6 papers
Unified Structural-Hydrodynamic Modeling of Underwater Underactuated Mechanisms and Soft Robots
Chenrui Zhang, Yiyuan Zhang, Yunfei Ye +3
Underwater robots are widely deployed for ocean exploration and manipulation. Underactuated mechanisms are advantageous in aquatic environments because reducing actuator count lowe…
Cycle-resolved Cephalopod-Inspired Pulsed-Jet Robot With High-Volume Expulsion and Drag-Reduced Gliding
Yiyuan Zhang, Anye Zhong, Junkai Chen +1
Cephalopod pulsed-jet locomotion is not a single isolated expulsion event, but a coordinated cycle involving jet expulsion, passive gliding, and mantle refilling. Inspired by this…
Physical Human-Robot Interaction for Grasping in Augmented Reality via Rigid-Soft Robot Synergy
Huishi Huang, Jack Klusmann, Haozhe Wang +9
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unst…
Octopus-like Reaching Motion: A Perspective Inspired by Whipping
Shengyao Zhang, Yiyuan Zhang, Chenrui Zhang +5
The stereotypical reaching motion of the octopus arm has drawn growing attention for its efficient control of a highly deformable body. Previous studies suggest that its characteri…
Soft Responsive Materials Enhance Humanoid Safety
Chunzheng Wang, Yiyuan Zhang, Annan Tang +12
Humanoid robots are envisioned as general-purpose platforms in human-centered environments, yet their deployment is limited by vulnerability to falls and the risks posed by rigid m…
Grasping by Spiraling: Reproducing Elephant Movements with Rigid-Soft Robot Synergy
Huishi Huang, Haozhe Wang, Chongyu Fang +8
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 lik…