相关论文: Macro-Scale Electrostatic Origami Motor
Precise surgical procedures may benefit from intra-operative image guidance using magnetic resonance imaging (MRI). However, the MRI's strong magnetic fields, fast switching gradients, and constrained space pose the need for an MR-guided…
We leverage the snap-through response of a bistable origami mechanism to induce a discontinuous evolution of drag with flow speed. The transition between equilibrium states is passively actuated by airflow, and we demonstrate that large…
A 1 cm coin vibrational motor fixed to the center of a 4 cm square foam platform moves rapidly across granular media (poppy seeds, millet, corn meal) at a speed of up to 30 cm/s, or about 5 body lengths/s. Fast speeds are achieved with…
Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enhance locomotion performance, which, however, makes the…
Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…
Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random shapes in dynamic working environments…
This study compares the propulsion of helical microrobots based on hard- and soft-magnetic elements under rotating magnetic fields. Results show that hard-magnetic microrobots achieved step-out frequencies and maximum propulsion speeds 4.5…
Impressive animal locomotion capabilities are mediated by the co-evolution of the skeletal morphology and muscular properties. Legged robot performance would also likely benefit from the co-optimization of actuators and leg morphology.…
Piezoelectric ultrasonic motors perform the advantages of compact design, faster reaction time, and simpler setup compared to other motion units such as pneumatic and hydraulic motors, especially its non-ferromagnetic property makes it a…
High-speed locomotion of animals gives them tremendous advantages in exploring, hunting, and escaping from predators in varying environments. Enlightened by the fast-running gait of mammals like cheetahs and wolves, we designed and…
To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless…
Many of the patterns seen in Origami are currently being explored as a platform for building functional engineering systems with versatile characteristics that cater to niche applications in various technological fields. One such pattern is…
Untethered soft robots are essential for advancing the real-world deployment of soft robotic systems in diverse and multitasking environments. Inspired by soft-bodied inchworm, we present a fully untethered soft robot with a curved,…
Origami structures have been receiving a lot of attention from engineering and scientific researchers owing to their unique properties such as deployability, multi-stability, negative stiffness, etc. However, dynamic properties of origami…
Yoshimura origami is a classical folding pattern that has inspired many deployable structure designs. Its applications span from space exploration, kinetic architectures, and soft robots to even everyday household items. However, despite…
The design of effective and compact energy absorption systems is key to the survivability and durability of many man-made structures and machines. To this end, this work presents the design, assessment, and implementation of a novel…
In this paper, we describe features of two new robot prototypes that are actuated by an actively controlled gyro (flywheel, symmetric rotor) inside a hollow sphere that is located in the middle of the robots. No external actuators are used.…
The automatic design of embodied agents (e.g. robots) has existed for 31 years and is experiencing a renaissance of interest in the literature. To date however, the field has remained narrowly focused on two kinds of anatomically simple…
A current-carrying resonant nanoscale device, simulated by non-adiabatic molecular dynamics, exhibits sharp activation of non-conservative current-induced forces with bias. The result, above the critical bias, is generalized rotational…
As soft continuum manipulators characterize terrific compliance and maneuverability in narrow unstructured space, low stiffness and limited dexterity are two obvious shortcomings in practical applications. To address the issues, a novel…