Nandan Maheshwari

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This paper is concerned with grasping biological cells in aqueous medium with miniature grippers that can also help estimate forces using vision-based displacement measurement and computation. We present the design, fabrication, and testing of three single-piece, compliant miniature grippers with parallel and angular jaw motions. Two grippers were designed(More)
In order to understand the underlying mechanisms of animals' agility, dexterity and efficiency in motor control, there has been an increasing interest in the study of gait patterns in biological and artificial legged systems. This paper presents a novel approach to the study of gait patterns which makes use of intrinsic mechanical dynamics of robotic(More)
Due to technological limitations robot actuators are often designed for specific tasks with narrow performance goals, whereas a wide range of output and behaviours is necessary for robots to operate autonomously in uncertain complex environments. We present a design framework that employs dynamic couplings in the form of brakes and clutches to increase the(More)
In recent years, there has been increasing interest in the study of gait patterns in both animals and robots, because it allows us to systematically investigate the underlying mechanisms of energetics, dexterity, and autonomy of adaptive systems. In particular, for morphological computation research, the control of dynamic legged robots and their gait(More)
Most of the conventional legged robots are based on rigid body parts connected by high-torque actuators and a sophisticated control scheme to achieve stable running locomotion. The energy-efficiency of such robots is roughly 10-100 times lower than that of animals. Recently, there has been an increasing interest in designing compliant robots which exploit(More)
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