Related papers: Highly agile flat swimming robot
Deep reinforcement learning has recently been applied to a variety of robotics applications, but learning locomotion for robots with unconventional configurations is still limited. Prior work has shown that, despite the simple modeling of…
We present a flow-based control strategy that enables resource-constrained marine robots to patrol gyre-like flow environments on an orbital trajectory with a periodicity in a given range. The controller does not require a detailed model of…
Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. To…
The development of multifunctional and biocompatible microrobots for biomedical applications relies on achieving locomotion through viscous fluids. Here, we describe a framework for swimming in homogeneous magnetoelastic membranes composed…
Aerial robots the size of a honeybee (~100 mg) have advantages over larger robots because of their small size, low mass and low materials cost. Previous iterations have demonstrated controlled flight but were difficult to fabricate because…
Locomotive robots that do not rely on electronics and/or electromagnetic components will open up new perspectives and applications for robotics. However, these robots usually involve complicated and tedious fabrication processes, limiting…
Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and walk. This capability is extremely beneficial for expanding…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
The concept of aerial-aquatic robots has emerged as an innovative solution that can operate both in the air and underwater. Previous research on the design of such robots has been mainly focused on mature technologies such as fixed-wing and…
We present OpenFish: an open source soft robotic fish which is optimized for speed and efficiency. The soft robotic fish uses a combination of an active and passive tail segment to accurately mimic the thunniform swimming mode. Through the…
Rigid robots can be precise in repetitive tasks, but struggle in unstructured environments. Nature's versatility in such environments inspires researchers to develop biomimetic robots that incorporate compliant and contracting artificial…
As mobile robots become useful performing everyday tasks in complex real-world environments, they must be able to traverse a range of difficult terrain types such as stairs, stepping stones, gaps, jumps and narrow passages. This work…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom…
We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…
Underwater manipulation is one of the most remarkable ongoing research subjects in robotics. \acp{I-AUV} not only have to cope with the technical challenges associated with traditional manipulation tasks but do so while currents and waves…
Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form…
Legged robots face significant challenges in moving and navigating on deformable and highly yielding terrain such as mud. We present a resistive force model for legged foot-mud interactions. The model captures rheological behaviors such as…
We investigate the scenario that a robot needs to reach a designated goal after taking a sequence of appropriate actions in a non-static environment that is partially structured. One application example is to control a marine vehicle to…
Small-scale robots hold great potential for targeted cargo delivery in minimally-inv asive medicine. However, current robots often face challenges to locomote efficiently on slip pery biological tissue surfaces, especially when loaded with…