6 papers
Robot Excavation and Manipulation of Geometrically Cohesive Granular Media
Laura Treers, Daniel Soto, Joonha Hwang +2
Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable n…
Robust control for multi-legged elongate robots in noisy environments
Baxi Chong, Juntao He, Daniel Irvine +8
Modern two and four legged robots exhibit impressive mobility on complex terrain, largely attributed to advancement in learning algorithms. However, these systems often rely on hig…
Collision Induced Binding and Transport of Shape Changing Robot Pairs
Akash Vardhan, Ram Avinery, Hosain Bagheri +7
We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing robots undergoing locally repulsive collisions. These physical `glider…
Steering Elongate Multi-legged Robots By Modulating Body Undulation Waves
Esteban Flores, Baxi Chong, Daniel Soto +1
Centipedes exhibit great maneuverability in diverse environments due to their many legs and body-driven control. By leveraging similar morphologies and control strategies, their ro…
Minimal design of a synthetic cilium
Clément Moreau, Benjamin J. Walker, Rebecca N. Poon +4
We study a slender filament beating in a viscous fluid with novel curvature-dependent bending stiffness. Our numerical and experimental investigations reveal that such differential…
Extending Granular Resistive Force Theory to Cohesive Powder-scale Media
Deniz Kerimoglu, Eloise Marteau, Daniel Soto +1
Intrusions into granular media are common in natural and engineered settings (e.g. during animal locomotion and planetary landings). While intrusion of complex shapes in dry non-co…