相关论文: An Insect-scale Self-sufficient Rolling Microrobot
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Inspired by the snap-through action of a steel hairclip, we propose a design method for in-plane prestressed mechanisms that exhibit biomimetic morphing and high locomotion performance. Compliant bistable flapping mechanisms are fabricated…
Wireless mouse rings offer subtle, reliable pointing interactions for wearable computing platforms, but the small battery below 27 mAh in the miniature rings restricts the ring's continuous lifespan to just 1-2 hours due to the power…
This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes…
While engineers put lots of effort, resources, and time in building insect scale micro aerial vehicles (MAVs) that fly like insects, insects themselves are the real masters of flight. What if we would use living insect as platform for MAV…
This paper introduces a new type of soft continuum robot, called SCoReS, which is capable of self-controlling continuously its curvature at the segment level; in contrast to previous designs which either require external forces or machine…
Small-size robots offer access to spaces that are inaccessible to larger ones. This type of access is crucial in applications such as drug delivery, environmental detection, and collection of small samples. However, there are some tasks…
We present an evolved steerable version of the single-tail Fish-&-Ribbon-Inspired Small Swimming Harmonic roBot (FRISSHBot), a 59-mg biologically inspired swimmer, which is driven by a new shape-memory alloy (SMA)-based bimorph actuator.…
By leveraging their high mobility and small size, insects have been combined with microcontrollers to build up cyborg insects for various practical applications. Unfortunately, all current cyborg insects rely on implanted electrodes to…
Magnetic rolling microrobots enable gentle manipulation in confined microfluidic environments, yet autonomy for contact-rich behaviors such as cell pushing and multi-target assembly remains difficult to develop and evaluate reproducibly. We…
We present a subHz linewidth portable ultrastable laser with the mass and volume of are 40kg and 400mm*280mm*450mm, respectively, that meets the requirements of automatic frequency locking and road transportation. A dynamic analytical model…
Sensor networks with devices capable of moving could enable applications ranging from precision irrigation to environmental sensing. Using mechanical drones to move sensors, however, severely limits operation time since flight time is…
This paper discusses the design of a novel compliant in-pipe climbing modular robot for small diameter pipes. The robot consists of a kinematic chain of 3 OmniCrawler modules with a link connected in between 2 adjacent modules via compliant…
We present Scratchy---a modular, lightweight robot built for low budget competition attendances. Its base is mainly built with standard 4040 aluminium profiles and the robot is driven by four mecanum wheels on brushless DC motors. In…
An external magnetic field can be used to remotely control small-scaled robots, making them promising candidates for diverse biomedical and engineering applications. We showed that our magnetically actuated millirobot is highly agile and…
In this paper, a legless capsule robot (capsubot) comprised of a sealed external body, an internal body, and a rotational actuator is proposed. The aim of this robot is to move in a two-dimensional viscous environment. After the robot is…
We present ROCK (Rolling One-motor Controlled rocK), a 1 degree-of-freedom robot consisting of a round shell and an internal pendulum. An uneven shell surface enables steering by using only the movement of the pendulum, allowing for…
Tip-extending soft robots that "grow" via pneumatic eversion of their body material have demonstrated applications in exploration of cluttered environments. During growth, the motion and force of the robot tip can be controlled in three…
Soft modular robots enable more flexibility and safer interaction with the changing environment than traditional robots. However, it has remained challenging to create deformable connectors that can be integrated into soft machines. In this…
This paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785 - 15e1 standard pipes [1]. The robot has three tracks which operate independently and are mounted on three modules which are oriented at…