A5040068988- Modular Robots and Swarm Intelligence
- Soft Robotics and Applications
- Advanced Materials and Mechanics
- Robotic Locomotion and Control
- Micro and Nano Robotics
- Structural Analysis and Optimization
- Advanced Sensor and Energy Harvesting Materials
- Robotic Path Planning Algorithms
- Prosthetics and Rehabilitation Robotics
- Tactile and Sensory Interactions
- Flexible and Reconfigurable Manufacturing Systems
- Astronomical Observations and Instrumentation
- Robot Manipulation and Learning
- Cellular Mechanics and Interactions
- Control and Dynamics of Mobile Robots
- Additive Manufacturing and 3D Printing Technologies
- Biomimetic flight and propulsion mechanisms
ETH Zurich
2024-2025
Yale University
2019-2024
It is hard to imagine with the progress in robotics that current approaches are lacking somewhere, yet they will not be applicable majority of robots near future. We on verge two new transitions transform robotics. One already under way -- miniaturization robots, point where invisible, microscopic could around us and inside us, performing monitoring or even life-saving functions. have seen systematic bio-inspired efforts create microbe-like, robots. The trend has parallels electronics...
Compliant, continuum structures allow living creatures to perform complex tasks inaccessible artificial rigid systems. Although advancements in hyper-elastic materials have spurred the development of synthetic soft (i.e., muscles), these yet match precise control and diversity motions witnessed creatures. Cephalopods tentacles, for example, can undergo multiple trajectories using muscular hydrostat, a structure consisting aggregated laminae unidirectional muscle fibers. Here, we present...
Rapidly tunable tensile stiffness enables localized shape adaptations in next-generation robotic materials.
Abstract Owing to the remarkable properties of somatosensory system, human skin compactly perceives myriad forms physical stimuli with high precision. Machines, conversely, are often equipped sensory suites constituted dozens unique sensors, each made for detecting limited stimuli. Emerging degree-of-freedom human-robot interfaces and soft robot applications delimited by lack simple, cohesive, information-dense sensing technologies. Stepping toward biological levels proprioception, we...
Programming inflatable systems to deform desired 3D shapes opens up multifarious applications in robotics, morphing architecture, and interventional medicine. This work elicits complex deformations by attaching discrete strain limiters cylindrical hyperelastic inflatables. Using this system, a method is presented solve the inverse problem of programming myriad centerline curves upon inflation. The entails two steps: first, reduced-order model generates conceptual solution giving coarse...
Robotic vehicles capable of transition from aquatic to terrestrial locomotion face considerable challenges associated with propulsive efficiency and performance in each environment. Here we present a morphing amphibious robotic limb that combines the locomotor adaptations sea turtles for swimming tortoises walking. The can transform between streamlined morphology turtle flipper load-bearing geometry tortoise leg using variable stiffness material coupled pneumatic actuator system. Herein,...
We present a methodology for designing, fabricating, and controlling rolling membrane-driven tensegrity robots. This is enabled by pneumatic membrane actuators generalized path planning algorithm polyhedra. Membrane are planar, assembled in scalable fashion, amenable to arbitrary geometries. Their deformation trajectories can be tuned varying the stacking sequence orientation of layers unidirectional lamina placed on their surfaces. demonstrate application same set consisting polygonal faces...
Most robots operate either exclusively on land or in water. Toward building an amphibious legged robot, we present a morphing limb that can adapt its structure and stiffness for operation. We draw inspiration the limb's design from morphologies of sea turtle flippers land-faring tortoise legs. Turtles tortoises have rigid hulls be emulated to provide convenient, protected volume motors, electronics, power supply, payloads. Each these animals' limbs are tailored locomotion their respective...
Numerous recent research efforts have leveraged networks of rigid struts and flexible cables, called tensegrity structures, to create highly resilient packable mobile robots. However, the locomotion existing robots is limited in terms both speed number distinct modes, restricting environments that a robot capable exploring. In this study, we present inspired by volumetric expansion Tetraodontidae. The robot, referred herein as Spikebot, employs pneumatically actuated expand its global...
Inextensible material inflatables, such as those made from heat-sealable fabric or Mylar, are lightweight, robust, and easily packed into compact spaces self-deployed. They commonly by heat-pressing two sheets together to seal them along a desired curvilinear path. Upon inflation, the wrinkle about constraints imposed seals, giving rise fascinating functional shapes. In previous literature, once an inflatable has been manufactured, it can only attain single inflated shape. Changing task...
Terrestrial and aquatic animals exhibit appendages adapted to the propulsion physics of their primary habitats. typically assume stiff load-bearing form factors, while tend adopt flexible streamlined profiles. Bio-inspired robots with synthetic often mirror this dichotomy specialization: they are designed fixed legs or flippers for locomotion on land in water, respectively. Appendages that adjust shape stiffness can serve specialize a robot's demand, enabling transitions between multiple...
Quadruped robots are proliferating in industrial environments where they carry sensor suites and serve as autonomous inspection platforms. Despite the advantages of legged over their wheeled counterparts on rough uneven terrain, still yet to be able reliably negotiate ubiquitous features infrastructure: ladders. Inability traverse ladders prevents quadrupeds from inspecting dangerous locations, puts humans harm's way, reduces site productivity. In this paper, we learn quadrupedal ladder...
Current robotic terrain mapping techniques require expensive sensor suites to construct an environmental representation. In this work, we present a cube-shaped robot that can roll through unstructured and detailed topographic map of the surface it traverses in real time with low computational monetary expense. Our approach devolves many complexities locomotion passive mechanical features. Namely, rolling movement is achieved by sequentially inflating latex bladders are located on four sides...
Soft Robotics In article number 2300535, Robert Baines, Rebecca Kramer-Bottiglio, and co-workers report an inverse design method to realize inflatables that match diverse 3D target curves. The estimates the geometry location of stiffer material patches that, when applied inflatable's surface, program curvature torsion along its length. Examples new complex robotic manipulation functionality enabled by are demonstrated.