5 accepted papers
Soft robotic grippers are intrinsically delicate while grasping objects, and can rely on mechanical deformation to adapt to different shapes without explicit control. These characteristics are particularly appealing for agriculture, where items of produce from the same crop can vary significantly in…
Efficiently performing intervention tasks underwater is crucial in various commercial and scientific sectors; however, propeller-driven vehicles face limitations due to their floating nature. In Remotely Operated Vehicles (ROVs) operations, this can be compensated by the ability of the operator, but…
Recently, a new category of bio-inspired legged robots moving directly on the seabed have been proposed to complement the abilities of traditional underwater vehicles and to enhance manipulation and sampling tasks. So far, only tele-operated use of underwater legged robots has been reported and in t…
Flagellated micro-organism are regarded as excellent swimmers within their size scales. This, along with the simplicity of their actuation and the richness of their dynamics makes them a valuable source of inspiration to design continuum, self-propelled underwater robots. Here we introduce a soft, f…
In this letter, a fundamental model for underwater legged locomotion, called U-SLIP, is presented and implemented on a robotic platform. Unlike traditional locomotion models, U-SLIP addresses specific hydrodynamic contributions, such as drag, buoyancy, and added mass. By taking as a reference the US