4 papers
AquaMILR: Mechanical intelligence simplifies control of undulatory robots in cluttered fluid environments
Tianyu Wang, Nishanth Mankame, Matthew Fernandez +2
While undulatory swimming of elongate limbless robots has been extensively studied in open hydrodynamic environments, less research has been focused on limbless locomotion in compl…
Anisotropic body compliance facilitates robotic sidewinding in complex environments
Velin Kojouharov, Tianyu Wang, Matthew Fernandez +2
Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully reco…
Robust self-propulsion in sand using simply controlled vibrating cubes
Bangyuan Liu, Tianyu Wang, Velin Kojouharov +2
Much of the Earth and many surfaces of extraterrestrial bodies are composed of in-cohesive particle matter. Locomoting on granular terrain is challenging for common robotic devices…
Gait design for limbless obstacle aided locomotion using geometric mechanics
Baxi Chong, Tianyu Wang, Daniel Irvine +5
Limbless robots have the potential to maneuver through cluttered environments that conventional robots cannot traverse. As illustrated in their biological counterparts such as snak…