Related papers: Realizing Robotic Swimming with Unified Fluid-Robo…
We propose a neural physics system for real-time, interactive fluid simulations. Traditional physics-based methods, while accurate, are computationally intensive and suffer from latency issues. Recent machine-learning methods reduce…
An articulated body is defined as a finite number of rigid bodies connected by a set of arbitrary constraints that limit the relative motion between pairs of bodies. Such a general definition encompasses a wide variety of situations in the…
Swimming organisms can escape their predators by creating and harnessing unsteady flow fields through their body motions. Stochastic optimization and flow simulations have identified escape patterns that are consistent with those observed…
A simple nonholonomic dynamics model is developed as a low-order model for generating undulatory swim-like motions, validated through computational fluid dynamics (CFD) simulations. The rigid-body-dynamics model generates swimming motion by…
Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been…
Aquatic organisms are known for their ability to generate efficient propulsion with low energy expenditure. While existing research has sought to leverage bio-inspired structures to reduce energy costs in underwater robotics, the crucial…
Faced with strong demand for robots working in underwater pipeline environments, a novel underwater multi-model locomotion robot is designed and studied in this research. By mimicking the earthworm's metameric body, the robot is segmented…
Robotic swimmers are currently a subject of extensive research and development for several underwater applications. Clever design and planning must rely on simple theoretical models that account for the swimmer's hydrodynamics in order to…
In this article we introduce a novel coupled algorithm for massively parallel direct numerical simulations of electrophoresis in microfluidic flows. This multiphysics algorithm employs an Eulerian description of fluid and ions, combined…
While undulatory swimming of elongate limbless robots has been extensively studied in open hydrodynamic environments, less research has been focused on limbless locomotion in complex, cluttered aquatic environments. Motivated by the concept…
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…
The development of novel autonomous underwater gliders has been hindered by limited shape diversity, primarily due to the reliance on traditional design tools that depend heavily on manual trial and error. Building an automated design…
We introduce a novel approach to simulate the interaction between fluids and thin elastic solids without any penetration. Our approach is centered around an optimization system augmented with barriers, which aims to find a configuration…
Computational fluid dynamics (CFD) drives progress in numerous scientific and engineering fields, yet high-fidelity simulations remain computationally prohibitive. While machine learning approaches offer computing acceleration, they…
Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.
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…
Over the past few decades, biomimetic robotic experiments have significantly advanced our understanding of undulatory swimming. Compared to animal experiments, robotic experiments offer repeatability and controlled parameter variations, but…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
Artificial micro-swimmers actuated by external magnetic fields hold significant promise for targeted biomedical applications, including drug delivery and micro-robot-assisted therapy. However, their dynamics remain challenging to control…