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Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…
A Cyber Physical System (CPS) consists of cyber components for computation and communication, and physical components such as sensors and actuators for process control. These components are networked and interact in a feedback loop. CPS are…
Soft robots are capable of inherently safer interactions with their environment than rigid robots since they can mechanically deform in response to unanticipated stimuli. However, their complex mechanics can make planning and control…
This paper underscores the importance of environmental monitoring, and specifically of freshwater ecosystems, which play a critical role in sustaining life and global economy. Despite their importance, insufficient data availability…
For active intervention tasks in underwater environments, the use of autonomous vehicles is just now emerging as an active area of research. During operation, for various reasons, the robot might find itself on a collision course with an…
We present an experimental study of capillary surfers, a new fluid-mediated active system that bridges the gap between dissipation- and inertia-dominated regimes. Surfers are wave-driven particles that self-propel and interact on a fluid…
Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…
Microorganisms living in microfluidic environments often form multi-species swarms, where they can leverage collective motions to achieve enhanced transport and spreading. Nevertheless, there is a general lack of physical understandings of…
We use numerical simulations to study the motion of a large asymmetric tracer immersed in a low density suspension of self-propelled nanoparticles in two dimensions. Specifically, we analyze how the curvature of the tracer affects its…
The present study deals with the numerical as well as asymptotic analysis of the electrohydrodynamic interaction between two deformable droplets in a confined shear flow. Considering both the phases as leaky dielectric, we have performed…
In this paper, we propose a novel predictive safety filter that is robust to bounded perturbations and is implemented in an even-triggered fashion to reduce online computation. The proposed safety filter extends upon existing work to reject…
Marine exploration is essential to understanding ocean processes and organisms. While the use of current unmanned underwater vehicles has enabled many discoveries, there are still plenty of limitations toward exploring complex environments.…
The process of scientific discovery relies on an interplay of observations, analysis, and hypothesis generation. Machine learning is increasingly being adopted to address individual aspects of this process. However, it remains an open…
With this paper, the design of a biomimetic robotic squid (dubbed URSULA) developed for dexterous underwater manipulation is presented. The robot serves as a test bed for several novel underwater technologies such as soft manipulators,…
This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from all position constraints acting on a third-order nonlinear…
We are interested in the computational study of shock hydrodynamics, i.e. problems involving compressible solids, liquids, and gases that undergo large deformation. These problems are dynamic and nonlinear and can exhibit complex…
We investigate the dynamics of an intruder pulled by a constant force in a dense two-dimensional granular fluid by means of event-driven molecular dynamics simulations. In a first step, we show how a propagating momentum front develops and…
The water entry of solid and liquid bodies has been studied for over a century, and various researchers have classified the different behaviors that occur when the gas-filled cavity collapses. Although four main cavity collapse regimes have…
For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…