相关论文: Mobility Analysis of Screw-Based Locomotion and Pr…
Screw-based propulsion systems offer promising capabilities for amphibious mobility, yet face significant challenges in optimizing locomotion across water, granular materials, and transitional environments. This study presents a systematic…
Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
Robotic exploration in extreme environments such as caves, oceans, and planetary surfaces pose significant challenges, particularly in locomotion across diverse terrains. Conventional wheeled or legged robots often struggle in these…
This paper presents the design and performance of a screw-propelled redundant serpentine robot. This robot comprises serially linked, identical modules, each incorporating an Archimedes' screw for propulsion and a universal joint (U-Joint)…
Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to…
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 mobile robots have emerged as a promising area of research with potential applications in various disciplines including but not limited to search-and-rescue, service, surveillance, explorations, and manufacturing. In this article, we…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending capability better mimic their biological counterparts'…
In nature, a variety of limbless locomotion patterns flourish from the small or basic life form (Escherichia coli, the amoeba, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and…
Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a…
In this review we argue for the creation of a physics of moving systems -- a locomotion "robophysics" -- which we define as the pursuit of the discovery of principles of self generated motion. Robophysics can provide an important…
Soft robotic snakes made of compliant materials can continuously deform their bodies and, therefore, mimic the biological snakes' flexible and agile locomotion gaits better than their rigid-bodied counterparts. Without wheel support, to…
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…
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…
Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how…
This review considers a problem in the development of mobile robot adhesion methods with vertical surfaces and the appropriate locomotion mechanism design. The evolution of adhesion methods for wall-climbing robots (based on friction,…
Robots often interact with the world via attached parts such as wheels, joints, or appendages. In many systems, these interactions, and the manner in which they lead to locomotion, can be understood using the machinery of geometric…