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In this research, the effect of utilizing a micro plasma actuator on controlling the flow through a two-dimensional cylinder is investigated using an advanced electrostatic model. Within this model, by solving two elliptic equations, the…
Amphibians adapt their morphologies and motions to accommodate movement in both terrestrial and aquatic environments. Inspired by these biological features, we present PuffyBot, an untethered shape morphing robot capable of changing its…
Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the system (low-speed, high-force). Sizing a traditional…
MobileCharger is a novel mobile charging robot with an Inverted Delta actuator for safe and robust energy transfer between two mobile robots. The RGB-D camera-based computer vision system allows to detect the electrodes on the target mobile…
Soft robots have found extensive applications in the medical field, particularly in rehabilitation exercises, assisted grasping, and artificial organs. Despite significant advancements in simulating various components of the digestive…
Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a…
Experimental testing of an unmanned surface vehicle (USV) has been performed to evaluate the performance of two low-level controllers when displacement and drag properties are time-varying and uncertain. The USV is a 4.3 meter long, 150…
In this paper, we speculate on a possible application of Liquid Crystal Elastomers to the field of soft robotics. In particular, we study a concept for limbless locomotion that is amenable to miniaturisation. For this purpose, we formulate…
This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse…
Magnetic-responsive composites that consist of soft matrix embedded with hard-magnetic particles have recently been demonstrated as robust soft active materials for fast-transforming actuation. However, the deformation of the functional…
As soft continuum manipulators characterize terrific compliance and maneuverability in narrow unstructured space, low stiffness and limited dexterity are two obvious shortcomings in practical applications. To address the issues, a novel…
Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly and highly supervised design-fabrication…
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high…
Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remains challenging. This work presents a vision-guided control…
This paper introduces a 71.2-$\mu$W speech recognition accelerator designed for edge devices' real-time applications, emphasizing an ultra low power design. Achieved through algorithm and hardware co-optimizations, we propose a compact…
Precise and high-fidelity force control is critical for new generations of robots that interact with humans and unknown environments. Mobile robots, such as wearable devices and legged robots, must also be lightweight to accomplish their…
Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this paper, we present a new humanoid robot design, an…
Self-regulated actuators harness material intelligence to enable complex deformations and dynamics, representing a significant advancement in automated soft robotics. However, investigations on self-regulated soft actuators, particularly…
Compute-in-Read-Only-Memory (CiROM) accelerators offer outstanding energy efficiency for CNNs by eliminating runtime weight updates. However, their scalability to Large Language Models (LLMs) is fundamentally constrained by their vast…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…