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Fish-inspired aquatic robots are gaining increasing attention in marine robot communities due to their high swimming speeds and efficient propulsion enabled by flexible bodies that generate undulatory motions. To support the design…
Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…
Soft and lightweight grippers have greatly enhanced the performance of robotic manipulators in handling complex objects with varying shape, texture, and stiffness. However, the combination of universal grasping with passive sensing…
Due to the combined effect of anisotropic interactions and activity, Janus swimmers are capable to self-assemble in a wide variety of structures, many more than their equilibrium counterpart. This might lead to the development of novel…
We derive from first principles a three-dimensional theory of self-propelled particle swarming in a viscous fluid environment. Our model predicts emergent collective behavior that depends critically on fluid opacity, mechanism of…
To explore and react to their environment, living micro-swimmers have developed sophisticated strategies for locomotion - in particular, motility with multiple gaits. To understand the physical principles associated with such a behavioural…
A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…
The locomotion of flexible membrane-like organisms on top of curved surfaces appears in different contexts and scales. Still, such dynamics have not yet been quantitatively modeled and no realization of such motion in manmade systems has…
This work describes a novel mechanism of laminar flow control of a backward swept wing with a comb-like leading edge device. It is inspired by the leading-edge comb on owl feathers and the special design of its barbs, resembling a cascade…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
We present the results of hydrodynamical simulations of nonaxisymmetric gas flow past a gravitating compact object in two dimensions. Calculations were performed with uniform flow as well as with transverse velocity and density gradients.…
This paper reports the dynamic wetting behavior and heat transfer characteristics for impinging droplets on heated bi-phobic surfaces (superhydrophobic matrix with hydrophobic spots). A non-patterned superhydrophobic and a sticky…
With the goal of increasing the speed and efficiency in robotic dual arm manipulation, a novel control approach is presented that utilizes intentional simultaneous impacts to rapidly grasp objects. This approach uses the time-invariant…
In this letter, we report the first experimental demonstration of the recently emerged new paradigm in hovering and flapping flight physics called (Natural Hovering Extremum Seeking (NH-ES)) [doi.org/10.1103/4dm4-kc4g], which theorized that…
We propose a novel multi-section cable-driven soft robotic arm inspired by octopus tentacles along with a new modeling approach. Each section of the modular manipulator is made of a soft tubing backbone, a soft silicon arm body, and two…
A bio-inspired, passively deployable flap attached to an airfoil by a torsional spring of fixed stiffness can provide significant lift improvements at post-stall angles of attack. In this work, we describe a hybrid active-passive variant to…
Inspired by the classical Kepler and Rutherford problem, we investigate an analogous set-up in the context of active microswimmers: the behavior of a deformable microswimmer in a swirl flow. First we identify new steady bound states in the…
Most aquatic vertebrates swim by lateral flapping of their bodies and caudal fins. While much effort has been devoted to understanding the flapping kinematics and its influence on the swimming efficiency, little is known about the stability…
Fluid dynamics, and flight in particular, is a domain where organisms challenge our understanding of its physics. Integrating the current knowledge of animal flight, we propose to revisit the use of live animals to study physical phenomena.…
Autonomous ocean-exploring vehicles have begun to take advantage of onboard sensor measurements of water properties such as salinity and temperature to locate oceanic features in real time. Such targeted sampling strategies enable more…