Abstract Mechanical instabilities in soft materials, specifically wrinkling, have led to the formation of unique surface patterns for a wide range applications that are related topography and its dynamic tuning. In this progress report, two distinct approaches wrinkle formation, including mechanical stretching/releasing oxide/PDMS bilayers swelling hydrogel films confined on rigid substrate with depth‐wise modulus gradient, discussed. The wrinkling mechanisms transitions between different...

We report a new dry adhesive structure using rippled poly(dimethylsiloxane) (PDMS) elastomer bilayer film, whose surface roughness and adhesion can be reversibly regulated by applying mechanical strain. It has set of advantages not offered other techniques for regulation adhesion, including real-time tunability, no requirement specific chemistry, operability under ambient conditions, relative ease control. To understand the mechanism quantitatively, we have modeled mechanics in limits small-...

The authors report the formation of various submicron wrinkle patterns and their transition from one-dimensional (1D) ripples to two-dimensional (2D) herringbone structures on poly(dimethylsiloxane) films. Using mechanical force they can separately control amount timing strain applied substrate both planar directions (either simultaneously or sequentially), which appears be critical maneuver pattern in real time. They demonstrate reversible transitions flat 1D ripple, ripple with...

This paper reports on the design, integration, and performance evaluation of a novel four-leg/four-wheel transformable mobile robot, Quattroped. In contrast to most hybrid platforms that have separate mechanisms actuators for wheels legs, this robot is implemented with unique transformation mechanism directly switches morphology driving between (i.e., full circle) 2 degrees freedom leg combining two half circles as leg), so same system actuation power can be efficiently utilized in both...

Terrestrial arthropods negotiate demanding terrain more effectively than any search-and-rescue robot. Slow, precise stepping using distributed neural feedback is one strategy for dealing with challenging terrain. Alternatively, could simplify control on surfaces by rapid running that uses kinetic energy to bridge gaps between footholds. We demonstrate this achieved mechanical feedback, resulting from passive contacts along legs positioned pre-programmed trajectories favorable their...

We report the fabrication of a new superhydrophobic surface with dual-scale roughness by coating silica nanoparticles on poly(dimethylsiloxane) (PDMS) elastomer bilayer film micro-scaled ripples. The wetting behavior can be reversibly tuned applying mechanical strain, which induces change in micro-scale determined promotes transition final dual-structure from Wenzel region into Cassie region, thus, reducing sliding angle at least three times comparison to that surfaces single-scale (either...

This report is on the design, control strategy, implementation, and performance evaluation of a novel leg-wheel transformable robot called TurboQuad, which can perform fast gait/mode coordination transitions in wheeled mode, legged trotting, walking while motion. functionality was achieved by including two setups that were not included its predecessor, Quattroped. First, new mechanism used, leg/wheel operation situ transition be driven same set motors, so actuation system power utilized...

We report on a simple yet robust method to produce orientationally modulated two-dimensional patterns with sub-100 nm features over cm2 regions via solvent-induced swelling instability of an elastomeric film micrometer-scale perforations. The dramatic reduction feature size ( approximately 10 times) is achieved in single step, and the process reversible repeatable without requirement delicate surface preparation or chemistry. By suspending ferrous other functional nanoparticles solvent, we...

We report on a hybrid 12-dimensional full body state estimator for hexapod robot executing jogging gait in steady level terrain with regularly alternating ground contact and aerial phases of motion. use repeating sequence continuous time dynamical models that are switched out an extended Kalman filter to fuse measurements from novel leg pose sensor inertial sensors. Our measurement unit supplements the traditionally paired three-axis rate gyro accelerometer set three additional suites,...

This paper describes the inspiration for, design, analysis, and implementation of, experimentation with first dynamical vertical climbing robot. Biologists have proposed a pendulous model that abstracts remarkable similarities in wall scaling behavior exhibited by radically different animal species. We numerically study version of template dynamically scaled for applicability to utilitarian payloads conventional electronics actuation. simulation reveals incorporation passive compliance can...

