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cs.RO2026
Grip as Needed, Glide on Demand: Ultrasonic Lubrication for Robotic Locomotion
Mostafa A. Atalla, Daan van Bemmel, Jack Cummings +3
Friction is the essential mediator of terrestrial locomotion, yet in robotic systems it is almost always treated as a passive property fixed by surface materials and conditions. He…
cs.RO2026
OSCAR: An Ovipositor-Inspired Self-Propelling Capsule Robot for Colonoscopy
Mostafa A. Atalla, Anand S. Sekar, Remi van Starkenburg +4
Self-propelling robotic capsules eliminate shaft looping of conventional colonoscopy, reducing patient discomfort. However, reliably moving within the slippery, viscoelastic enviro…