相关论文: Bistable SMA-driven engine for pulse-jet locomotio…
Mechanical metamaterials composed of bistable elements have recently emerged as promising platforms for mechanical memory. Traditional approaches to writing information in these systems typically rely on localized actuation or predefined…
This paper presents a soft earthworm robot that is capable of both efficient locomotion and obstacle avoidance. The robot is designed to replicate the unique locomotion mechanisms of earthworms, which enable them to move through narrow and…
Active matter systems use their internal or ambient source of energy and dissipate them at the scale of individual constituent particles to generate motion. Direct measurement of the energy influx for individual particles has not been…
Magnetic programming soft machines has great development prospects in the fields of minimally invasive medicine, wearable device and soft robot. However, unrepeatable magnetization and low modulus limits their applications. So far, there…
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…
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,…
Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly and highly supervised design-fabrication…
This study addresses a flexible holding tool for robotic disassembly. We propose a shell-type soft jig that securely and universally holds objects, mitigating the risk of component damage and adapting to diverse shapes while enabling soft…
Research on untethered micro-swimming robots is growing fast owing to their potential impact on minimally invasive medical procedures. Candidate propulsion mechanisms of robots are based on flagellar mechanisms of microorganisms such as…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
Dissipative environments are ubiquitous in nature, from microscopic swimmers in low-Reynolds-number fluids to macroscopic animals in frictional media. In this study, motivated by various behaviours of {\it Caenorhabditis elegans} during…
Endovascular technique has many advantages but relies strongly on operator skills and experience. Robotically steerable catheters have been developed but few are clinically available. We describe here the development of an active and…
Achieving both agile maneuverability and high energy efficiency in aerial robots, particularly in dynamic wind environments, remains challenging. Conventional thruster-powered systems offer agility but suffer from high energy consumption,…
We investigate a concept of passive, vibration-driven locomotion, in which a mechanical system achieves horizontal self-propulsion by resonantly harvesting energy from vertical environmental excitations (e.g. ambient vibrations 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…
Modular soft robots have shown higher potential in sophisticated tasks than single-module robots. However, the modular structure incurs the complexity of accurate control and necessitates a control strategy specifically for modular robots.…
We developed a new class of soft locomotive robots that can self-assemble into a preprogrammed configuration and vary their stiffness afterward in a highly integrated, compact body using contracting-cord particle jamming (CCPJ). We…
The backswimmer fly is an aquatic insect, capable of regulating its buoyancy underwater. Its abdomen is covered with hemoglobin cells, used to bind and release oxygen, reversibly. Upon entering water, the fly entraps an air bubble in a…
We present a novel design for a low-cost robotic boat powered by a single actuator, useful for both modular and swarming applications. The boat uses the conservation of angular momentum and passive flippers to convert the motion of a single…
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…