相关论文: Hydrodynamic surrogate models for bio-inspired mic…
Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
Soft robots offer an alternative approach to manipulate inside the constrained space while maintaining the safe interaction with the external environment. Due to its adaptable compliance characteristic, external contact force can easily…
Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case,…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
Many species of fish, as well as biorobotic underwater vehicles, employ body caudal fin propulsion, in which a wave-like body motion culminates in high-amplitude caudal fin oscillations to generate thrust. This study uses high fidelity…
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…
The current study presents a systematic investigation of the locomotion performance of a swimmer with a wide range of parameter settings. Two-dimensional simulations with the immersed boundary method are employed for the fluid-structure…
Aeroelasticity in the transonic regime is challenging because of the strongly nonlinear phenomena involved in the formation of shock waves and flow separation. In this work, we introduce a computationally efficient framework for accurate…
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…
Data-driven surrogate models of dynamical systems based on the extended dynamic mode decomposition are nowadays well-established and widespread in applications. Further, for non-holonomic systems exhibiting a multiplicative coupling between…
Mathematical models of the human heart are increasingly playing a vital role in understanding the working mechanisms of the heart, both under healthy functioning and during disease. The aim is to aid medical practitioners diagnose and treat…
For bipedal humanoid robots to successfully operate in the real world, they must be competent at simultaneously executing multiple motion tasks while reacting to unforeseen external disturbances in real-time. We propose Kinodynamic Fabrics…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit…
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…
We present and analyze a theoretical model for the dynamics and interactions of "capillary surfers," which are millimetric objects that self-propel while floating at the interface of a vibrating fluid bath. In our companion paper [1], we…
Soft robots have demonstrated superior flexibility and functionality than conventional rigid robots. These versatile devices can respond to a wide range of external stimuli (including light, magnetic field, heat, electric field, etc.), and…
We analyze the capabilities of various recently developed techniques, namely Resistive Force Theory (RFT) and continuum plasticity implemented with the Material Point Method (MPM), in capturing dynamics of wheel--dry granular media…
Social robot navigation is an evolving research field that aims to find efficient strategies to safely navigate dynamic environments populated by humans. A critical challenge in this domain is the accurate modeling of human motion, which…
The emerging field of self-driven active particles in fluid environments has recently created significant interest in the biophysics and bioengineering communities owing to their promising future biomedical and technological applications.…