• Publications
  • Influence
Eversion and Retraction of a Soft Robot Towards the Exploration of Coral Reefs
TLDR
We develop an eversion robot for operation underwater, show that existing models work for constrained passageways if external contacts are taken into account, and present a new model to describe the forces on the robot during retraction. Expand
  • 18
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Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration
TLDR
We present a vine robot system that is teleoperated using a custom-designed flexible joystick and camera system, can extend long enough for use in navigation tasks, and is portable for using in the field. Expand
  • 24
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Soft Robotic Burrowing Device with Tip-Extension and Granular Fluidization
TLDR
We propose a soft robotic device that burrows through dry sand while requiring an order of magnitude less force than a similarly sized intruding body. Expand
  • 9
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Fluidic Fabric Muscle Sheets for Wearable and Soft Robotics
TLDR
We present a new family of soft actuators that we refer to as Fluidic Fabric Muscle Sheets (FFMS). Expand
  • 12
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Robust navigation of a soft growing robot by exploiting contact with the environment
TLDR
We mathematically formalize interactions of a soft growing robot with a planar environment in an empirical kinematic model. Expand
  • 8
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Nutation Aids Heterogeneous Substrate Exploration in a Robophysical Root
TLDR
We demonstrate that 2D tip oscillation improves the robotic roots ability to penetrate a heterogeneous environment, tested in a lattice of rigid cylinders distributed evenly on a square board. Expand
  • 5
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A Dexterous Tip-extending Robot with Variable-length Shape-locking
TLDR
We present a concept for shape-locking that enables a vine robot to move only its distal tip, while the body is locked in place. Expand
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Connecting the legs with a spring improves human running economy
TLDR
We show that a spring, or ‘exotendon, connecting the legs of a human reduces the energy required for running by 6.8%, and does so through a complex mechanism that produces savings beyond those associated with leg swing. Expand
  • 1
Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots
TLDR
We derive kinematic models of single, generally routed tendon paths on a soft pneumatic backbone of inextensible but flexible material from geometric relationships alone. Expand
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Prediction of the behavior of a pneumatic soft robot based on Koopman operator theory
TLDR
We predict the movement of a pneumatic soft robot by using a data-driven approach based on the Koopman operator framework. Expand