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cs.RO2026
Gust Estimation and Rejection with a Disturbance Observer for Proprioceptive Underwater Soft Morphing Wings
Tobias Cook, Leo Micklem, Huazhi Dong +3
Unmanned underwater vehicles are increasingly employed for maintenance and surveying tasks at sea, but their operation in shallow waters is often hindered by hydrodynamic disturban…
cs.RO2024
Data-efficient Tactile Sensing with Electrical Impedance Tomography
Huazhi Dong, Ronald B. Liu, Leo Micklem +3
Electrical Impedance Tomography (EIT)-inspired tactile sensors are gaining attention in robotic tactile sensing due to their cost-effectiveness, safety, and scalability with sparse…
cs.RO2022
Energy-efficient tunable-stiffness soft robots using second moment of area actuation
Leo Micklem, Gabriel D. Weymouth, Blair Thornton
The optimal stiffness for soft swimming robots depends on swimming speed, which means no single stiffness can maximise efficiency in all swimming conditions. Tunable stiffness woul…