相关论文: Octopus-like Reaching Motion: A Perspective Inspir…
Jellyfish - majestic, energy efficient, and one of the oldest species that inhabits the oceans. It is perhaps the second item, their efficiency, that has captivated scientists for decades into investigating their locomotive behavior. Yet,…
The levels of agility and flight or swimming performance demonstrated by insects, birds, fish, and even some aquatic invertebrates, are often vastly superior to what even the most advanced human-engineered vehicles operating in the same…
Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
Walking-in-place (WIP) is a locomotion technique that enables users to "walk infinitely" through vast virtual environments using walking-like gestures within a limited physical space. This paper investigates alternative interaction schemes…
Wings of flying animals can not only generate lift and control torques but also can sense their surroundings. Such dual functions of sensing and actuation coupled in one element are particularly useful for small sized bio-inspired robotic…
We use particle simulations to reveal two distinct propulsion mechanisms for a scallop-like swimmer to locomote itself in granular media by reciprocally flapping its wings. Based on the discrete element method, we examine the kinematics and…
The logarithmic spiral is observed as a common pattern in several living beings across kingdoms and species. Some examples include fern shoots, prehensile tails, and soft limbs like octopus arms and elephant trunks. In the latter cases,…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
Mathematical and experimental studies of the flows generated by jellyfish have focused primarily on mechanisms of swimming. More recent work has also considered the fluid dynamics of feeding from currents generated during swimming. Here the…
The properties of biological microswimmers are to a large extent determined by fluid-mediated interactions, which govern their propulsion, perception of their surrounding, and the steering of their motion for feeding or in pursuit.…
Inspired by the wake-surfing nature of animals, this study aims to understand the aerodynamic force variation on a wing surfing in an unsteady 2-D wake. Wind tunnel experiments were conducted using Particle Image Velocimetry (PIV) and force…
We study the dynamics of an active gel droplet with imposed orientational anchoring (normal or planar) at its surface. We find that if the activity is large enough droplets subject to strong anchoring spontaneously start to rotate, with the…
By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a…
The concept of aerial-aquatic robots has emerged as an innovative solution that can operate both in the air and underwater. Previous research on the design of such robots has been mainly focused on mature technologies such as fixed-wing and…
The motion of submerged magnetic microspheres rolling at a glass-water interface has been studied using magnetic rotation and optical tweezers combined with bright-field microscopy particle tracking techniques. Individual microspheres of…
The use of static human body dimensions to assess the human accessibility is an essential part of an ergonomic approach in user-centered design. Assessments of reach capability are commonly performed by exercising external anthropometry of…
This expository review is devoted to fish swimming and bird/insect flight. (i) The simple waving motion of an elongated flexible ribbon plate of constant width, immersed in a fluid at rest, propagating a wave distally down the plate to swim…
Many microorganisms take a chiral path while swimming in an ambient uid. In this paper, we study the combined behavior of two chiral swimmers using the well-known squirmer model taking into account chiral asymmetries. In contrast to the…
The flow near a moving contact line depends on the dynamic contact angle, viscosity ratio, and capillary number. We report experiments involving immersing a plate into a liquid bath, concurrently measuring the interface shape, interfacial…