39 citations · 76 across the 12 of their papers we have counts for
12 papers
Robot Excavation and Manipulation of Geometrically Cohesive Granular Media
Laura Treers, Daniel Soto, Joonha Hwang +2
Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable n…
Robust control for multi-legged elongate robots in noisy environments
Baxi Chong, Juntao He, Daniel Irvine +8
Modern two and four legged robots exhibit impressive mobility on complex terrain, largely attributed to advancement in learning algorithms. However, these systems often rely on hig…
Collision Induced Binding and Transport of Shape Changing Robot Pairs
Akash Vardhan, Ram Avinery, Hosain Bagheri +7
We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing robots undergoing locally repulsive collisions. These physical `glider…
Extending Granular Resistive Force Theory to Cohesive Powder-scale Media
Deniz Kerimoglu, Eloise Marteau, Daniel Soto +1
Intrusions into granular media are common in natural and engineered settings (e.g. during animal locomotion and planetary landings). While intrusion of complex shapes in dry non-co…
Effective self-righting strategies for elongate multi-legged robots
Erik Teder, Baxi Chong, Juntao He +4
Centipede-like robots offer an effective and robust solution to navigation over complex terrain with minimal sensing. However, when climbing over obstacles, such multi-legged robot…
Steering Elongate Multi-legged Robots By Modulating Body Undulation Waves
Esteban Flores, Baxi Chong, Daniel Soto +1
Centipedes exhibit great maneuverability in diverse environments due to their many legs and body-driven control. By leveraging similar morphologies and control strategies, their ro…
Addition of a peristaltic wave improves multi-legged locomotion performance on complex terrains
Massimiliano Iaschi, Baxi Chong, Tianyu Wang +5
Characterized by their elongate bodies and relatively simple legs, multi-legged robots have the potential to locomote through complex terrains for applications such as search-and-r…
Minimal design of a synthetic cilium
Clément Moreau, Benjamin J. Walker, Rebecca N. Poon +4
We study a slender filament beating in a viscous fluid with novel curvature-dependent bending stiffness. Our numerical and experimental investigations reveal that such differential…
Learning manipulation of steep granular slopes for fast Mini Rover turning
Deniz Kerimoglu, Daniel Soto, Malone Lincoln Hemsley +4
Future planetary exploration missions will require reaching challenging regions such as craters and steep slopes. Such regions are ubiquitous and present science-rich targets poten…
Multi-legged matter transport: a framework for locomotion on noisy landscapes
Baxi Chong, Juntao He, Daniel Soto +4
While the transport of matter by wheeled vehicles or legged robots can be guaranteed in engineered landscapes like roads or rails, locomotion prediction in complex environments lik…
Probing hydrodynamic fluctuation-induced forces with an oscillating robot
Steven W. Tarr, Joseph S. Brunner, Daniel Soto +1
We study the dynamics of an oscillating, free-floating robot that generates radially expanding gravity capillary waves at a fluid surface. In open water, the device does not self-p…
Self-propulsion via slipping: frictional swimming in multi-legged locomotors
Baxi Chong, Juntao He, Shengkai Li +5
Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In…