We report the fabrication of single-component, strain responsive microlens arrays with real-time tunability. The concave lens array is fabricated by patterning hard oxide layer on a bidirectionally prestretched soft elastomer, poly(dimethylsiloxane) (PDMS) followed confined buckling upon release prestrain. convex replica molded from lenses in PDMS. Due to difference formation mechanisms, two types show different tunable range focal length response applied strain: large change observed array,...

Honokiol, a hydroxylated biphenyl compound isolated from the Chinese herb Magnolia officinalis, has been reported to have anticancer activities in variety of cancer cell lines. The present study aimed evaluate effect and possible molecular mechanisms honokiol glioblastoma multiforme (GBM) line. were investigated DBTRG‑05MG GBM on growth was determined using sulforhodamine B assay. Flow cytometry immunoblotting used measure honokiol‑induced apoptosis (programmed death type I) autophagy II)....

We report on the development of an implementable physics-data hybrid dynamic model for articulated manipulator to plan and operate in various scenarios. Meanwhile, physics-based data-driven based models are studied this research select best planning. The is constructed using Lagrangian method, loss terms include inertia loss, viscous friction loss. As model, three methods explored, including deep neural network, long short-term memory, XGBoost. Our modeling results demonstrate that, after...

We report on a continuous-time rigid-body pose estimator for walking hexapod robot. Assuming at least three legs remain in ground contact all times, our algorithm uses the outputs of six leg-configuration sensor models together with priori knowledge and robot kinematics to compute instantaneous estimates 6-degrees-of-freedom (6-DOF) body pose. implement this estimation procedure RHex by means novel sensory system incorporating model relating compliant leg member strain configuration...

We introduce the design of a leg-wheel hybrid platform Quattroped. Comparing to most platforms which have separate mechanisms wheels and legs, this robot is implemented with transformation mechanism directly changes morphology (i.e. full circle) into 2 degree-of-freedom legs combining two half-circles as leg). The mechatronics, software infrastructure, initial experimental test are also reported.

We report on the model-based development of leaping behavior in a RHex-style hexapod robot. A three-legged model is proposed to analyze dynamic leaping, and this serves as guide for implementing empirical The has rigid body three massless compliant legs, which have rolling contact with ground better modeling leg By investigating model's behavior, two-step maneuver developed. first step utilized adjusting pitch, synchronizing phases all six speeding up body's forward velocity. This provides...

We report on the development of a robot's dynamic locomotion based template which fits natural dynamics. The developed is low degree-of-freedom planar model for running with rolling contact, we call spring loaded inverted pendulum (R-SLIP). Originating from reduced-order RHex-style robot compliant circular legs, R-SLIP also acts as general running. has torsional and large arc distributed foot, so during it rolls ground varied equivalent linear stiffness. This differs well-known (SLIP) fixed...

The tourism industry contributes eight percent to global carbon emissions, directly and indirectly. Indirect emissions are often neglected because they difficult calculate. traditional approach calculating indirect – Life Cycle Assessment is expensive requires an expert data analyst. We introduce alternative approach, the Environmentally Extended Input-Output Analysis. show how this currently used at macro-level estimate national or regional level can be applied business using generated by...

Inspired by the observation that cockroach changes from a tripod gait to different for climbing high steps, we report on design and implementation of novel, fully autonomous step-climbing maneuver, which enables RHex-style hexapod robot reliably climb step up 230% higher than length its leg. Similar strategy most used cockroaches, proposed maneuver is composed two stages. The first stage 'rearing stage,' inclining body so front side raised it easier legs catch top step, followed 'rising...

Over its lifetime, the hexapedal robot RHex has shown impressive performance. Combining preflexes with a range of control schemes, various behaviors such as leaping, running, bounding, well running on rough terrain have been exhibited. In order to better determine extent which passive and mechanical aspects design contribute performance, new version spring-loaded inverted pendulum (SLIP)-based runner novel minimal scheme is developed tested. A unique drive mechanism utilized allow for...

We report on a novel design and implementation of an omnidirectional spherical robot Omnicron. Instead using wheels or flywheels, three are installed inside the shell controlled independently; thus, 3-degree-of-freedom planar mobility without any singularity condition can be achieved by simple forward 3-to-3 kinematic mapping. The performance is experimentally evaluated, thus proving its trajectory-controllable mobility.