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Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…

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…

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…

Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…

In the quest for electrically-driven soft actuators, the focus has shifted away from liquid-gas phase transition, commonly associated with reduced strain rates and actuation delays, in favour of electrostatic and other electrothermal…

We developed a new class of soft locomotive robots that can self-assemble into a preprogrammed configuration and vary their stiffness afterward in a highly integrated, compact body using contracting-cord particle jamming (CCPJ). We…

In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that…

Bio-inspired multi-joint snake robots offer the advantages of terrain adaptability due to their limbless structure and high flexibility. However, a series of dozens of motor units in typical multiple-joint snake robots results in a heavy…

Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…

Rectilinear crawling locomotion is a primitive and common mode of locomotion in slender, soft-bodied animals. It requires coordinated contractions that propagate along a body that interacts frictionally with its environment. We propose a…

When simulating soft robots, both their morphology and their controllers play important roles in task performance. This paper introduces a new method to co-evolve these two components in the same process. We do that by using the hyperNEAT…

Designing materials or structures that can achieve asymmetric shape-shifting in response to symmetrically switching stimuli is a promising approach to enhance the locomotion performance of soft actuators/robots. Inspired by the geometry of…

Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscillations in a soft snake by means of a low-level spiking neural…

Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three…

Torque and continuous rotation are fundamental methods of actuation and manipulation in rigid robots. Soft robot arms use soft materials and structures to mimic the passive compliance of biological arms that bend and extend. This use of…

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…

Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…

There is a growing need for robots that can change their shape, size and mechanical properties to adapt to evolving tasks and environments. However, current shape-changing systems generally utilize bespoke, system-specific mechanisms that…

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…

Traditional character animation specializes in characters with a rigidly articulated skeleton and a bipedal/quadripedal morphology. This assumption simplifies many aspects for designing physically based animations, like locomotion, but…