相关论文: Wake-Based Locomotion Gait Design for Aerobat
This MS thesis outlines my contributions to the closed loop control and system integration of two robotic platforms: 1) Aerobat, a flapping wing robot stabilized by air jets, and 2) Harpy, a bipedal robot equipped with dual thrusters. Both…
Insects use flight muscles attached at the base of the wings to produce impressive wing flapping frequencies. The maximum power output of these flight muscles is insufficient to maintain such wing oscillations unless there is good elastic…
We generalize the well-studied problem of gait learning in modular robots in two dimensions. Firstly, we address locomotion in a given target direction that goes beyond learning a typical undirected gait. Secondly, rather than studying one…
We present a design of a bird-inspired morphing wing aircraft, including bionic research, modeling, simulation and flight experiments. Inspired by birds and activated by a planar linkage, our proposed aircraft has three key states: gliding,…
In systems control, the dynamics of a system are governed by modulating its inputs to achieve a desired outcome. For example, to control the thrust of a quad-copter propeller the controller modulates its rotation rate, relying on a…
Stick insect stepping patterns have been studied for insights about locomotor rhythm generation and control, because the underlying neural system is relatively accessible experimentally and produces a variety of rhythmic outputs. Harnessing…
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
Active systems of self-propelled agents, e.g., birds, fish, and bacteria, can organize their collective motion into myriad autonomous behaviors. Ubiquitous in nature and across length scales, such phenomena are also amenable to artificial…
This research focuses on developing reinforcement learning approaches for the locomotion generation of small-size quadruped robots. The rat robot NeRmo is employed as the experimental platform. Due to the constrained volume, small-size…
In-situ robotic exploration is an important tool for advancing knowledge of geological processes that describe the Earth and other Planetary bodies. To inform and enhance operations for these roving laboratories, it is imperative to…
Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot…
We present the modeling, design, fabrication and feedback control of an earthworm-inspired soft robot capable of crawling on surfaces by actively manipulating the frictional force between its body and the surface. Earthworms are segmented…
Salamander-like quadruped robots are designed inspired by the skeletal structure of their biological counterparts. However, existing controllers cannot fully exploit these morphological features and largely rely on predefined gait patterns…
The mechanisms associated with an owls ability to fly silently have been the subject of scientific interest for many decades and a source of inspiration in the context of reducing noise in both flapping and non-flapping flight. Here, we…
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…
This research introduces a novel hydrofoil-based propulsion framework for unmanned aquatic robots, inspired by the undulating locomotion observed in select aquatic species. The proposed system incorporates a camber-modulating mechanism to…
Salps are marine animals consisting of chains of jellyfish-like units. Their efficient underwater locomotion by coordinating multi-jet propulsion has aroused great interest in robotics. This paper presents a geometric mechanics framework…
We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…
Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…