相关论文: Using Surface-Motions for Locomotion of Microscopi…
Achieving effective locomotion on diverse terrestrial substrates can require subtle changes of limb kinematics. Biologically inspired legged robots (physical models of organisms) have shown impressive mobility on hard ground but suffer…
Locomotion and transport of microorganisms in fluids is an essential aspect of life. Search for food, orientation toward light, spreading of off-spring, and the formation of colonies are only possible due to locomotion. Swimming at the…
As mobile robots become useful performing everyday tasks in complex real-world environments, they must be able to traverse a range of difficult terrain types such as stairs, stepping stones, gaps, jumps and narrow passages. This work…
Robotic materials are multi-robot systems formulated to leverage the low-order computation and actuation of the constituents to manipulate the high-order behavior of the entire material. We study the behaviors of ensembles composed of smart…
Soft robotics has emerged as a promising technology that holds great potential for various application areas. This is due to soft materials unique properties, including flexibility, safety, and shock absorption, among others. Despite many…
Diagnostic activities, such as ultrasound scans and palpation, are relatively low-cost. They play a crucial role in the early detection of health problems and in assessing their progression. However, they are also error-prone activities,…
The locomotion of microorganisms and spermatozoa in complex viscoelastic fluids is of critical importance in many biological processes such as fertilization, infection, and biofilm formation. Depending on their propulsion mechanisms,…
Intelligence lies not only in the brain (decision-making processes) but in the body (physical morphology). The morphology of robots can significantly influence how they interact with the physical world, crucial for manipulating objects in…
Growing soft materials which follow a 3D path in space are critical to applications such as search and rescue and minimally invasive surgery. Here, we present a concept for a single-input growing multi-stable soft material, based on a…
Current developments in molecular electronics, motors and chemical sensors could enable constructing large numbers of devices able to sense, compute and act in micron-scale environments. Such microscopic machines, of sizes comparable to…
Microscopic robots in the bloodstream could obtain power from fuel cells using glucose and oxygen. Previous studies of small numbers of such robots operating near each other showed how robots compete with their neighbors for oxygen.…
Fuel cells using oxygen and glucose could power microscopic robots operating in blood vessels. Swarms of such robots can significantly reduce oxygen concentration, depending on the time between successive transits of the lung, hematocrit…
The recent advancements in nanoscale 3D printing and microfabrication techniques have reinvigorated research on microrobots. However, precise motion control of the microrobots on biological environments using compact actuation setups…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
Legged locomotion on flowing ground ({\em e.g.} granular media) is unlike locomotion on hard ground because feet experience both solid- and fluid-like forces during surface penetration. Recent bio-inspired legged robots display speed…
The collective motion of arrays of cilia - tiny, hairlike protrusions - drives the locomotion of numerous microorganisms, enabling multimodal motion and autonomous switching between gaits to navigate complex environments. To endow…
Hexapod robots are potentially suitable for carrying out tasks in cluttered environments since they are stable, compact, and light weight. They also have multi-joint legs and variable height bodies that make them good candidates for tasks…
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…
Many marine creatures, gastropods, and earthworms generate continuous traveling waves in their bodies for locomotion within marine environments, complex surfaces, and inside narrow gaps. In this work, we study theoretically and…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…