Bio-Inspired Robotics
Bio-inspired pneumatic modular actuator for peristaltic transport
Overview: This work introduces a modular soft robotic actuator system inspired by biological peristalsis, designed for the safe and efficient transport of fragile, irregularly shaped objects. By integrating optimized donut-shaped actuation modules and real-time pressure feedback, the system achieves robust yet flexible object manipulation without relying on complex control algorithms.
Bundling and tumbling in bacterial-inspired bi-flagellated soft robots for attitude adjustment
Overview: This project develops a bio-inspired robotic swimmer with two independently controlled flexible flagella for propulsion in viscous environments. Using silicone-based helical flagella, the study combines experimental fabrication with a physics-based computational framework. The simulation employs the Discrete Elastic Rod method for flagella mechanics, the Regularized Stokeslet Segments method for hydrodynamics, and an Implicit Contact Model to capture interactions. This approach successfully models emergent behaviors like bundling and tumbling, demonstrating the robot’s ability to self-reorient. The findings offer insights into flagellated robot mobility, with potential applications in microscopic robotics, including targeted drug delivery.
Link: Video
Modeling, characterization, and control of bacteria-inspired bi-flagellated mechanism with tumbling
Overview: This project develops a bio-inspired macroscopic robot with two rigid helical flagella and a cylindrical head, mimicking bacterial swimming dynamics in low Reynolds number flow. Unlike simplified models like Resistive Force Theory, the study employs the Regularized Stokeslet Segments method to accurately capture hydrodynamic interactions, including bundling and tumbling. By rotating the flagella in opposite directions, the robot achieves controlled reorientation through a tumble control scheme with just two inputs. The study also explores flagellum geometry to optimize propulsion and torque. This framework lays the groundwork for future miniaturization into steerable microscale robotic swimmers.
Link: Video
References
- Ye, B., Hao, Z., Shah, P. and Jawed, M.K., 2024. Bio-Inspired Pneumatic Modular Actuator for Peristaltic Transport. arXiv preprint arXiv:2412.06823. (Article link)
- Hao, Z., Zalavadia, S. and Jawed, M.K., 2024, April. Bundling and tumbling in bacterial-inspired bi-flagellated soft robots for attitude adjustment. In 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft) (pp. 340-346). IEEE. (Article link)
- Hao, Z., Lim, S. and Jawed, M.K., 2023, October. Modeling, characterization, and control of bacteria-inspired bi-flagellated mechanism with tumbling. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 6608-6615). IEEE. (Article link)
- Hao, Z., Lim, S., and Jawed, M.K., 2023. Modeling and Characterization of Bacteria-inspired Bi-flagellated Mechanism with Tumbling. The Southern California Robotics Symposium 2023. (Article link)