A5031304323- Modular Robots and Swarm Intelligence
- Robotic Locomotion and Control
- Micro and Nano Robotics
- Soft Robotics and Applications
- Prosthetics and Rehabilitation Robotics
- Biomimetic flight and propulsion mechanisms
- Advanced Materials and Mechanics
- Robotic Path Planning Algorithms
- Robot Manipulation and Learning
- Underwater Vehicles and Communication Systems
- Control and Dynamics of Mobile Robots
- Mechanics and Biomechanics Studies
- Microfluidic and Bio-sensing Technologies
- Dynamics and Control of Mechanical Systems
- Plant Molecular Biology Research
- Experimental and Theoretical Physics Studies
- Plant nutrient uptake and metabolism
- Shoulder Injury and Treatment
- Soil Mechanics and Vehicle Dynamics
- Orthopedic Surgery and Rehabilitation
- Particle Accelerators and Free-Electron Lasers
- Constraint Satisfaction and Optimization
- Musicians’ Health and Performance
- Orbital Angular Momentum in Optics
- Gender and Technology in Education
University of Notre Dame
2021-2025
University College Dublin
2024
Georgia Institute of Technology
2017-2022
Middle East Technical University
2010-2014
Karadeniz Technical University
2010
Robotic navigation on land, through air, and in water is well researched; numerous robots have successfully demonstrated motion these environments. However, one frontier for robotic locomotion remains largely unexplored-below ground. Subterranean simply hard to do, part because the interaction forces of underground are higher than air or by orders magnitude we lack interactions a robust fundamental physics understanding. We present test three hypotheses, derived from biological observation...
Significance Root growth in soil is complex. With limited sensory input, roots must navigate an environment containing heterogeneities such as rocks and compaction. The ability of to penetrate crucial for water nutrient uptake well mechanical anchorage. Here, we describe a molecular framework controlling helical root known circumnutation. Functional characterization circumnutation consistent with the hypothesis that it exploratory behavior substrate penetration. This work lays foundation...
Significance Living organisms form collectives across all scales, enabling biological functions not accessible by individuals alone. In a few cases, the are physically connected to each other, forming an additional class of entangled active matter systems with emergent mechanofunctionalities collective. Here, we describe dynamics macroscopic aquatic worms that braid their long, soft bodies large worm blobs. We discover blob behaves as living material undergo dynamic shape transformations...
Multilegged swarm robots with self-reconfigurability can perform diverse tasks in variable terrain.
A laboratory model of the NASA Resource Prospector climbs loose sandy slopes via dynamic terrain remodeling.
Earthworms can move beneath soil by expanding parts of their bodies radially; bristles called setae work as anchors during surface locomotion but efficacy subsurface movement is unknown. We designed a soft, wormlike robot which models the putative earthworm anchoring mechanisms combining Kirigami skin with radially-expanding pneumatic actuators. The consists three actuator segments: head and tail segments that expand radially anchors, middle segment elongates body. structure pops up when an...
Sensors that can detect external stimuli and perceive the surrounding areas could offer an ability for soft biomimetic robots to use sensory feedback closed-loop control of locomotion. Although various types have been developed, few systems included integrated stretchable sensors interconnectors with miniaturized electronics. Here, we introduce a soft, nanocomposite system built-in wireless electronics aim feedback–loop motion robotic earthworm. The nanostructured strain sensor, based on...
Mobile robots of all shapes and sizes move through the air, water, over ground. However, few can Not only are forces resisting movement much greater than in air or but interaction more complicated. Here we propose a soft robotic device that burrows dry sand while requiring an order magnitude less force similarly sized intruding body. The leverages principles both tip-extension granular fluidization. Like roots, extends from its tip; principle eliminates skin drag on sides body, because body...
Recently, soft actuator-based exosuits have gained interest, due to their high strength-to-weight ratio, inherent safety, and low cost. We present a novel wrist exosuit actuated by fabric pneumatic artificial muscles that has lightweight wearable components (160 g) can move the in flexion/extension ulnar/radial deviation. derive model representing torque exerted demonstrate use of choose an optimal design for example user. evaluate accuracy measuring torques throughout full range...
Multi-legged animals (myriapods) such as centipedes move effectively in diverse terrain; flexible bodies and limbs allow them to morphologically adapt the environment. To examine how variation body/limb forms of myriapods affect mechanics performance terrestrial locomotion, we built a low-cost multi-legged hybrid (containing soft hard components) robot which has 8 segments, each with two driven out phase. The back elements limb pairs are by servo motors. Building on new theoretical results...
