4 accepted papers
Pectoral-fin-based (labriform) swimming combines high-speed propulsion with agile maneuverability through rigid-flexible fin partitioning. Inspired by this principle, we present a multi-stable soft robotic swimmer composed of two wedge-shaped bistable actuators integrated with fin-like rigid-flexibl
Soft robotic arms exhibit high deformability and degrees of freedom, which brings challenges in modeling accuracy and susceptibility to gravitational effects, resulting in imprecise control. This study proposes a reinforcement learning control strategy based on a hybrid model for precise control of
Manta rays exhibit complex motion behavior through their flexible fins. This study proposes a novel manta ray-inspired soft robotic swimmer with bistable flapping wings for high-speed and multi-modal swimming. The wings are created with prestressed bistable composite and actuated by small McKibben a…
This letter proposes novel variable-curvature soft helical actuators (VC-SHAs) using fluidic prestressed composites (FPCs) for enhanced grasping performance. A third-order three-dimensional chained composite model called 3D-CCM is developed to pre-program variable curvatures of SHAs and predict thei