相关论文: Modeling Elastic-Body Dynamics of Robotic Fish Usi…
Micro-organisms propel themselves in viscous environments by the periodic, nonreciprocal beating of slender appendages known as flagella. Active materials have been widely exploited to mimic this form of locomotion. However, the realization…
Soft robots can exhibit diverse behaviors with simple types of actuation by partially outsourcing control to the morphological and material properties of their soft bodies, which is made possible by the tight coupling between control, body,…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
Providing artificial agents with the same computational models of biological systems is a way to understand how intelligent behaviours may emerge. We present an active inference body perception and action model working for the first time in…
We create a mechanism inspired by bacterial swimmers, featuring two flexible flagella with individual control over rotation speed and direction in viscous fluid environments. Using readily available materials, we design and fabricate…
This study proposes the topology optimization method for moving rigid bodies subjected to forces from fluid flow, such as sails and turbines, with an unsteady time-dependent formulation. Unlike existing topology optimization frameworks in…
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…
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…
The Hair clip mechanism (HCM) is an in-plane prestressed bistable mechanism proposed in our previous research [1]~[5] to enhance the functionality of soft robotics. HCMs have several advantages, such as high rigidity, high mobility, good…
In this paper we present the study of the mathematical model of a real life joint used in an underwater robotic fish. Fluid-structure interaction is utterly simplified and the motion of the joint is approximated by D\"uffing's equation. We…
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.…
Any phenomenon in nature is potential to be an inspiration for us to propose new ideas. Lateral line is a typical example which has attracted more interest in recent years. With the aid of lateral line, fish is capable of acquiring fluid…
Fish in schooling formations navigate complex flow-fields replete with mechanical energy in the vortex wakes of their companions. Their schooling behaviour has been associated with evolutionary advantages including collective energy…
Fish swim with flexible fins that stand in stark contrast to the rigid propulsors of engineered vehicles. Using numerical simulations of the dynamics of flow-structure interaction, we have found that dorso-ventral deformation in flexible…
The hydrodynamics of fish swimming depend on the interaction between the undulation of the body and the flapping of the caudal fin. This study develops a computational framework of a Jackfish-inspired swimmer with an independently mounted…
Animals can accomplish many incredible behavioral feats across a wide range of operational environments and scales that current robots struggle to match. One explanation for this performance gap is the extraordinary properties of the…
The controlled actuation of hydraulic and pneumatic actuators has unveiled fresh and thrilling opportunities for designing mobile robots with adaptable structures. Previously reported rolling robots, which were powered by fluidic systems,…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
The self-propelled motion of microscopic bodies immersed in a fluid medium is studied using molecular dynamics simulation. The advantage of the atomistic approach is that the detailed level of description allows complete freedom in…
The presence of active forces in various biological and artificial systems may change how those systems behaves under forcing. We present a minimal model of a suspension of passive or active swimmers driven on the boundaries by…