33 citations · 69 across the 6 of their papers we have counts for
6 papers
eViper: A Scalable Platform for Untethered Modular Soft Robots
Hsin Cheng, Zhiwu Zheng, Prakhar Kumar +6
Soft robots present unique capabilities, but have been limited by the lack of scalable technologies for construction and the complexity of algorithms for efficient control and moti…
Image denoising in acoustic field microscopy
Shubham Kumar Gupta, Azeem Ahmad, Prakhar Kumar +2
Scanning acoustic microscopy (SAM) has been employed since microscopic images are widely used for biomedical or materials research. Acoustic imaging is an important and well-establ…
Wirelessly-Controlled Untethered Piezoelectric Planar Soft Robot Capable of Bidirectional Crawling and Rotation
Zhiwu Zheng, Hsin Cheng, Prakhar Kumar +4
Electrostatic actuators provide a promising approach to creating soft robotic sheets, due to their flexible form factor, modular integration, and fast response speed. However, thei…
Model-Based Control of Planar Piezoelectric Inchworm Soft Robot for Crawling in Constrained Environments
Zhiwu Zheng, Prakhar Kumar, Yenan Chen +5
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility…
Scalable Simulation and Demonstration of Jumping Piezoelectric 2-D Soft Robots
Zhiwu Zheng, Prakhar Kumar, Yenan Chen +5
Soft robots have drawn great interest due to their ability to take on a rich range of shapes and motions, compared to traditional rigid robots. However, the motions, and underlying…
Piezoelectric Soft Robot Inchworm Motion by Tuning Ground Friction through Robot Shape: Quasi-Static Modeling and Experimental Validation
Zhiwu Zheng, Prakhar Kumar, Yenan Chen +5
Electrically-driven soft robots based on piezoelectric actuators may enable compact form factors and maneuverability in complex environments. In most prior work, piezoelectric actu…