Master's

Jet propulsion is a common locomotion strategy in nature. We developed an underwater particle image velocimetry (PIV) system to investigate the hydrodynamic effects of the SALP (Salp-inspired Approach to Low-energy Propulsion) robot, a soft underwater robot that swims using jet propulsion. Multiple SALP units can be physically connected to form a multi-SALP system, coordinating their […]

Bipedal robots demonstrate high potential in navigating challenging terrains through dynamic ground contact. However, current frameworks often depend solely on proprioception or use manually designed visual processing pipelines, which are fragile in real-world settings and complicate real-time footstep planning in unstructured environments. To overcome this problem, this work proposes a vision-based hierarchical control framework that […]