In this paper, we report the results from the analysis of a numerical model used for the design of a magnetic linear actuator with applications to fin-based locomotion. Most of the current robotic fish generate bending motion using rotary motors which implies at least one mechanical conversion of the motion. We seek a solution that directly bends the fin and, at the same time, is able to exploit the magneto-mechanical properties of the fin material. This strong fin-actuator coupling blends the actuator and the body of the robot, allowing cross optimization of the system's elements.
We study a simplified model of an elastic element, a spring-mass system representing a flexible fin, subjected to nonlinear forcing, emulating magnetic interaction. The dynamics of the system is studied under unforced and periodic forcing conditions. The analysis is focused on the limit cycles present in the system, which allows the periodic bending of the fin and the generation of thrust. The frequency, maximum amplitude and center of the periodic orbits (offset of the bending) depend directly on the stiffness of the fin and the intensity of the forcing; we use this dependency to sketch a simple parameter controller. Although the model is strongly simplified, it provides means to estimate first values of the parameters for this kind of actuator and it is useful to evaluate the feasibility of minimal actuation control of such systems.
Vibration of Soft, Twisted Beams for Under-Actuated Quadrupedal Locomotion
Reconfigurable Robotics Laboratory, School of Engineering, EPFL（可重构机器人实验室，工程学院，EPFL）；The School of Manufacturing Systems and Networks, Fulton Schools of Engineering（制造系统与网络学院，福尔顿工程学院）
Feasible Region: an Actuation-Aware Extension of the Support Region
Istituto Italiano di Tecnologia（意大利理工学院）；ANYbotics AG（ANYbotics公司）；Laboratoire d’Informatique, de Robotique et de Microelectronique de Montpellier (LIRMM), CNRS-University of Montpellier（法国国家科学研究中心-蒙彼利埃大学蒙彼利埃计算机科学、机器人与微电子实验室）；Jet Propulsion Laboratory (JPL), NASA（美国国家航空航天局喷气推进实验室）
Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion
Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology（麻省理工学院计算机科学与人工智能实验室）；California Institute of Technology（加州理工学院）
Design of an In-Pipe Robot with Contact-Angle-Guided Kinematic Decoupling for Crosstalk-Suppressed Locomotion
Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）机器人与自主系统学域）；Department of Engineering, Shinshu University（信州大学工学部）；College of Information Science and Technology, Beijing University of Chemical Technology（北京化工大学信息科学与技术学院）
Adaptive Simultaneous Magnetic Actuation and Localization for WCE in a Tubular Environment
the Chinese University of Hong Kong（香港中文大学）；Southern University of Science and Technology（南方科技大学）；Shenzhen Research Institute of the Chinese University of Hong Kong（香港中文大学深圳研究院）
Trajectory Following Strategies for Wireless Capsule Endoscopy under Reciprocally Rotating Magnetic Actuation in a Tubular Environment
The Chinese University of Hong Kong（香港中文大学）；Southern University of Science and Technology（南方科技大学）；Shenzhen Research Institute of the Chinese University of Hong Kong（香港中文大学深圳研究院）
Do You Have Freestyle? Expressive Humanoid Locomotion via Audio Control
BAAI（北京人工智能研究院）；University of Sydney（悉尼大学）；Harbin Institute of Technology（哈尔滨工业大学）；Hong Kong University of Science and Technology（香港科学与技术大学）；Shanghai Jiao Tong University（上海交通大学）；Peking University（北京大学）
A compliant ankle-actuated compass walker with triggering timing control
School of Physics, Georgia Institute of Technology, Atlanta, USA（物理学院，佐治亚理工学院，美国亚特兰大）；Electrical and Electronics Engineering, Hacettepe University, Ankara, Türkiye（电子与电气工程，哈科特佩大学，土耳其安卡拉）
Mechanical Intelligence Simplifies Control in Terrestrial Limbless Locomotion
Institute for Robotics and Intelligent Machines, Georgia Institute of Technology（佐治亚理工学院机器人与智能机器研究所）；School of Physics, Georgia Institute of Technology（佐治亚理工学院物理学院）；George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology（佐治亚理工学院乔治·W·伍德拉夫机械工程学院）；School of Chemical & Biomolecular Engineering, Georgia Institute of Technology（佐治亚理工学院化学与生物分子工程学院）
Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds
Cognitive Robotics, Delft University of Technology（代尔夫特理工大学认知机器人学系）；University of Trento（特伦托大学）；University of Manchester（曼彻斯特大学）；Institute of Robotics and Mechatronics, German Aerospace Center (DLR)（德国航空航天中心机器人与机电一体化研究所）
Terrain Traversal Without Motion Priors: Expert-Routed Humanoid Locomotion at Deployment Fidelity
VinRobotics（维诺机器人公司）；German Research Center for Artificial Intelligence (DFKI)（德国人工智能研究中心）；University of Stuttgart（斯图加特大学）；International Max Planck Research School for Intelligent Systems (IMPRS-IS)（国际马克斯·普朗克智能系统研究院）；Center for AI Research (CAIR), VinUniversity（VinUniversity人工智能研究中心）；Intelligent Autonomous Systems, TU Darmstadt（达姆施塔特工业大学智能自主系统研究所）
Learning All-Terrain Locomotion for a Planetary Rover with Actively Articulated Suspension
Jet Propulsion Laboratory, California Institute of Technology（喷气推进实验室，加州理工学院）；Center for Autonomy, University of Texas at Austin（自主性中心，德克萨斯大学奥斯汀分校）；Space Systems Laboratory, University of Maryland（空间系统实验室，马里兰大学）
ARCSnake V2: Mechanical Adaptations For An Amphibious Multi-Domain Screw-Propelled Snake-Like Robot
Mechanical and Aerospace Engineering Department, University of California San Diego（加州大学圣地亚哥分校机械与航空航天工程系）；Electrical and Computer Engineering Department, University of California, San Diego（加州大学圣地亚哥分校电气与计算机工程系）
Whole-body Motion Control of an Omnidirectional Wheel-Legged Mobile Manipulator via Contact-Aware Dynamic Optimization
State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology（智能制造装备与技术国家重点实验室，机械科学与工程学院，华中科技大学）