Many animals generate propulsive forces by coordinating legs, which contact and push against the surroundings, with bending of body, can only indirectly influence these forces. Such body–leg coordination is not commonly employed in quadrupedal robotic systems. To elucidate role back during locomotion, we study a model system: salamander, sprawled-posture quadruped that uses lateral elongate conjunction stepping limbs locomotion. We develop geometric approach yields low-dimensional...
Serially connected robots are promising candidates for performing tasks in confined spaces such as search and rescue large-scale disasters. Such typically limbless, we hypothesize that the addition of limbs could improve mobility. However, a challenge designing controlling devices lies coordination high-dimensional redundant modules way improves Here develop general framework to discover templates control serially multi-legged robots. Specifically, combine two approaches build shape scheme...
Earthworms (Lumbricus terrestris) are characterized by soft, highly flexible and extensible bodies, capable of locomoting in most terrestrial environments. Previous studies earthworm movement focused on the use retrograde peristaltic gaits which controlled contraction longitudinal circular muscles results waves shortening/thickening thinning/lengthening hydrostatic skeleton. These can propel animal across ground as well into soil. However, worms benefit from axial body bends during...
Many quadrupedal animals use lateral degrees of freedom in their backs to assist locomotion.This paper seeks a robotic model demonstrate that back bending assists not only forward motion, but also and turning motions.We present simple planner uses geometric mechanics prescribe gaits coordinate both leg movements motion.Using these tools, we show back-bending can improve stride displacement the forward, rotational, directions.Interestingly, observe animal's (salamander, Salamandra salamandra)...
For exploration of unknown terrestrial environments, it is typically assumed that robots possess sophisticated controllers which can sense important aspects the terrain (gaps, obstacles, slippery surfaces). However, robust sensing such conditions not yet possible in harsh environmental conditions. Biological systems, including plant roots and snakes, are impressive their ability to use diverse growth movement strategies penetrate explore heterogeneous terrain. Such systems avoid becoming...
Abstract Locomotion at the microscale is remarkably sophisticated. Microorganisms have evolved diverse strategies to move within highly viscous environments, using deformable, propulsion-generating appendages such as cilia and flagella drive helical or undulatory motion. In single-celled algae, these can be arranged in different ways around an approximately 10 μ m long cell body, coordinated distinct temporal patterns. Inspired by observation that some quadriflagellates (bearing four...
Soft-bodied organisms accomplish their locomotor tasks in complex environments based primarily on changes the dimensions of body segments. Inspired by morphology and behavior earthworm, we designed a multi-segmented soft worm robot tested its performance experimentally through three locomotion tests: forward/backward motion, turning motion sideways hard surface.
This paper presents a soft earthworm robot that is capable of both efficient locomotion and obstacle avoidance. The designed to replicate the unique mechanisms earthworms, which enable them move through narrow complex environments with ease. consists multiple segments, each its own set actuators, are connected rigid plastic joints, allowing for increased adaptability flexibility in navigating different environments. utilizes proprioceptive sensing control algorithms detect avoid obstacles...
Soft robots can adapt to their environments, which makes them suitable for deploying in disaster areas and agricultural fields, where mobility is constrained by complex terrain. One of the main challenges developing soft terrestrial that robot must be enough its environment, but also rigid exert adequate force on ground locomote. In this letter, we report a pneumatically driven, modular appendage made silicone capable generating specific mechanical movement locomote desired direction. We...
Navigating environments with low Reynolds numbers <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">(Re)</i> , where viscous forces dominate, presents unique challenges, such as the need for non-reciprocal motion dynamics. Microorganisms like algae and bacteria, their specialized structures asymmetrical flexible cilia flagella, inspire efficient propulsion in media. However, mechanism enhancing speed of these microorganisms remains not fully...
Motion planning for mobile robots with many degrees-of-freedom (DoF) is challenging due to their highdimensional configuration spaces.To manage this curse of dimensionality, paper proposes a new hierarchical framework that decomposes the system into sub-systems (based on shared capabilities DoFs), which we can design and coordinate motions.Instead constructing high-dimensional space, establish hierarchy two-dimensional spaces visually gaits using geometric mechanics tools.We then motions...