相关论文: An Earthworm-Inspired Multi-Mode Underwater Locomo…

Multimodal locomotion capability is an emerging topic in robotics field, and various novel mobile robots have been developed to enable the maneuvering in both terrestrial and aerial domains. Among these hybrid robots, several…

Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…

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…

A remarkable variety of organisms use metachronal coordination (i.e., numerous neighboring appendages beating sequentially with a fixed phase lag) to swim or pump fluid. This coordination strategy is used by microorganisms to break symmetry…

This work introduces a novel approach for Titan exploration based on soft morphing aerial robots leveraging the use of flexible adaptive materials. The controlled deformation of the multirotor arms, actuated by a combination of a pneumatic…

In this paper we study the locomotion of a shape-changing body swimming in a two-dimensional perfect fluid of infinite extent. The shape-changes are prescribed as functions of time satisfying constraints ensuring that they result from the…

Exploring bodies of water on their surface allows robots to efficiently communicate and harvest energy from the sun. On the water surface, however, robots often face highly unstructured environments, cluttered with plant matter, animals,…

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…

This study proposes and examines a novel approach to generate peristaltic-like locomotion in a segmented origami robot. Specifically, we demonstrate the use of multi-stability embedded in origami skeleton to eliminate the need for multiple…

In many systems motion occurs on deformed and deformable surfaces, setting up the possibility for dynamical interactions solely mediated by the coupling of the entities with their environment. Here we study the "two-body" dynamics of robot…

Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…

Neuromechanics aims to understand the link between an animal's neural activity and its physical behaviors. Recent advances in experimental and machine learning techniques enable simultaneous recordings of neural and locomotion dynamics over…

Entropic lattice Boltzmann methods have been developed to alleviate intrinsic stability issues of lattice Boltzmann models for under-resolved simulations. Its reliability in combination with moving objects was established for various…

Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic locomotion is feasible only through deliberate regulation of both anchored…

The exploration of asteroids and comets is important in the quest for the formation of the Solar System and it is an important step for human space travel. Moving on the surface of asteroids is challenging for future robotic explorers due…

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…

The concept of aerial-aquatic robots has emerged as an innovative solution that can operate both in the air and underwater. Previous research on the design of such robots has been mainly focused on mature technologies such as fixed-wing and…

While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…

The development of multifunctional and biocompatible microrobots for biomedical applications relies on achieving locomotion through viscous fluids. Here, we describe a framework for swimming in homogeneous magnetoelastic membranes composed…

In the application of underwater creature study, comparing with propeller-powered ROVs and servo motor actuated robotic fish, novel biomimetic fish robot designs with soft actuation structure could interact with aquatic creatures closely…