Michael Ishida
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View article: A minimalistic walking fish robot twin based on the single actuator wave-like mechanism
A minimalistic walking fish robot twin based on the single actuator wave-like mechanism Open
Understanding terrestrial locomotion in walking fish species can unlock new insights into vertebrate evolution and inspire versatile robotic systems capable of traversing diverse environments. We introduce a novel, single-actuator continuu…
View article: Self-organising bio-inspired reflex circuits for robust motor coordination in artificial musculoskeletal systems
Self-organising bio-inspired reflex circuits for robust motor coordination in artificial musculoskeletal systems Open
Artificial musculoskeletal systems mimic mammalian biomechanics using antagonistic muscles and rigid skeletons. They offer benefits such as adjustable stiffness, back-drivability, and muscle failure tolerance but are difficult to model and…
View article: Exploration of Fin Stiffness for Asymmetric Thrust in a Swimming Robot
Exploration of Fin Stiffness for Asymmetric Thrust in a Swimming Robot Open
Fish commonly combine pectoral fin motion with tail and body motion to create a swimming gait. The rowing pectoral fin motion is characterized by distinct power and recovery strokes where the soft fin bends or rotates significantly to chan…
View article: Scalable Fluidic Matrix Circuits for Controlling Large Arrays of Individually Addressable Actuators
Scalable Fluidic Matrix Circuits for Controlling Large Arrays of Individually Addressable Actuators Open
A fundamental challenge of pneumatically powered soft robotic devices is the scalability of fluidic control systems to address each actuated degree of freedom, as the required electromechanical valves are bulky and expensive. Previous solu…
View article: Morphing the Body Shape of an Underwater Walking Robot to Improve Hydrodynamic Loading
Morphing the Body Shape of an Underwater Walking Robot to Improve Hydrodynamic Loading Open
Many platforms have been developed for moving remotely underwater; however, many of these systems are limited to traversing open water and must expend large amounts of energy to maintain a position in flow for long periods of time. Legged …