相关论文: RoboKrill : a metachronal drag-based swimmer robot
Sample Exploring the ocean environment holds profound significance in areas such as resource exploration and ecological protection. Underwater robots struggle with extreme water pressure and often cause noise and damage to the underwater…
Fish-inspired aquatic robots are gaining increasing attention in marine robot communities due to their high swimming speeds and efficient propulsion enabled by flexible bodies that generate undulatory motions. To support the design…
Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic…
This study presents the development and experimental verification of a biomimetic manta ray robot for underwater autonomous exploration. Inspired by manta rays, the robot uses flapping motion for propulsion to minimize seabed disturbance…
Magnetic microrobots that swim through liquid media are of interest for minimally invasive medical procedures, bioengineering, and manufacturing. Many of the envisaged applications, such as micromanipulation and targeted cargo delivery,…
We present a model of a configurable underwater drone, whose parts are optimised for 3D printing processes. We show how - through the use of printable adapters - several thrusters and ballast configurations can be implemented, allowing…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Soft robotics has the potential to revolutionize robotic locomotion, in particular, soft robotic swimmers offer a minimally invasive and adaptive solution to explore and preserve our oceans. Unfortunately, current soft robotic swimmers are…
Deep reinforcement learning has recently been applied to a variety of robotics applications, but learning locomotion for robots with unconventional configurations is still limited. Prior work has shown that, despite the simple modeling of…
This work presents the MarineGym, a high-performance reinforcement learning (RL) platform specifically designed for underwater robotics. It aims to address the limitations of existing underwater simulation environments in terms of RL…
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,…
Fish exhibit impressive locomotive performance and agility in complex underwater environments, using their undulating tails and pectoral fins for propulsion and maneuverability. Replicating these abilities in robotic fish is challenging;…
When swimming at low Reynolds numbers, inertial effects are negligible and reciprocal movements cannot induce net motion. Instead, symmetry breaking is necessary to achieve net propulsion. Directed swimming can be supported by magnetic…
Triphibious robots capable of multi-domain motion and cross-domain transitions are promising to handle complex tasks across diverse environments. However, existing designs primarily focus on dual-mode platforms, and some designs suffer from…
Synthetic microswimmers show great promise in biomedical applications such as drug delivery and microsurgery. Their locomotion, however, is subject to stringent constraints due to the dominance of viscous over inertial forces at low…
Mobile robots are being used on a large scale in various crowded situations and become part of our society. The socially acceptable navigation behavior of a mobile robot with individual human consideration is an essential requirement for…
This paper introduces the concept of employing neuromorphic methodologies for task-oriented underwater robotics applications. In contrast to the increasing computational demands of conventional deep learning algorithms, neuromorphic…
In the study of microscopic flows, self-propulsion has been particularly topical in recent years, with the rise of miniature artificial swimmers as a new tool for flow control, low Reynolds number mixing, micromanipulation or even drug…
Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex contact-rich nature of the tasks. Model-based optimal control…
Taking inspiration from the crawling motion of biological cells on a substrate, we consider a physical model of self-propulsion where the spatio-temporal driving can involve both, a mechanical actuation by active force couples, and a…