Biological neural circuits, central pattern generators (CPGs), located at the spinal cord are the underlying mechanisms that play a crucial role in generating rhythmic locomotion patterns. In this paper, we propose a novel approach that leverages the...
Multi-terrain adaptation and landing capabilities pose substantial challenges for pneumatic bionic robots, particularly in crossing obstacles. This paper designs a turtle-inspired quadrupedal pneumatic soft crawling robot with four deformable bionic ...
Robots are becoming increasingly essential for traversing complex environments such as disaster areas, extraterrestrial terrains, and marine environments. Yet, their potential is often limited by mobility and adaptability constraints. In nature, vari...
Animals have to navigate complex environments and perform intricate swimming maneuvers in the real world. To conquer these challenges, animals evolved a variety of motion control strategies. While it is known that many factors contribute to motion co...
Earthworm-like robots have excellent locomotion capability in confined environments. Central pattern generator (CPG) based controllers utilize the dynamics of coupled nonlinear oscillators to spontaneously generate actuation signals for all segments,...
A transverse ledge brachiation robot is designed to move transversely along a ledge on a vertical wall by generating energy from the swinging motion of its lower limbs. This method reduces the force required by the upper limbs to propel the robot for...
Four-legged robots are becoming increasingly pivotal in navigating challenging environments, such as construction sites and disaster zones. While substantial progress in robotic mobility has been achieved using reinforcement learning techniques, quad...
Complex biological systems have evolved to control movement dynamics despite noisy and unpredictable inputs and processing delays that necessitate forward predictions. The staple example in vertebrates is the locomotor control emerging from interacti...
Inching-locomotion caterpillars (ILAR) inspire the design of 'inch-worm' robots with biomimicry features, that can be adapted to different environments, such as natural, man-made, or other planets. Therefore, this work defines a novel mathematical me...
Most birds can navigate seamlessly between aerial and terrestrial environments. Whereas the forelimbs evolved into wings primarily for flight, the hindlimbs serve diverse functions such as walking, hopping and leaping, and jumping take-off for transi...
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