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Soft robots have the ability to adapt to their environment, which makes them suitable for use in disaster areas and agricultural fields, where their mobility is constrained by complex terrain. One of the main challenges in developing soft…
Snakes and their bio-inspired robot counterparts have demonstrated locomotion on a wide range of terrains. However, dynamic vertical climbing is one locomotion strategy that has received little attention in the existing snake robotics…
Mobility on asteroids by multi-limbed climbing robots is expected to achieve our exploration goals in such challenging environments. We propose a mobility strategy to improve the locomotion safety of climbing robots in such harsh…
The arrangement of an in-pipe climbing robot that works using a sharp transmission part to explore complex relationship of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while researching in pipe…
Parkour is a grand challenge for legged locomotion, even for quadruped robots, requiring active perception and various maneuvers to overcome multiple challenging obstacles. Existing methods for humanoid locomotion either optimize a…
Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The discrete component typically consists of a locally embedded…
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…
Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that symmetry can instead be leveraged at the level of dynamic…
A challenge in soft robotics and soft actuation is the determination of an elastic system which spontaneously recovers its trivial path during postcritical deformation after a bifurcation. The interest in this behaviour is that a…
We present the modeling, design, fabrication and feedback control of an earthworm-inspired soft robot capable of crawling on surfaces by actively manipulating the frictional force between its body and the surface. Earthworms are segmented…
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack the stability required for navigating…
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,…
Humanoid robots have the promise of locomoting like humans, including fast and dynamic running. Recently, reinforcement learning (RL) controllers that can mimic human motions have become popular as they can generate very dynamic behaviors,…
Maintaining stable internal representations of continuous variables is fundamental for effective robotic control. Continuous attractor networks provide a biologically inspired mechanism for encoding such variables, yet neuromorphic…
Arboreal environments challenge current robots but are deftly traversed by many familiar animal locomotors such as squirrels. We present a small, 450 g robot "Pinto" developed for tree-jumping, a behavior seen in squirrels but rarely in…
While most micro-robots face difficulty traveling on rugged and uneven terrain, beetles can walk smoothly on the complex substrate without slipping or getting stuck on the surface due to their stiffness-variable tarsi and expandable hooks…
A miniature robotic blimp, as one type of lighter-than-air aerial vehicle, has attracted increasing attention in the science and engineering field for its long flight duration and safe aerial locomotion. While a variety of miniature robotic…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
Soft robotics has emerged as a transformative technology in Search and Rescue (SAR) operations, addressing challenges in navigating complex, hazardous environments that often limit traditional rigid robots. This paper critically examines…
Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…