Origami structures have the advantages of foldability and adjustability, with applications
spanning numerous engineering fields. However, there remains a dearth of intelligent and …

Whether walking, running, slithering, or flying, organisms display a remarkable ability to
move through complex and uncertain environments. In particular, animals have evolved to …

Running speed degradation of insect-scale (less than 5 cm) legged microrobots after
carrying payloads has become a bottleneck for microrobots to achieve high untethered …

Soft compliant microrobots have the potential to deliver significant societal impact when
deployed in applications such as search and rescue. In this research we present mCLARI, a …

Modular reconfigurable robots exhibit prominent advantages in the reconnaissance and
exploration tasks within unstructured environments for their characteristics of high …

Nitinol is a smart material that can be used as an actuator, a sensor, or a structural element,
and has the potential to significantly enhance the capabilities of microrobots. Femtosecond …

Modeling and controlling legged robot locomotion on terrains with densely distributed large
rocks and boulders are fundamentally challenging. Unlike traditional methods which often …

Dynamic and agile locomotion in legged robots enables them to overcome obstacles and
navigate complex and unstructured terrain. However, the leg mechanisms and actuators …

Miniature-legged robots are constrained by their onboard computation and control, thus
motivating the need for simple, first-principles-based geometric models that connect periodic …

Discrete and periodic contact switching is a key characteristic of steady-state legged
locomotion. This letter introduces a framework for modeling and analyzing this contact …