相关论文: Mechanics of soft-body rolling motion without exte…

Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…

In nature, a variety of limbless locomotion patterns flourish from the small or basic life form (Escherichia coli, the amoeba, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and…

We explore the locomotion of soft robots in granular medium (GM) resulting from the elastic deformation of slender rods. A low-cost, rapidly fabricable robot inspired by the physiological structure of bacteria is presented. It consists of a…

Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…

Soft robots, in contrast to their rigid counter parts, have infinite degrees of freedom that are coupled with their interaction with the environment. We consider the locomotion of an untethered robot, in the granular medium, comprised of…

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…

Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…

Soft robotic snakes made of compliant materials can continuously deform their bodies and, therefore, mimic the biological snakes' flexible and agile locomotion gaits better than their rigid-bodied counterparts. Without wheel support, to…

Limbless creatures can crawl on flat surfaces by deforming their bodies and interacting with asperities on the ground, offering a biological blueprint for designing efficient limbless robots. Inspired by this natural locomotion, we present…

A wide range of microorganisms, e.g. bacteria, propel themselves by rotation of soft helical tails, also known as flagella. Due to the small size of these organisms, viscous forces overwhelm inertial effects and the flow is at low Reynolds…

Rectilinear crawling locomotion is a primitive and common mode of locomotion in slender, soft-bodied animals. It requires coordinated contractions that propagate along a body that interacts frictionally with its environment. We propose a…

Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to…

Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…

Computational models are critical to advance our understanding of how neural, biomechanical, and physical systems interact to orchestrate animal behaviors. Despite the availability of near-complete reconstructions of the Drosophila…

This paper introduces novel air actuated spherical robot called "RollRoller". The RollRoller robot consists of two essential parts: tubes covered with a shell as a frame and mechanical controlling parts to correspond movements. The…

Grip, walk, crawl, and jump. Soft robots are integrated functional structures composed of compliant mechanisms, whose activity spans various industrial applications such as surgery, healthcare, surveillance, and even planetary exploration.…

A deformable body can rotate even with no angular momentum, simply by changing its shape. A good example is a falling cat, how it maneuvers in air to land on its feet. Here a first principles molecular level example of the phenomenon is…

A "circular orbital forcing" makes a chosen point on a rigid body follow a circular motion while the body spins freely around that point. We investigate this problem for the planar motion of a body subject to dry friction. We focus on the…

On perfectly vertical surfaces, rolling is conventionally deemed impossible without external torque. While various species like geckos and spiders exhibit vertical locomotion, they cannot achieve rolling; instead, they fall. In this study,…

Different subsystems of organisms adapt over many time scales, such as rapid changes in the nervous system (learning), slower morphological and neurological change over the lifetime of the organism (postnatal development), and change over…