Working Paper
Michelle Rosen, Noah Jafferis, Yufeng Chen, Hayley McClintock, and Robert J. Wood. Working Paper. “Parameter exploration of a passively-rotating wing for a lightweight flapping-wing micro-aerial-vehicle”.
Hongqiang Wang, Peter York, Yufeng Chen, Sheila Russo, Tomasso Ranzani, and Robert J. Wood. Submitted. “Mesocale electrostatic film actuators for low-profile miniature robots”.
Yufeng Chen, Huichan Zhao, Jie Mao, Pakpong Chirarattananon, E. Farrell Helbling, Nak-seung Patrick Hyun, David Clarke, and Robert Wood. 11/4/2019. “Controlled flight of a microrobot powered by soft artificial muscles.” Nature. Publisher's Version
Siqi Wang, Lei Li, Yufeng Chen, Yueping Wang, Wenguang Sun, Junfei Xiao, Dylan Wainwright, Tianmiao Wang, Robert J. Wood, and Li Wen. 5/2019. “A bio-robotic remora disc with attachment and detachment capabilities for reversible underwater hitchhiking.” In IEEE/RSJ International Conference on Robotics and Automation (ICRA) , Pp. 4653-4659. Montreal Canada. Publisher's Version
Yufeng Chen, Aaron Ong, and Robert J. Wood. 8/3/2018. “An efficient method for the design and fabrication of 2D laminate robotic structures.” IEEE International Conference on Real-time Computing and Robotics. automated_packing.pdf
Yufeng Chen, Neel Doshi, Benjamin Goldberg, Hongqiang Wang, and Robert J. Wood. 6/27/2018. “Controllable water surface to underwater transition through electrowetting in a hybrid terrestrial-aquatic microrobot.” Nature Communications, 9, 1, Pp. 2495. Publisher's VersionAbstract
Several animal species demonstrate remarkable locomotive capabilities on land, on water, and under water. A hybrid terrestrial-aquatic robot with similar capabilities requires multimodal locomotive strategies that reconcile the constraints imposed by the different environments. Here we report the development of a 1.6 g quadrupedal microrobot that can walk on land, swim on water, and transition between the two. This robot utilizes a combination of surface tension and buoyancy to support its weight and generates differential drag using passive flaps to swim forward and turn. Electrowetting is used to break the water surface and transition into water by reducing the contact angle, and subsequently inducing spontaneous wetting. Finally, several design modifications help the robot overcome surface tension and climb a modest incline to transition back onto land. Our results show that microrobots can demonstrate unique locomotive capabilities by leveraging their small size, mesoscale fabrication methods, and surface effects.
Yufeng Chen, Hongqiang Wang, E. Farrell Helbling, Noah T. Jaefferis, Raphael Zufferey, Aaron Ong, Kevin Ma, Nicolas Gravish, Pakpong Chirarattananon, Mirko Kovac, and Robert J. Wood. 10/25/2017. “A biologically inspired, flapping-wing, hybrid aerial-aquatic microrobot.” Science Robotics, 2, 11. Publisher's Version science_robotics_fly_swim_robobee.pdf
Yueping Wang*, Xingbang Yang*, Yufeng Chen*, Dylan K. Wainwright, Christopher P. Kenaley, Zheyuan Gong, Zemin Liu, Huan Liu, Juan Guan, Tianmiao Wang, James C. Weaver, Robert J. Wood, and Li Wen. 9/20/2017. “A biorobotic adhesive disc for underwater hitchhiking inspired by the remora suckerfish.” *equal contribution. Science Robotics , 2, 10. (Cover article). Publisher's Version science_robotics_suction_disk.pdf
(Dissertation) Yufeng Chen. 5/2017. “Experimental and Computational Study of Flapping-Wing Dynamics and Locomotion in Aerial and Aquatic Environments.” Engineering Sciences.Abstract
Flapping-wing flight is ubiquitous among natural flyers. Flying insects can perform incredible acrobatic maneuvers, such as rapid turning, somersault, and collision avoidance in cluttered environments. Unlike fixed wing aircrafts or rotorcrafts, these tiny creatures utilize highly unsteady aerodynamic phenomena to achieve extraordinary locomotive abilities.
