52 citations · 52 across the 5 of their papers we have counts for
9 papers
Dynamics of reconfigurable straw-like elements
Dotan Ilssar, Michael Pukshansky, Yizhar Or +1
In this paper, we discuss the dynamic modeling of fluid-filled straw-like elements consisting of serially interconnected elastic frusta with both axisymmetric and antisymmetric deg…
Fluid-driven traveling waves in soft robots
Lior Salem, Amir D. Gat, Yizhar Or
Many marine creatures, gastropods, and earthworms generate continuous traveling waves in their bodies for locomotion within marine environments, complex surfaces, and inside narrow…
Experimental Verification of Stability Theory for a Planar Rigid Body with Two Unilateral Frictional Contacts
Yizhar Or, Peter L. Varkonyi
Stability of equilibrium states in mechanical systems with multiple unilateral frictional contacts is an important practical requirement, with high relevance for robotic applicatio…
Dynamic Inchworm Crawling: Performance Analysis and Optimization of a Three-link Robot
Benny Gamus, Amir D. Gat, Yizhar Or
Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited e…
Understanding Legged Crawling for Soft-Robotics
Benny Gamus, Lior Salem, Amir D. Gat +1
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equiva…
Leveraging viscous peeling in soft actuators and reconfigurable microchannel networks
Lior Salem, Benny Gamus, Yizhar Or +1
The research fields of microfluidics and soft robotics both involve complex small-scale internal channel networks, embedded within a solid structure. This work examines leveraging…