相关论文: Pleobot: a modular robotic solution for metachrona…
Fish locomotion emerges from a diversity of interactions among deformable structures, surrounding fluids and neuromuscular activations, i.e., fluid-structure interactions (FSI) controlled by fish's motor systems. Previous studies suggested…
Many aquatic microorganisms are able to swim. In natural environments they typically do so in the presence of flows. In recent years it has been shown that the interplay of swimming and flows can give rise to interesting and biologically…
When tiny soft ferromagnetic particles are placed along a liquid interface and exposed to a vertical magnetic field, the balance between capillary attraction and magnetic repulsion leads to self-organization into well-defined patterns.…
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
Many marine creatures, gastropods, and earthworms generate continuous traveling waves in their bodies for locomotion within marine environments, complex surfaces, and inside narrow gaps. In this work, we study theoretically and…
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 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…
Matching the swimming efficiency and agility of fish has remained an elusive goal in underwater robotics. Such locomotion capabilities rely on complex vortex interactions between the robot's body and the surrounding fluid. However,…
Humanoid robots could benefit from using their upper bodies for support contacts, enhancing their workspace, stability, and ability to perform contact-rich and pushing tasks. In this paper, we propose a unified approach that combines an…
Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example…
Microrobots have the potential to impact many areas such as microsurgery, micromanipulation and minimally invasive sensing. Due to their small size, microrobots swim in a regime that is governed by low Reynolds number hydrodynamics. In this…
Jellyfish have been called one of the most energy-efficient animals in the world due to the ease in which they move through their fluid environment, by product of their morphological, muscular, and material properties. We investigated…
Traditional locomotion strategies become ineffective at low Reynolds numbers, where viscous forces predominate over inertial forces. To adapt, microorganisms have evolved specialized structures like cilia and flagella for efficient…
The development of novel autonomous underwater gliders has been hindered by limited shape diversity, primarily due to the reliance on traditional design tools that depend heavily on manual trial and error. Building an automated design…
Robotic fish have attracted growing attention in recent years owing to their biomimetic design and potential applications in environmental monitoring and biological surveys. Among robotic fish employing the Body-Caudal Fin (BCF) locomotion…
In the last few years, there have been many new developments and significant accomplishments in the research of bionic robot fishes. However, in terms of swimming performance, existing bionic robot fishes lag far behind fish, prompting…
The collective swimming of soft robots in an infinite viscous fluid is an emergent phenomenon due to the non-reciprocal hydrodynamic interactions between individual swimmers. These physical interactions give rise to unique spatiotemporal…
Micro-robotics at low Reynolds number has been a growing area of research over the past decade. We propose and study a generalized 3-link robotic swimmer inspired by the planar Purcell's swimmer. By incorporating out-of-plane motion of the…
As technological advances allow us to fabricate smaller autonomous self-propelled devices, it is clear that at some point directed propulsion could not come from pre-specified deterministic periodic deformation of the swimmer's body and we…
Underwater vehicles have seen significant development over the past seventy years. However, bio-inspired propulsion robots are still in their early stages and require greater interdisciplinary collaboration between biologists and…