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Robotic Budding: From Homogeneous Cells to Diverse Morphologies in Physical Self-Reproduction
Siyuan Zhang, Junyan Liu, Wanglin He +1
Physical self-reproduction in modular robots remains difficult because a robot must not only move, but also collect, align, dock, and separate modules reliably in hardware. Taking…
Continuum Robot Modeling with Action Conditioned Flow Matching
Jiong Lin, Jinchen Ruan, Hod Lipson
Predicting the shape of tendon driven continuum robots (TDCRs) at steady state from actuation remains challenging due to continuous deformation, complex tendon routing, compliance,…
Designing a Hair-Clip Inspired Bistable Mechanism for Soft Fish Robots
Zechen Xiong, Hod Lipson
The Hair clip mechanism (HCM) is an in-plane prestressed bistable mechanism proposed in our previous research [1]~[5] to enhance the functionality of soft robotics. HCMs have sever…
CarbonFish -- A Bistable Underactuated Compliant Fish Robot capable of High Frequency Undulation
Zechen Xiong, Zihan Guo, Mark Liu +2
The Hair Clip Mechanism HCM represents an innovative in plane prestressed bistable mechanism, as delineated in our preceding studies, devised to augment the functional prowess of s…
Accelerating Aquatic Soft Robots with Elastic Instability Effects
Zechen Xiong, Suyu Luohong, Jeong Hun Lee +1
Sinusoidal undulation has long been considered the most successful swimming pattern for fish and bionic aquatic robots [1]. However, a swimming pattern generated by the hair clip m…