相关论文: Accelerating Aquatic Soft Robots with Elastic Inst…
This paper presents the design and experimental validation of a bio-inspired soft aquatic robot, the DilBot, which uses a bistable shape memory alloy-driven engine for pulse-jet locomotion. Drawing inspiration from the efficient swimming…
We study self propelled stokesian robots composed of assemblies of balls, in dimensions 2 and 3, and prove that they are able to control their position and orientation. This is a result of controllability, and its proof relies on applying…
To maintain full autonomy, autonomous robotic systems must have the ability to self-repair. Self-repairing via compensatory mechanisms appears in nature: for example, some fish can lose even 76% of their propulsive surface without loss of…
Many biological fluids are composed of suspended polymers immersed in a viscous fluid. A prime example is mucus, where the polymers are also known to form a network. While the presence of this microstructure is linked with an overall…
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…
We create a mechanism inspired by bacterial swimmers, featuring two flexible flagella with individual control over rotation speed and direction in viscous fluid environments. Using readily available materials, we design and fabricate…
The propulsion of many eukaryotic cells is generated by flagella, flexible slender filaments that are actively oscillating in space and time. The dynamics of these biological appendages have inspired the design of many types of artificial…
Microorganisms often encounter strong confinement and complex hydrodynamic flows while navigating their habitats. Combining finite-element methods and stochastic simulations, we study the interplay of active transport and heterogeneous…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
Fish display remarkable swimming capabilities through the coordinated interaction of the body and caudal fin, yet the potential role of a passively pitching tail in enhancing hydrodynamic performance remains unresolved. In this work, we…
Understanding the interplay between hydrodynamics and chemical sensing in aquatic environments is crucial for unraveling biological swimmers' navigation, foraging, and communication strategies. This study investigates the role of kinematics…
In this paper, we present an underactuated biomimetic underwater robot that is suitable for ecosystem monitoring in both marine and freshwater environments. We present an updated mechanical design for a fish-like robot and propose minimal…
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…
Many studies have been conducted on Series Elastic Actuators (SEA) for robot joints because they are effective in terms of flexibility, safety, and energy efficiency. The ability of SEA to robustly handle unexpected disturbances has raised…
A major field of industrial robot applications deals with repetitive tasks that alternate between operating points. For these so-called pick-and-place operations, parallel kinematic manipulators (PKM) are frequently employed. These tasks…
We propose and analyze a simple model for the evolution of an immersed, inextensible filament which incorporates linear viscoelastic effects of the surrounding fluid. The model is a closed-form system of equations along the curve only which…
This study compares the propulsion of helical microrobots based on hard- and soft-magnetic elements under rotating magnetic fields. Results show that hard-magnetic microrobots achieved step-out frequencies and maximum propulsion speeds 4.5…
Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…
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…