相关论文: RoboKrill : a metachronal drag-based swimmer robot

Micro-organisms propel themselves in viscous environments by the periodic, nonreciprocal beating of slender appendages known as flagella. Active materials have been widely exploited to mimic this form of locomotion. However, the realization…

The navigation of micro-robots in complex flow environments is controlled by rheotaxis, the reorientation with respect to flow gradients. Here we demonstrate how payloads can be exploited to enhance the motion against flows. Using fully…

Metaverse has attracted great attention from industry and academia in recent years. Metaverse for the ocean (Meta-ocean) is the implementation of the Metaverse technologies in virtual emersion of the ocean which is beneficial for people…

While the animals' Fin-to-Limb evolution has been well-researched in biology, such morphological transformation remains under-adopted in the modern design of advanced robotic limbs. This paper investigates a novel class of overconstrained…

Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design…

Despite significant advancements in the research of aquatic-aerial robots, existing configurations struggle to efficiently perform underwater, surface, and aerial movement simultaneously. In this paper, we propose a novel multimodal surfing…

Autonomous underwater gliders use buoyancy control to achieve forward propulsion via a sawtooth-like, rise-and-fall trajectory. Because gliders are slow-moving relative to ocean currents, glider control must consider the effect of oceanic…

Objects moving in fluids experience patterns of stress on their surfaces determined by their motion and the geometry of nearby boundaries. Fish and underwater robots can use these patterns for navigation. This paper extends this…

In narrow, unstructured underwater environments such as environmental monitoring and minimally invasive medical procedures, micro soft robots exhibit unique advantages due to their flexible movement capabilities and small size. At the same…

Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully reconstructed by limbless robotic systems for effective movement…

Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challenge. Existing techniques in the graphics community often…

Run-and-tumble (RT) motion is commonly observed in flagellated microswimmers, arising from synchronous and asynchronous flagellar beating. One such example is a biflagellated alga, called \textit{Chlamydomonas reinhardtii}. Its flagellar…

The aim of this project is to design, study and build an "eel-like robot" prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the realization of a prototype with 12 vertebrae, a skin…

Artificial microswimmers are a new technology with promising microfluidics and biomedical applications, such as directed cargo transport, microscale assembly, and targeted drug delivery. A fundamental barrier to realising this potential is…

With this paper, the design of a biomimetic robotic squid (dubbed URSULA) developed for dexterous underwater manipulation is presented. The robot serves as a test bed for several novel underwater technologies such as soft manipulators,…

The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…

Microorganisms have evolved diverse strategies to propel in viscous fluids, navigate complex environments, and exhibit taxis in response to stimuli. This has inspired the development of synthetic microrobots, where machine learning (ML) is…

Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…

Multi-flagellated bacteria utilize the hydrodynamic interaction between their filamentary tails, known as flagella, to swim and change their swimming direction in low Reynolds number flow. This interaction, referred to as bundling and…

Wheeled bipedal robots (WBRs) have the capability to execute agile and versatile locomotion tasks. This paper focuses on improving the dynamic performance of WBRs through innovations in both hardware and software development. Inspired by…