相关论文: Bionic Collapsible Wings in Aquatic-aerial Robot
Soft robotics is attractive for wearable applications that require conformal interactions with the human body. Soft wearable robotic garments hold promise for supplying dynamic compression or massage therapies, such as are applied for…
With the emergence of new flapping-wing micro aerial vehicle (FWMAV) designs, a need for extensive and advanced mission capabilities arises. FWMAVs try to adapt and emulate the flight features of birds and flying insects. While current…
We designed and built a three degrees-of-freedom (DOF) flapping wing robot, Flapperoo, to study the aerodynamic benefits of wing folding and twisting. Forces and moments of this physical model are measured in wind tunnel tests over a…
The vast majority of the ocean's volume remains unexplored, in part because of limitations on the vertical range and measurement duration of existing robotic platforms. In light of the accelerating rate of climate change impacts on the…
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…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
Designing aerial robots for specialized tasks, from perching to payload delivery, requires tailoring their aerodynamic shape to specific mission requirements. For tasks involving wide flight envelopes, the usual sequential process of first…
Accurate simulation of soft mechanisms under dynamic actuation is critical for the design of soft robots. We address this gap with our differentiable simulation tool by learning the material parameters of our soft robotic fish. On the…
This paper introduces Borinot, an open-source aerial robotic platform designed to conduct research on hybrid agile locomotion and manipulation using flight and contacts. This platform features an agile and powerful hexarotor that can be…
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…
This expository review is devoted to fish swimming and bird/insect flight. (i) The simple waving motion of an elongated flexible ribbon plate of constant width, immersed in a fluid at rest, propagating a wave distally down the plate to swim…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
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…
This research develops a novel sensor for aquatic robots inspired by the whiskers of harbor seals. This sensor can detect the movement of water, offering valuable data on speed, currents, barriers, and water disturbance. It employs a…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
Inspired by the snap-through action of a steel hairclip, we propose a design method for in-plane prestressed mechanisms that exhibit biomimetic morphing and high locomotion performance. Compliant bistable flapping mechanisms are fabricated…
Abstract. Fixed wing and multirotor UAVs are common in the field of robotics. Solutions for simulation and control of these vehicles are ubiquitous. This is not the case for airships, a simulation of which needs to address unique…
Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this paper, we investigate two distinct methodologies for force…
Multi-modal robots expand their operations from one working medium to another, land to air for example. The majorities of multi-modal robots mainly refer to platforms that operate in two different media. However, for all-terrain tasks,…