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

We investigate the hovering dynamics of rigid bodies with up-down asymmetry placed in oscillating background flows. Recent experiments on inanimate pyramid-shaped objects in oscillating flows with zero mean component demonstrate that the…

This paper presents FoamFactor, a novel material with tunable stiffness and compressibility between hydration states, and a tailored pipeline to design and fabricate artifacts consisting of it. This technique compounds hydrogel with…

Designing soft robots poses considerable challenges: automated design approaches may be particularly appealing in this field, as they promise to optimize complex multi-material machines with very little or no human intervention.…

Despite significant advancements in the research of aquatic-aerial robots, existing configurations struggle to efficiently perform underwater, surface, and aerial movement simultaneously. In this paper, we propose a novel multimodal surfing…

Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a…

Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot…

Generative inverse design requires incorporating physical constraints to ensure that generated designs are both reliable and accurate. However, we observe that current state-of-the-art energy-based methods suffer from an asynchronous…

The locomotion of flexible membrane-like organisms on top of curved surfaces appears in different contexts and scales. Still, such dynamics have not yet been quantitatively modeled and no realization of such motion in manmade systems has…

Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…

Space robots have played a critical role in autonomous maintenance and space junk removal. Multi-arm space robots can efficiently complete the target capture and base reorientation tasks due to their flexibility and the collaborative…

Bio-inspired oscillatory foil propulsion has the ability to traverse various propulsive modes by dynamically changing the foil's heave and pitch kinematics. This research characterizes the propulsion properties and wake dynamics of a…

Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…

Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this paper, we present a new humanoid robot design, an…

Flapping-fin underwater vehicle propulsion systems provide an alternative to propeller-driven systems in situations that require involve a constrained environment or require high maneuverability. Testing new configurations through…

Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…

Many swimmers, especially small to medium-sized animals, use intermittent locomotion that differs from continuous swimming of large species. This type of locomotion, called burst-and-coast, is often associated with an energetic advantage.…

This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…

Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example…

Attempts to use Electrohydrodynamic (EHD) flow for propulsion have been made since the last century [1]. Limited success has been registered particularly due to the inhomogeneous generation of the thrust, and also the very light weight and…

This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…