相关论文: An Earthworm-Inspired Soft Crawling Robot Controll…

This paper presents a soft earthworm robot that is capable of both efficient locomotion and obstacle avoidance. The robot is designed to replicate the unique locomotion mechanisms of earthworms, which enable them to move through narrow and…

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…

Electrically-driven soft robots based on piezoelectric actuators may enable compact form factors and maneuverability in complex environments. In most prior work, piezoelectric actuators are used to control a single degree of freedom. In…

Soft robotic systems have gained widespread attention due to their inherent flexibility, adaptability, and safety, making them well-suited for varied applications. Among bioinspired designs, earthworm locomotion has been extensively studied…

The development of versatile robots capable of traversing challenging and irregular environments is of increasing interest in the field of robotics, and metameric robots have been identified as a promising solution due to their slender,…

Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…

In nature, a variety of limbless locomotion patterns flourish from the small or basic life form (Escherichia coli, the amoeba, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and…

Soft robots require directional control to navigate complex terrains. However, achieving such control often requires multiple actuators, which increases mechanical complexity, complicates control systems, and raises energy consumption.…

Limbless creatures can crawl on flat surfaces by deforming their bodies and interacting with asperities on the ground, offering a biological blueprint for designing efficient limbless robots. Inspired by this natural locomotion, we present…

Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted…

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…

Untethered soft robots are essential for advancing the real-world deployment of soft robotic systems in diverse and multitasking environments. Inspired by soft-bodied inchworm, we present a fully untethered soft robot with a curved,…

Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited extensively in the bio-inspired field of soft robotics. In…

Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…

Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…

Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…

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…

Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…

Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…

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…