4 accepted papers
We present SIPHON, a Salp-Inspired robot designed to utilize Passive Hydrodynamics, and equipped with soft robotic Origami bellows and soft Nozzles. We reveal the construction, including a novel use of an interlocking origami Kresling pattern, along with duckbill and mammal-heart-inspired valves. We…
This paper presents a gait optimization and motion planning framework for a class of locomoting systems with mixed kinematic and dynamic properties. Using Lagrangian reduction and differential geometry, we derive a general dynamic model that incorporates second-order dynamics and nonholonomic constr…
In this work we present the design of a swimming robot that is inspired by the body shape modulation of small microorganisms. Amoebas are small single celled organisms that locomote through deformation and shape change of their body. To achieve similar shape modulation for swimming propulsion in a r…
Traditional geometric mechanics models used in locomotion analysis rely heavily on systems having symmetry in SE(2) (i.e., the dynamics and constraints are invariant with respect to a system’s position and orientation) to simplify motion planning. As a result, the symmetry assumption prevents locomo…