12 accepted papers
In nature, fish locomotion is primarily classified into the BCF (body and caudal fin) propulsion mode and the MPF (median and paired fin) propulsion mode. This paper presents a bio-inspired robotic electric ray that integrates a BCF-mode caudal fin with MPF-mode pectoral fins. The caudal fin consist
In this study, a bio-inspired crawling robot with multi-surface locomotion capability is developed. The robot is driven by Dielectric Elastomer Minimum Energy Structures (DEMES) and utilizes a three-dimensional scissor mechanism and electrostatic adhesion technology to achieve multi-surface crawling
The excellent swimming ability of fish provides a new solution for the design of underwater propellers. However, there is a lack of optimization schemes for the structure and performance of the continuum driving fish-like propeller. This letter introduces, for the first time, a continuum driving fis
"In this paper, we introduce PoseCrafter, a one-shot method for personalized video generation following the control of flexible poses. Built upon Stable Diffusion and ControlNet, we carefully design an inference process to produce high-quality videos without the corresponding ground-truth frames. Fi…
Deep generative models (DGMs) are data-eager because learning a complex model on limited data suffers from a large variance and easily overfits. Inspired by the classical perspective of the bias-variance tradeoff, we propose regularized deep generative model (Reg-DGM), which leverages a nontransfera…
In an effort to further advance semi-supervised generative and classification tasks, we propose a simple yet effective training strategy called *dual pseudo training* (DPT), built upon strong semi-supervised learners and diffusion models. DPT operates in three stages: training a classifier on partia…
Target tracking for underwater robots is always challenging, due to low-quality sensing information, information interference, and environmental disturbances. Traditional sensing methods for underwater target tracking include vision-based tracking, acoustic-based tracking, etc., but most of the adop
A new versatile pneumatic actuator called a scissor-mechanism-based vacuum powered artificial muscle (SMVAM) is proposed in this letter. The actuator is composed of a soft airtight skin and a scissor structural skeleton, and based on the types of scissor units in the skeleton, the actuator can be de
Soft robot has demonstrated promise in unstructured and dynamic environments due to unique advantages, such as safe interaction, adaptiveness, easy to actuate, and easy fabrication. However, the highly dissipative nature of elastic materials results in small stiffness of soft robot which limits cert…
This letter presents an experimental study on how different body flapping patterns affect the performances of fish cruising. First, a biomimetic robot fish is designed and built as the experimental platform, which mimics the skeleton structure and the muscle arrangement of real fish. Moreover, an im
How to build a biomimetic robot fish has always been a divergent question. Most of the existing robot fishes suffer structural complexity and propulsive inefficiency. In this paper, we proposed a method that transfers the natural actuation properties of fish to the biomimetic robot counterpart. The
Although methods about building fish-like robots have attracted much research in recent years, new techniques are still required for developing superior robot fish. This paper presents a novel robot fish propelled by an active compliant propulsion mechanism. The key innovation is the combination of…