相关论文: Camber-changing flapping hydrofoils for efficient …

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…

In recent years, the development of robots capable of operating in both aerial and aquatic environments has gained significant attention. This study presents the design and fabrication of a novel aerial-aquatic locomotion robot (AALR).…

One of the motivations for exploring flapping-wing aerial robotic systems is to seek energy reduction, by maintaining manoeuvrability, compared to conventional unmanned aerial systems. A Flapping Wing Flying Robot (FWFR) can glide in…

A remarkable variety of organisms use metachronal coordination (i.e., numerous neighboring appendages beating sequentially with a fixed phase lag) to swim or pump fluid. This coordination strategy is used by microorganisms to break symmetry…

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…

Many different robots have been designed and built to work under water. In many cases, researchers have chosen to use bio-inspired platforms. In most cases, the main goal of the fish inspired robots has been set to autonomously swim and…

This study delves into the aerodynamic behavior of a highly flexible NACA 0012 aerofoil, drawing inspiration from avian feathers to handle a gust. We first examined unsteady flow on a rigid wing both experimentally and numerically and then…

When a floating body is internally or externally vibrated, its self-generated wavefield can lead to steady propulsion along the interface. In this article, we review several related and recently discovered systems that leverage this…

This study presents a novel spatially disrupted flow control system inspired by the covert feathers on bird wings. The system is a passive flow control system consisting of multiple feather-inspired flaps that dynamically interact with the…

Unmanned aerial vehicles (UAVs) are finding their way into offshore applications. In this work, we postulate an original system that entails a marine locomotive quadrotor UAV that manipulates the velocity of a floating buoy by means of a…

Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…

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…

Soft robotics has the potential to revolutionize robotic locomotion, in particular, soft robotic swimmers offer a minimally invasive and adaptive solution to explore and preserve our oceans. Unfortunately, current soft robotic swimmers are…

Conventional soft pneumatic actuators, typically based on hollow elastomeric chambers, often suffer from small structural support and require costly geometry-specific redesigns for multimodal functionality. Porous materials such as foam,…

This paper introduces a novel nonlinear model predictive control (NMPC) framework that incorporates a lifting technique to enhance control performance for nonlinear systems. While the lifting technique has been widely employed in linear…

Oscillations of flagella and cilia play an important role in biology, which motivates the idea of functional mimicry as part of bio-inspired applications. Nevertheless, it still remains challenging to drive their artificial counterparts to…

We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…

Underwater robotic manipulation faces significant challenges due to complex fluid dynamics and unstructured environments, causing most manipulation systems to rely heavily on human teleoperation. In this paper, we introduce AquaBot, a fully…

Exploring bodies of water on their surface allows robots to efficiently communicate and harvest energy from the sun. On the water surface, however, robots often face highly unstructured environments, cluttered with plant matter, animals,…

Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this paper, we investigate two distinct methodologies for force…