相关论文: Mechanics of soft-body rolling motion without exte…
Soft robots require directional control to navigate complex terrains. However, achieving such control often requires multiple actuators, which increases mechanical complexity, complicates control systems, and raises energy consumption.…
This paper presents a derivation of a dynamic simulation of a steerable-wheel mobile robot with wheel slip. The robot is controlled using pure pursuit algorithm. Kalker simplified and linear theory of rolling contact are utilized to…
Biologically-inspired robots are a very interesting and difficult branch of robotics dues to its very rich dynamical and morphological complexities. Among them, flying animals, such as bats, have been among the most difficult to take…
In this work, the mechanical response oF an one-dimensional active solid -- defined as a network of active stochastic particles interacting by nonlinear hard springs -- subject to an external deformation force, is numerically studied and…
Animals such as rabbits and birds can instantly generate locomotion behavior in reaction to a dynamic, approaching object, such as a person or a rock, despite having possibly never seen the object before and having limited perception of the…
Tip-extending soft robots that "grow" via pneumatic eversion of their body material have demonstrated applications in exploration of cluttered environments. During growth, the motion and force of the robot tip can be controlled in three…
Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is interesting to study from a robotics perspective since it can…
The lumbosacral organ (LSO) is a lumbosacral spinal canal morphology that is universally and uniquely found in birds. Recent studies suggested an intraspinal mechanosensor function that relies on the compliant motion of soft tissue in the…
We introduce RoLA, a framework that transforms any in-the-wild image into an interactive, physics-enabled robotic environment. Unlike previous methods, RoLA operates directly on a single image without requiring additional hardware or…
To produce sounds, we adjust the tension of our vocal folds to shape their properties and control the pitch. This efficient mechanism offers inspiration for designing reconfigurable materials and adaptable soft robots. However,…
Spherical robots typically require at least two actuators to achieve controlled 2D planar motion. Here we present Rollbot, the first spherical robot capable of controllably maneuvering on a 2D plane with a single actuator, challenging this…
We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the…
This research investigates the rotational dynamics of a charged axisymmetric spinning rigid body influenced by gyrostatic torque. The study also accounts for the effects of transverse and constant body-fixed torques and an electromagnetic…
There is this old, eternal question: Why don't animals have wheels? In this perspective we show that they actually do. And they do so in a physically extraordinary way -- by combining incompatible elasticity, differential geometry and…
Humans are able to outperform robots in terms of robustness, versatility, and learning of new tasks in a wide variety of movements. We hypothesize that highly nonlinear muscle dynamics play a large role in providing inherent stability,…
Modularity in robotics holds great potential. In principle, modular robots can be disassembled and reassembled in different robots, and possibly perform new tasks. Nevertheless, actually exploiting modularity is yet an unsolved problem:…
Animals run robustly in diverse terrain. This locomotion robustness is puzzling because axon conduction velocity is limited to a few ten meters per second. If reflex loops deliver sensory information with significant delays, one would…
Sliding friction between two dry surfaces is reasonably described by the speed-independent Amonton-Coulomb friction force law. However, there are many situations where the frictional contact points between two surfaces are "active" and may…
We introduce and analyze a class of neural network models motivated by the Drosophila central complex nervous system, designed to capture the emergence and dynamics of orientation-selective activity bumps. Starting from a biologically…
Deployment of robotic systems in the real world requires a certain level of robustness in order to deal with uncertainty factors, such as mismatches in the dynamics model, noise in sensor readings, and communication delays. Some approaches…