相关论文: Accelerating Aquatic Soft Robots with Elastic Inst…
Fish use their lateral lines to sense flows and pressure gradients, enabling them to detect nearby objects and organisms. Towards replicating this capability, we demonstrated successful leader-follower formation swimming using flow pressure…
Many bacteria are motile by means of one or more rotating rigid helical flagella, making them the only known organism to use rotation as a means of propulsion. The rotation is supplied by the bacterial flagellar motor, a particularly…
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…
Ship roll motion in high sea states has large amplitudes and nonlinear dynamics, and its prediction is significant for operability, safety, and survivability. This paper presents a novel data-driven methodology to provide a multi-step…
Hydrodynamic interactions play a key role in the swimming behavior and power consumption of bio-inspired and bio-mimetic micro-swimmers, Cybernetic or artificial alike. As micro-robotic devices, bio-inspired micro-swimmers require fast and…
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…
This research introduces a novel hydrofoil-based propulsion framework for unmanned aquatic robots, inspired by the undulating locomotion observed in select aquatic species. The proposed system incorporates a camber-modulating mechanism to…
We study the fluid dynamics of two fish-like bodies with synchronised swimming patterns. Our studies are based on two-dimensional simulations of viscous incompressible flows. We distinguish between motion patterns that are externally…
Humanoid robots offer significant versatility for performing a wide range of tasks, yet their basic ability to walk and run, especially at high velocities, remains a challenge. This letter presents a novel method that combines deep…
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…
We present an artificial swimmer consisting in a long cylinder of ferrogel which is polarized transversely and in opposite directions at each extremity. When it is placed on a water film and submitted to a transverse oscillating magnetic…
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…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
The pursuit of agile and efficient underwater robots, especially bio-mimetic robotic fish, has been impeded by challenges in creating motion controllers that are able to fully exploit their hydrodynamic capabilities. This paper addresses…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
We study the force production dynamics of undulating elastic plates as a model for fish-like inertial swimmers. Using a beam model coupled with Lighthill's large-amplitude elongated-body theory, we explore different localised actuations at…
Soft robots have attracted much attention in recent years owing to their high adaptability. Long articulated soft robots enable diverse operations, and tip-extending robots that navigate their environment through growth are highly effective…
Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…
Untethered soft robots are essential for advancing the real-world deployment of soft robotic systems in diverse and multitasking environments. Inspired by soft-bodied inchworm, we present a fully untethered soft robot with a curved,…
In this paper, we propose, analyze, and test an efficient algorithm for computing ensemble average of incompressible magnetohydrodynamics (MHD) flows, where instances/members correspond to varying kinematic viscosity, magnetic diffusivity,…