相关论文: An Insect-scale Self-sufficient Rolling Microrobot

Multimodal locomotion is crucial for an animal's adaptability in unstructured wild environments. Similarly, in the human gastrointestinal tract, characterized by viscoelastic mucus, complex rugae, and narrow sphincters like the cardia,…

We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…

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…

Plants display physical displacements during their growth due to photosynthesis, which converts light into chemical energy. This can be interpreted as plants acting as actuators with a built-in power source. This paper presents a method to…

Soft robotic manipulators are generally slow despite their great adaptability, resilience, and compliance. This limitation also extends to current soft robotic micromanipulators. Here, we introduce FilMBot, a 3-DOF film-based,…

Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional…

Microrobots show great potential in biomedical applications such as drug delivery and cell manipulations. However, current microrobots are mostly fabricated as a single entity and type and the tasks they can perform are limited. In this…

The ability to have multiple magnetic robots operate independently in the same workspace would increase the clinical potential of these systems allowing collaborative operation. In this work, we investigate the feasibility of actuating two…

This paper presents a novel industrial robotic gripper with a high grasping speed (maximum: 1396 mm/s), high tip force (maximum: 80 N) for grasping, large motion range, and lightweight design (0.3 kg). To realize these features, the…

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…

We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control.…

Nature has evolved a vast array of strategies for propulsion at the air-fluid interface. Inspired by a survival mechanism initiated by the honeybee (Apis mellifera) trapped on the surface of water, we here present the SurferBot: a…

We present force characterizations of two newly developed insect-scale propulsors--one single-tailed and one double-tailed--for microrobotic swimmers that leverage fluid-structure interaction (FSI) to generate thrust. The designs of these…

Small-scale robots offer significant potential in minimally-invasive medical procedures. Due to the nature of soft biological tissues, however, robots are exposed to complex environments with various challenges in locomotion, which is…

Natural selection has tuned many flying and swimming animals across different species to share the same narrow design space for optimal high-efficient and energy-saving locomotion, e.g., their dimensionless Strouhal numbers St that relate…

Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…

Ants are six-legged insects that can carry loads ten times heavier than their body weight. Since having six-legs, they are intrinsically stable. They are powerful and can carry heavy loads. For these reasons, in this paper a new parallel…

Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot…

We report a versatile method for executing controllable high-speed rotation of nanowires by AC voltages applied to multiple electrodes. The rotation of the nanowires can be instantly switched on or off with precisely controlled rotation…

This study presents the design of a six-wheeled outdoor autonomous mobile robot. The main design goal of our robot is to increase its adaptability and flexibility when moving outdoors. This six-wheeled robot platform was equipped with some…