相关论文: Pleobot: a modular robotic solution for metachrona…
Locomotion in segmented animals, such as annelids and myriapods (centipedes and millipedes), is generated by a coordinated movement known as metameric locomotion, which can be also implemented in robots designed to perform specific tasks.…
Robots are becoming increasingly essential for traversing complex environments such as disaster areas, extraterrestrial terrains, and marine environments. Yet, their potential is often limited by mobility and adaptability constraints. In…
High-velocity dynamic actions (e.g., fling or throw) play a crucial role in our everyday interaction with deformable objects by improving our efficiency and effectively expanding our physical reach range. Yet, most prior works have tackled…
A simple nonholonomic dynamics model is developed as a low-order model for generating undulatory swim-like motions, validated through computational fluid dynamics (CFD) simulations. The rigid-body-dynamics model generates swimming motion by…
Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…
Morphological computing, the use of the physical design of a robot to ease the realization of a given task has been proven to be a relevant concept in the context of swarm robotics. Here we demonstrate both experimentally and numerically,…
To explore and react to their environment, living micro-swimmers have developed sophisticated strategies for locomotion - in particular, motility with multiple gaits. To understand the physical principles associated with such a behavioural…
At the millimeter scale and in the intermediate Reynolds number (Re) regime, the midge and mosquito larvae can reach swimming speeds of more than one body length per cycle performing a "figure-of-8" gait, in which their elongated bodies…
Motion retargeting holds a premise of offering a larger set of motion data for characters and robots with different morphologies. Many prior works have approached this problem via either handcrafted constraints or paired motion datasets,…
This paper presents the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations (e.g., ISS). In particular, we target a fleet of robots, called Space CoBots, for collaborative tasks with…
Jellyfish (Medusozoa) have been deemed the most energy-efficient animals in the world. Their bell morphology and relatively simple nervous systems make them attractive to robotocists. Although, the science community has devoted much…
Robotics is undergoing a significant transformation powered by advances in high-level control techniques based on machine learning, giving rise to the field of robot learning. Recent progress in robot learning has been accelerated by the…
The increasing complexity of marine operations has intensified the need for intelligent robotic systems to support ocean observation, exploration, and resource management. Underwater swarm robotics offers a promising framework that extends…
Both natural and artificial small-scale swimmers may often self-propel in environments subject to complex geometrical constraints. While most past theoretical work on low-Reynolds number locomotion addressed idealised geometrical…
Recent research has shown that motile cells can adapt their mode of propulsion depending on the environment in which they find themselves. One mode is swimming by blebbing or other shape changes, and in this paper we analyze a class of…
While magnetic micro-robots have demonstrated significant potential across various applications, including drug delivery and microsurgery, the open issue of precise navigation and control in complex fluid environments is crucial for in vivo…
A biomorphic propulsion systemfor underwater robotic fish is presented. The system is based on a combination of an elastic chord with a tail fin fixed on it. The tail fin is connected to servomotor by two symmetric movable thrusts…
The move to high performance applications greatly increases the demand to produce large instantaneous fluid forces for high-speed maneuvering and improved power efficiency for sustained propulsion. Animals achieve remarkable feats of…
Swimming cells often have to self-propel through fluids displaying non-Newtonian rheology. While past theoretical work seems to indicate that stresses arising from complex fluids should systematically hinder low-Reynolds number locomotion,…
This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom…