9 papers
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…
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…
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…
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…