Oct 2026· IEEE Robotics and Automation Letters· Vol 11, pp. 11984-11991· 0 citations· 17 references
Abstract
Recent research has reported the impressive adaptability of bio-inspired soft robots in executing complex movements and traversing diverse terrains. However, achieving navigation for these robots remains challenging when operating in unknown environments with solely preprogrammed locomotion strategies. Inspired by the tactile appendages of the star-nosed mole, we present a soft overturning robot with tactile-driven navigation in unknown confined spaces. Leveraging Cosserat rod theory, we develop a bending configuration estimation model that accounts for the robot’s weight distribution and axial deformation. The system enables real-time perception of self-orientation and obstacle localization during motion. Experimental results validate the robot’s ability to generate adaptive locomotion gaits in unstructured environments using tactile feedback, independent of external navigation systems.
Jellyfish-inspired robots offer a compliant and efficient approach to underwater locomotion, but achieving large deformation together with repeatable actuation and closed-loop control remains challenging. In this work, we present a tendon-driven robotic jellyfish with constrained soft actuation. Each actuator combines...
Jia-Rui Peng, Yu-Tong Wu, Ze-Long Wang et al.· 0 citations
To overcome existing challenges in trans-medium mobility and environmental adaptability, this study proposes a novel amphibious soft robot driven by hydraulically amplified self-healing electrostatic (HASEL) actuators. By leveraging high-frequency asymmetric motion, the robot achieves multi-mode locomotion, including l...
Rui-Qian Wang, Shuo Li, Kun Li et al.· IEEE Robotics and Automation...· 0 citations
An insect‑scale robot that integrates aerial takeoff and open-loop attitude modulation, terrestrial crawling, water-surface gliding, and electrowetting-triggered controlled immersion within a 140-mg platform is presented, addressing the fundamental trade-off between operational diversity and extreme miniaturization.
Yun-Fei Wang, Zhong-Lai Wang, Ze-Qun Wang et al.· Microsystems & Nanoengineeri...· 0 citations
Continuum robots enable smooth shape morphing and safe interaction in confined environments. However, most existing systems are task-specific and depend on external sensing infrastructure, limiting their adaptability and real-world deployment. This paper presents a self-contained modular continuum robotic platform that...
Guo Ning Sue, Zheng Cao, Jun-Zhe Hu et al.· 1 citation
Complex, three-dimensional (3D) motions typically require actuator arrays and complex control architectures. Here, we present a feather star–inspired soft robotic swimmer that uses only two pneumatic inputs to produce three distinct and switchable swimming modes: jellyfish-like pulsation, fishlike propulsion, and rotor...
Multimodal biomimetic underwater robots (BURs) can conduct underwater tasks suitable for the environment. Combining the characteristics of aquatic organisms enables the swimming and leggedlocomotion required for underwater exploration. Locomotion control mechanism relies on rule-based behavior selection and the designe...
