Title: Mechanically Intelligent Elongate Limbless Robots for Locomotion in Complex Land and Water Environments
Date: May 29, 2025
Time: 9:30 am - 11:00 am
Location: Virtual
Virtual Link: https://gatech.zoom.us/j/96486717996?pwd=0DET9kFjSihNOW936IlrhOOZVgGbpE.1
Tianyu Wang
Robotics PhD Student
Woodruff School of Mechanical Engineering
Georgia Institute of Technology
Committee:
Dr. Daniel I. Goldman (Advisor)
School of Physics
Georgia Institute of Technology
Dr. David Hu
George W. Woodruff School of Mechanical Engineering
Georgia Institute of Technology
Dr. Tony G. Chen
George W. Woodruff School of Mechanical Engineering
Georgia Institute of Technology
Dr. Hang Lu
School of Chemical and Biomolecular Engineering
Georgia Institute of Technology
Dr. Howie Choset
School of Computer Science
Carnegie Mellon University
Abstract:
Limbless animals such as snakes and nematodes exhibit remarkable adaptability and efficiency in navigating complex environments, inspiring the development of limbless robotic systems. However, most existing designs consist of rigid segments actuated by rotational motors and often encounter limitations in mobility and adaptability within heterogeneous or unstructured terrains. This thesis introduces a new design paradigm focused on mechanical intelligence (MI), which leverages morphology and passive body mechanics to simplify control, and integrates it with computational intelligence (CI), including sensory feedback and motion control. A novel actuation mechanism is presented, featuring bilateral actuation along a flexible spine that models animal musculoskeletal systems. This mechanism enables effective undulatory locomotion through the exploitation of MI, thereby reducing reliance on complex control algorithms while improving adaptability. Building on this foundation, CI techniques such as gait optimization, tactile sensing, and closed-loop control are incorporated to support robust, adaptive locomotion across both terrestrial and aquatic environments. The research is organized around three aims: (1) to develop bilaterally actuated limbless robots to identify MI principles, (2) to develop models for gait optimization and explore diverse bilateral actuation morphologies to maximize terrestrial capabilities, and (3) to validate the bilateral actuation strategy in aquatic environments and explore the synergy between MI and CI for robust, adaptive amphibious multimodal locomotion. This work contributes to the development of versatile limbless robots with improved autonomy and resilience, supporting applications in search-and-rescue missions, industrial inspections, precision agriculture, and planetary exploration.