5 papers
Morphing MILR: Design and control of a cable-driven limbless robot with rolling joints for maneuvering in complex environments
Donoven Dortilus, Tianyu Wang, Galen Tunnicliffe +2
Limbless robots offer exceptional mobility in confined and cluttered environments due to their slender bodies and their ability to exploit body-terrain interactions. Recent designs…
Three-dimensional hydro-cluttered locomotion by an undulatory robot
Tianyu Wang, Matthew Fernandez, Galen Tunnicliffe +10
Aquatic robots have expanded human access to underwater environments, yet many underwater spaces contain obstacles that can disrupt open-water locomotion. In "hydro-cluttered" envi…
Optimal swimming with body compliance in an overdamped medium
Jianfeng Lin, Tianyu Wang, Baxi Chong +3
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highl…
AquaMILR+: Design of an untethered limbless robot for complex aquatic terrain navigation
Matthew Fernandez, Tianyu Wang, Galen Tunnicliffe +4
This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that m…
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…