I enjoy making things. Here are a selection of publications that I have worked on over the years.
Multimodal biomimetic underwater robots (BURs) combine swimming and legged locomotion for underwater exploration. Rule-based behavior selection limits new behavioral capabilities. …
Conventional multifunctional BURs rely on explicitly programmed, task-level behaviors, limiting how flexibly actions are selected and how much behavioral diversity can emerge. This …
Neurorobotics uses spiking neural networks to reproduce biological intelligence and behaviors, but neural-circuit-based obstacle avoidance for multi-jointed robots remains …
A path following control system based on line-of-sight guidance is proposed for a robotic dolphin with a multi-link body mechanism, verified through underwater simulation …
A robotic dolphin equipped with a multi-link body mechanism and CPG-based controller is evaluated through sim-to-real transfer, demonstrating effective swimming performance from …
This paper presents the design and experimental evaluation of propulsion and station-keeping control strategies for small unmanned surface vehicles (USVs).
A manta ray robot with multi-rigid link pectoral fins is proposed to actively reproduce uniquely defined bending motions. A virtual spring-damper system enables the fins to mimic …
Underwater robots can be categorized into bio-inspired, thruster-based, and legged systems. Among them, bio-inspired robots are attractive due to their high efficiency, mobility, …
A multi-finned omni-directional mobile underwater robot is developed, leveraging multiple fin-based actuators to achieve flexible omnidirectional locomotion in aquatic …