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Salps are marine animals consisting of chains of jellyfish-like units. Their efficient underwater locomotion by coordinating multi-jet propulsion has aroused great interest in robotics. This paper presents a geometric mechanics framework…
In most macro-scale robotics systems , propulsion and controls are enabled through a physical tether or complex on-board electronics and batteries. A tether simplifies the design process but limits the range of motion of the robot, while…
Follow-the-leader (FTL) motion is essential for continuum robots operating in fragile and confined environments. It allows the robot to exert minimal force on its surroundings, reducing the risk of damage. This paper presents a novel design…
Existing navigation systems mostly consider "success" when the robot reaches within 1m radius to a goal. This precision is insufficient for emerging applications where the robot needs to be positioned precisely relative to an object for…
Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of mechanical damping exist in compliant robotic legged locomotion. It remains unclear how physical…
In-vivo environments, magnetically actuated soft robots offer advantages such as wireless operation and precise control, showing promising potential for painless detection and therapeutic procedures. We developed a trileg magnetically…
Quadruped robots face limitations in long-range navigation efficiency due to their reliance on legs. To ameliorate the limitations, we introduce a Reinforcement Learning-based Active Transporter Riding method (\textit{RL-ATR}), inspired by…
Bio-inspired vehicles are currently leading the way in the quest to produce a vehicle capable of flight and underwater navigation. However, a fully functional vehicle has not yet been realized. We present the first fully functional vehicle…
We study self-propulsion (or locomotion) of a robot (or an underwater vehicle) in an inviscid incompressible fluid. The robot's body is rigid, while its locomotion ability is due to an internal actuator, which can perform controlled…
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…
For decades, people have been seeking for fishlike flapping motions that can realize underwater propulsion with low energy cost. Complexity of the nonstationary flow field around the flapping body makes this problem very difficult. In…
Soft machines typically exhibit slow locomotion speed and low manipulation strength because of intrinsic limitations of soft materials. Here, we present a generic design principle that harnesses mechanical instability for a variety of…
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…
Untethered soft robots are essential for advancing the real-world deployment of soft robotic systems in diverse and multitasking environments. Inspired by soft-bodied inchworm, we present a fully untethered soft robot with a curved,…
Screw-based locomotion is a robust method of locomotion across a wide range of media including water, sand, and gravel. A challenge with screws is their significant number of impactful design parameters that affect locomotion performance.…
The accurate Attitude Heading Reference System(AHRS) is an important apart of the UAV reliable flight system. Aiming at the application scenarios of near ground navigation of small-UAV, this paper establishes a loose couple error model of…
Inspired by the snap-through action of a steel hairclip, we propose a design method for in-plane prestressed mechanisms that exhibit biomimetic morphing and high locomotion performance. Compliant bistable flapping mechanisms are fabricated…
Amphibious robots, operating seamlessly across land and water, are advancing applications in conservation, disaster response, and defense. Their performance depends on locomotion mechanisms, actuation technologies, and sensor-control…
Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots,…
Soft robotics is advancing the use of flexible materials for adaptable robotic systems. Membrane-actuated soft robots address the limitations of traditional soft robots by using pressurized, extensible membranes to achieve stable, large…