相关论文: Mechanics-based Analysis on Flagellated Robots

Magnetic elastomers deform under a magnetic field, working as a soft actuator. Untethered microbot made of magnetic elastomers have great potentials in performing medical tasks inside human body as mini doctors. However, the lack of a…

Deformable robots are notoriously difficult to model or control due to its high-dimensional configuration spaces. Direct trajectory optimization suffers from the curse-of-dimensionality and incurs a high computational cost, while…

Inspired by recent experimental observations of a harmonically excited elastic foil hovering near a wall while supporting substantial weight, we develop a theoretical framework that describes the underlying physical effects. Using…

This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…

Traditional rigid underwater vehicles pose risks to delicate marine ecosystems due to high-speed propellers and rigid hulls. This paper presents BactoBot, a low-cost, soft underwater robot designed for safe and gentle marine exploration.…

We present a novel platform for the large-scale simulation of fibrous structures immersed in a Stokesian fluid and evolving under confinement or in free-space. One of the main motivations for this work is to study the dynamics of fiber…

This research investigates the rotational dynamics of a charged axisymmetric spinning rigid body influenced by gyrostatic torque. The study also accounts for the effects of transverse and constant body-fixed torques and an electromagnetic…

We examine the problem of snake-like locomotion by studying a system consisting of a planar inextensible elastic rod that is able to control its spontaneous curvature. Using a Cosserat model we derive, through variational principles, the…

Soft tissue elasticity is directly related to different stages of diseases and can be used for tissue identification during minimally invasive procedures. By palpating a tissue with a robot in a minimally invasive fashion force-displacement…

Natural active systems routinely reshape and reorganize their environments through sustained local interactions. Examples of decentralized collective construction are common in nature, e.g., many insects achieve large-scale constructions…

One of the central appealing properties of magnetic gels and elastomers is that their elastic moduli can reversibly be adjusted from outside by applying magnetic fields. The impact of the internal magnetic particle distribution on this…

In this paper, we report the results from the analysis of a numerical model used for the design of a magnetic linear actuator with applications to fin-based locomotion. Most of the current robotic fish generate bending motion using rotary…

Designing soft robots is a complex and iterative process that demands cross-disciplinary expertise in materials science, mechanics, and control, often relying on intuition and extensive experimentation. While foundation models, especially…

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…

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,…

Many physical systems can be modelled as parameter-dependent variational problems. In numerous cases, multiple equilibria co-exist, requiring the evaluation of their stability, and the monitoring of transitions between them. Generally, the…

Morphological regeneration is an important feature that highlights the environmental adaptive capacity of biological systems. Lack of this regenerative capacity significantly limits the resilience of machines and the environments they can…

Amongst the various fascinating types of material behavior featured by magnetic gels and elastomers are magnetostrictive effects. That is, deformations in shape or changes in volume are induced from outside by external magnetic fields.…

We discuss a two-dimensional model for the dynamics of axonemal deformations driven by internally generated forces of molecular motors. Our model consists of an elastic filament pair connected by active elements. We derive the dynamic…

Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning…