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Soft robots have drawn great interest due to their ability to take on a rich range of shapes and motions, compared to traditional rigid robots. However, the motions, and underlying statics and dynamics, pose significant challenges to…
Swarm robotics has experienced a rapid expansion in recent years, primarily fueled by specialized multi-robot systems developed to achieve dedicated collective actions. These specialized platforms are in general designed with swarming…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
Morphological computing, the use of the physical design of a robot to ease the realization of a given task has been proven to be a relevant concept in the context of swarm robotics. Here we demonstrate both experimentally and numerically,…
We study the power of uncontrolled random molecular movement in the nubot model of self-assembly. The nubot model is an asynchronous nondeterministic cellular automaton augmented with rigid-body movement rules (push/pull, deterministically…
This paper presents the design, modeling, and experimental validation of CapsuleBot, a novel hybrid aerial-ground bi-copter robot designed for long-endurance and low-noise operations. CapsuleBot combines the maneuverability of a bi-copter…
We present the design, characterization, and experimental results for a new modular robotic system for programmable self-assembly. The proposed system uses the Hybrid Cube Model (HCM), which integrates classical features from both…
Social insects in nature such as ants, termites and bees construct their colonies collaboratively in a very efficient process. In these swarms, each insect contributes to the construction task individually showing redundant and parallel…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…
The centimeter-scale cyborg insects have a potential advantage for application in narrow environments where humans cannot operate. To realize such tasks, researchers have developed a small printed-circuit-board (PCB) which an insect can…
Microrobotics has the potential to revolutionize many applications including targeted material delivery, assembly, and surgery. The same properties that promise breakthrough solutions---small size and large populations---present unique…
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…
Bio-engineered robots are under rapid development due to their maneuver ability through uneven surfaces. This advancement paves the way for experimenting with versatile electrical system developments with various motors. In this research…
Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
Quadruped robots are usually equipped with additional arms for manipulation, negatively impacting price and weight. On the other hand, the requirements of legged locomotion mean that the legs of such robots often possess the needed torque…
Macroscale robotic systems have demonstrated great capabilities of high speed, precise, and agile functions. However, the ability of soft robots to perform complex tasks, especially in centimeter and millimeter scale, remains limited due to…
Effective exploration abilities are fundamental for robot swarms, especially when small, inexpensive robots are employed (e.g., micro- or nano-robots). Random walks are often the only viable choice if robots are too constrained regarding…