Title: Mechanically Intelligent Elongate Limbless Robots for Locomotion in Complex Land and Water Environments

Date: Wednesday, November 26, 2025

Time: 9:30 am - 11:30 am ET

Location: Howey Physics Building N201

Zoom Link: https://gatech.zoom.us/j/94310086462?pwd=gjekTCu8px2CbawrR4i5rdqzOKQbqX.1

Tianyu Wang

Robotics Ph.D. Candidate

Woodruff School of Mechanical Engineering

Georgia Institute of Technology

https://ty-wang.github.io/

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 capability 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 face limitations in mobility and adaptability within heterogeneous or unstructured terrains. This thesis introduces a new design paradigm centered on mechanical intelligence (MI). A novel actuation mechanism is presented, featuring bilateral actuation along a flexible spine that models the musculoskeletal systems of animals. This mechanism enables effective open-loop locomotion in complex environments through the exploitation of passive body mechanics and body-environment interactions, thereby reducing reliance on complex control algorithms while guaranteeing adaptability. Building on this foundation, computational intelligence (CI) techniques such as gait optimization, tactile sensing, and closed-loop control are incorporated to achieve enhanced performance across both terrestrial and aquatic environments. The thesis is organized around three aims: (1) to develop bilaterally actuated limbless robots to identify and quantify the principles of MI, (2) to design and optimize gaits that take advantage of MI for improved performance, and (3) to extend established MI principles and discover new ones in aquatic environments, exploring the synergy between MI and CI for robust, adaptive amphibious autonomy. This work contributes to the development of versatile limbless robots with enhanced autonomy and resilience, supporting applications in search-and-rescue operations, industrial inspections, precision agriculture, and planetary exploration.