Taking inspiration from biological flappers, we develop a robot capable of insect-like flight, and then go beyond biological capabilities by demonstrating multi-phase locomotion and impulsive water-air transition. In this dissertation, we conduct experimental and computational studies of flapping wing aerodynamics that aim to quantify fluid-wing interactions and ultimately distill scaling rules for robotic design. Comparative studies of fluid-wing interactions in air and water reveal remarkable similarities, which lead to the development of the first hybrid aerial-aquatic flapping wing robot. Further, we show that microrobots face unique challenges and opportunities due to the dominance of surface tension at the millimeter scale. By developing an impulsive mechanism that utilizes an electrochemical reaction, we demonstrate the first-ever water to air takeoff in a microrobot.
Yueping Wang, Xingbang Yang, Yufeng Chen, Christopher P. Kenaley, Huan Liu, Juan Guan, Dylan K. Wainwright, Robert J. Wood, and Li Wen. 1/2017. “A Bio-robotic Remora (Echeneis naucrates) Adhesive Disc: Design, Fabrication and Function. .” Integrative and comparative biology 57 (E440). New Orleans: Society for integrative and comparative biology. Publisher's Version
Pakpong Chirarattananon, Yufeng Chen, E. Farrell Helbling, Kevin Y. Ma, Richard Cheng, and Robert J. Wood. 12/16/2016. “Dynamics and flight control of a flapping-wing robotic insect in the presence of wind gusts.” Interface focus, 7, 1. Publisher's Version interface_focus2016.pdf
Yufeng Chen, Kevin Ma, and Robert J. Wood. 9/2016. “Influence of wing morphological and inertial parameters on flapping flight performance.” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Daejeon, South Korea. Publisher's Version iros_2016_influence_of_wing.pdf
Yufeng Chen, Nick Gravish, Alexis Lussier Desbiens, Ronit Malka, and Robert J. Wood. 2/15/2016. “Experimental and computational studies of the aerodynamic performance of a flapping and passively rotating insect wing.” Journal of Fluid Mechanics, 791, Pp. 1-33. Publisher's Version jfm2016_experimentalandcomputational.pdf
Yufeng Chen, E. Farrell Helbling, Nick G. Gravish, Kevin Ma, and Robert J. Wood. 9/2015. “Hybrid aerial and aquatic locomotion in an at-scale robotic insect.” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Hamburg, Germany. (Best Student Paper). Publisher's Version iros2015_chen.pdf
Nick G. Gravish*, Yufeng Chen*, Stacey A. Combes, and Robert J. Wood. 9/2014. “High-throughput study of flapping wing aerodynamics for biological and robotic applications.” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), no. 3397-3403. Chicago, USA. (*equal contribution). Publisher's Version iros2014_highthroughput.pdf
Ronit Malka, Alexis L. Desbiens, Yufeng Chen, and Robert J. Wood. 9/2014. “Principles of microscale flexure hinge design for enhanced endurance.” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Chicago, USA. Publisher's Version iros14_malka.pdf
Yufeng Chen, Alexis L. Desbiens, and Robert J. Wood. 6/2014. “A computational tool to improve flapping efficiency of robotic insects.” IEEE/RSJ International Conference on Robotics and Automation (ICRA). HongKong, China. Publisher's Version icra2014_acomputationaltool.pdf
Alexis L. Desbiens*, Yufeng Chen*, and Robert J. Wood. 11/2013. “A wing characterization method for flapping-wing robotic insects.” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Tokyo, Japan. (*equal contribution). Publisher's Version iros13_desbiens.pdf