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Whenever a flapping robot moves along a trajectory it experiences some vibration about its mean path. Even for a hovering case, a flier experiences such vibration due to the oscillatory nature of the aerodynamic forces. In this paper we…
Evolutionary robotics has aimed to optimize robot control and morphology to produce better and more robust robots. Most previous research only addresses optimization of control, and does this only in simulation. We have developed a…
We propose Cabbage, a differential growth framework to model buckling behavior in 3D open surfaces found in nature-like the curling of flower petals. Cabbage creates high-quality triangular meshes free of self-intersection. Cabbage-Shell is…
We analyze a bubble forming system composed of particles with competing long range repulsive and short range attractive interactions driven over a quasi-one-dimensional periodic substrate. We find various pinned and sliding phases as a…
We study numerically how multiple deformable capsules squeeze into a constriction. This situation is largely encountered in microfluidic chips designed to manipulate living cells, which are soft entities. We use fully three-dimensional…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
This article presents a new three-degree-of-freedom (3-DOF) parallel mechanism (PM) with two translations and one rotation (2T1R), designed based on the topological design theory of the parallel mechanism using position and orientation…
Motivated by a high demand for automated inspection of civil infrastructure, this work presents a new design and development of a tank-like robot for structural health monitoring. Unlike most existing magnetic wheeled mobile robot designs,…
We simulate gravity driven dynamics of partially wetting droplets moving along a fibre using the lattice Boltzmann method. For the so-called clamshell morphology, we find three possible dynamic regimes upon varying the droplet Bond number…
The design of compliant mechanisms is crucial in several technologies and relies on the availability of solutions for nonlinear structural problems. One of these solutions is given and experimentally validated in the present article for a…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
This research introduces a novel hydrofoil-based propulsion framework for unmanned aquatic robots, inspired by the undulating locomotion observed in select aquatic species. The proposed system incorporates a camber-modulating mechanism to…
The sliding mode approach is recognized as an efficient tool for treating the chattering behavior in hybrid systems. However, the amplitude of chattering, by its nature, is proportional to magnitude of discontinuous control. A possible…
Exploration of various applications is the frontier of research on inflatable robots. We proposed an articulated robots consisting of multiple pneumatic bladder links connected by rolling contact joints called Hillberry joints. The bladder…
Formation control is essential for swarm robotics, enabling coordinated behavior in complex environments. In this paper, we introduce a novel formation control system for an indoor blimp swarm using a specialized leader-follower approach…
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-inspired robotic design. However, although…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making…
This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth) a third…
A deformable body can rotate even with no angular momentum, simply by changing its shape. A good example is a falling cat, how it maneuvers in air to land on its feet. Here a first principles molecular level example of the phenomenon is…