential for grasping delicate, geometrically complex objects in manufacturing, healthcare and agriculture. However, existing grippers struggle to grasp feature-rich objects with high topological variability,…
In this paper, we report the results from the analysis of a numerical model used for the design of a magnetic linear actuator with applications to fin-based locomotion. Most of the current robotic fish generate bending motion using rotary…
This work presents the MarineGym, a high-performance reinforcement learning (RL) platform specifically designed for underwater robotics. It aims to address the limitations of existing underwater simulation environments in terms of RL…
Broadband microwave waveforms with programmable chirp shapes are captivating in numerous practical applications. Compared with electronic technology, photonic-assisted solutions exhibit excellent performance in bandwidth and flexibility,…
Research on untethered micro-swimming robots is growing fast owing to their potential impact on minimally invasive medical procedures. Candidate propulsion mechanisms of robots are based on flagellar mechanisms of microorganisms such as…
Fish locomotion is enabled by fin rays-actively deformable boney rods, which manipulate the fin to facilitate complex interaction with surrounding water and enable propulsion. Replicating the performance and kinematics of the biological fin…
We propose a novel multi-section cable-driven soft robotic arm inspired by octopus tentacles along with a new modeling approach. Each section of the modular manipulator is made of a soft tubing backbone, a soft silicon arm body, and two…
This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR). For the proposed HCDR, the derivation of the equations of motion and proof provide a very effective way to find items for generalized system modeling. The proposed…
Triphibious robots capable of multi-domain motion and cross-domain transitions are promising to handle complex tasks across diverse environments. However, existing designs primarily focus on dual-mode platforms, and some designs suffer from…
This paper introduces a novel approach to interactive robots by leveraging the form-factor of cards to create thin robots equipped with vibrational capabilities for locomotion and haptic feedback. The system is composed of flat-shaped…
We propose a learning-based system for enabling quadrupedal robots to manipulate large, heavy objects using their whole body. Our system is based on a hierarchical control strategy that uses the deep latent variable embedding which captures…
A Cyber-physical underwater vehicle is equipped with bio-inspired flapping fins positioned on the sides of the vehicle's main body. The proposed control surfaces are inspired by fish pectoral fins, generating forces and moments that can…
A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…
In the last few years, there have been many new developments and significant accomplishments in the research of bionic robot fishes. However, in terms of swimming performance, existing bionic robot fishes lag far behind fish, prompting…
Controlling fish feeding machine is challenging problem because experienced fishermen can adequately control based on assumption. To build robust method for reasonable application, we propose automatic controlling fish feeding machine based…
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…