45 citations · 107 across the 11 of their papers we have counts for
11 papers
Importance and methods to control, vary, and characterize mud strength for studying locomotion
Divya Ramesh, Gargi Sadalgekar, Qiyuan Fu +3
Animals and robots encounter mud at the water-land interface. Like sand, mud can stay solid or flow like a fluid. Unlike sand, the yield strength of mud at which solid-fluid transi…
Polymander II: an amphibious salamander-inspired robot with contact and flow sensors
Qiyuan Fu, Sudong Lee, Andrea Grillo +4
Robots benefit from sensory information to coordinate body movement, gain robustness against perturbations, and transition between different modes to adapt to various terrains. How…
Learning Whole-Body Control for a Salamander Robot
Mengze Tian, Qiyuan Fu, Chuanfang Ning +2
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers…
Snake and Snake Robot Locomotion in Complex, 3-D Terrain
Qiyuan Fu
Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perfo…
Simulation of snakes using vertical body bending to traverse terrain with large height variation
Yifeng Zhang, Qihan Xuan, Qiyuan Fu +1
Snake moves across various terrains by bending its elongated body. Recent studies discovered that snakes can use vertical bending to traverse terrain of large height variation, suc…
SenSnake: A snake robot with contact force sensing for studying locomotion in complex 3-D terrain
Divya Ramesh, Qiyuan Fu, Chen Li
Despite advances in a diversity of environments, snake robots are still far behind snakes in traversing complex 3-D terrain with large obstacles. This is due to a lack of understan…
Snakes combine vertical and lateral bending to traverse uneven terrain
Qiyuan Fu, Henry C. Astely, Chen Li
Terrestrial locomotion requires generating appropriate ground reaction forces which depend on substrate geometry and physical properties. The richness of positions and orientations…
Contact feedback helps snake robots propel against uneven terrain using vertical bending
Qiyuan Fu, Chen Li
Snakes can bend their elongate bodies in various forms to traverse various environments. We understand how snakes use lateral bending to push against asperities on flat ground for…
Continuous body 3-D reconstruction of limbless animals
Qiyuan Fu, Thomas W. Mitchel, Jin Seob Kim +2
Limbless animals such as snakes, limbless lizards, worms, eels, and lampreys move their slender, long bodies in three dimensions to traverse diverse environments. Accurately quanti…
Lateral oscillation and body compliance help snakes and snake robots stably traverse large, smooth obstacles
Qiyuan Fu, Sean W. Gart, Thomas W. Mitchel +3
Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake l…
Robotic modeling of snake traversing large, smooth obstacles reveals stability benefits of body compliance
Qiyuan Fu, Chen Li
Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traver…