About
68
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Introduction
Anand Kumar Mishra currently works at the Organic Robotics Lab, Cornell University. Anand does research in soft and bio-inspired robotics.
Current institution
Additional affiliations
November 2017 - October 2018
November 2014 - October 2017
November 2018 - present
Education
November 2014 - June 2018
July 2012 - May 2014
Publications
Publications (68)
In this paper, we describe the conceptual design and implementation of the Soft Compliant Manipulator for Broad Applications (SIMBA) manipulator, which is designed and developed for participating in the RoboSoft Grand Challenge 2016. In our novel design, we have proposed (1) a modular continuum arm with independent actuation units for each module,...
Whereas vision dominates sensing in robots, animals with limited vision deftly navigate their environment using other forms of perception, such as touch. Efforts have been made to apply artificial skins with tactile sensing to robots for similarly sophisticated mobile and manipulative skills. The ability to functionally mimic the afferent sensory n...
In both biological and engineered systems, functioning at peak power output for prolonged periods of time requires thermoregulation. Here, we report a soft hydrogel-based actuator that can maintain stable body temperatures via autonomic perspiration. Using multimaterial stereolithography, we three-dimensionally print finger-like fluidic elastomer a...
Two of the main challenges in origami antenna designs are creating a reliable hinge and achieving precise actuation for optimal electromagnetic (EM) performance. Herein, a waterbomb origami ring antenna is introduced, integrating the waterbomb origami principle, 3D‐printed liquid metal (LM) hinges, and robotic shape morphing. The approach, combinin...
Living tissues are still far from being used as practical components in biohybrid robots because of limitations in life span, sensitivity to environmental factors, and stringent culture procedures. Here, we introduce fungal mycelia as an easy-to-use and robust living component in biohybrid robots. We constructed two biohybrid robots that use the el...
Precision agriculture aims to increase crop yield while reducing the use of harmful chemicals, such as pesticides and excess fertilizer, using minimal, tailored interventions. However, these strategies are limited by factors such as sensor quality, which typically relies on visual plant expression, and the manual, destructive nature of many nonvisu...
Feeding the growing human population sustainably amidst climate change is one of the most important challenges in the 21st century. Current practices often lead to the overuse of agronomic inputs, such as synthetic fertilizers and water, resulting in environmental contamination and diminishing returns on crop productivity. The complexity of agricul...
Feeding the growing human population sustainably amidst climate change is one of the most important challenges in the 21st century. Current practices often lead to the overuse of agronomic inputs, such as synthetic fertilizers and water, resulting in environmental contamination and diminishing returns on crop productivity. The complexity of agricul...
Anand Kumar Mishra, Zhihong Nie, Jamie Paik and Robert Shepherd introduce the Soft Matter themed issue on Soft Robotics.
This paper presents a conceptual design and implementation of a soft, compliant 3D printed gripper (SurgGrip), conceived for automated grasping of various surgery-based thin-flat instruments. The proposed solution includes (1) a gripper with a resilient mechanism to increase safety and better adaptation to the unstructured environment; (2) flat fin...
Conventional strain gauges are not designed for accurate measurement over the large range of deformations possible in compliant textiles. The thin, lightweight, and flexible nature of textiles also makes it challenging to attach strain gauges in a way that does not affect the mechanical properties. In this manuscript, soft, highly extensible fibers...
The Solar Sail has been playing a major role in de-orbiting. It was introduced to deploy Sail which can open and close. The existing Solar Sail actuation is mostly based on the Origami model. This paper is about smart material implementation for robotic applications. The design and assembling of a mini version of the light Solar Sail have been deve...
Despite the promise of operation in extreme environments and the use of high energy density power sources, strategies for thermoregulation remain underdeveloped in soft robots. Here, we present autonomically perspiring fluidic actuators based on multimaterial 3D printing of smart-gels. We developed two custom hydrogel photochemistries—one based on...
Background. COVID-19 vaccination of healthcare and other essential workers is underway in many countries while immunization of the general public is expected to begin in the next several weeks. We consider the question of whether people who have received the vaccine can be selectively and immediately permitted to return to normal activities.
Method...
To mitigate the adverse effects of elevated temperatures, conventional rigid devices use bulky radiators, heat sinks and fans to dissipate heat from sensitive components. Unfortunately, these thermoregulation strategies are incompatible with soft robots, a growing field of technology that, like biology, builds compliant and highly deformable bodies...
Background. Four COVID-19 vaccine candidates developed by Pfizer, Moderna, University of Oxford/ Astra Zeneca (also Oxford/ Serum Institute of India) and ICMR/ Bharat Biotech have been granted emergency use authorization in the democratic world following established clinical trial procedures in their respective countries. Vaccination of the general...
Objectives
The recent discoveries of phylogenetically confirmed COVID-19 reinfection cases worldwide, together with studies suggesting that antibody titres decrease over time, raise the question of what course the epidemic trajectories may take if immunity were really to be temporary in a significant fraction of the population. The objective of thi...
In article number 2003380, Isabella Fiorello, Barbara Mazzolai, and co‐workers develop innovative climbing plant‐inspired flexible micro‐patterned devices for reversible attachment using a two‐photon lithography system. The microfabricated devices demonstrate strong interlocking over a wide range of rough surfaces, such as abrasive materials, fabri...
Climbing plants have evolved over millions of years and have adapted to unpredictable scenarios in unique ways. These crucial features make plants an outstanding biological model for scientists and engineers. Inspired by the ratchet‐like attachment mechanism of the hook‐climber Galium aparine , a novel micropatterned flexible mechanical interlocker...
This work addresses the challenge of underactuated pattern generation in continuous multistable structures. The examined configuration is a slender membrane which can concurrently sustain two different equilibria states, separated by transition regions, and is actuated by a viscous fluid. We first demonstrate the formation and motion of a single tr...
Service robots are built and developed for various applications to support humans as companion, caretaker, or domestic support. As the number of elderly people grows, service robots will be in increasing demand. Particularly, one of the main tasks performed by elderly people, and others, is the complex task of cleaning. Therefore, cleaning tasks, s...
Moving in complex and unstructured environments is still an open challenge in the robotic community.
However, if we look at the plant kingdom, it is possible to find
different promising solutions to overcome the problem. The
continuum structure of the climbing plants allows to efficiently
move in different environment by adapting and exploiting the...
In this work, we present an artificial dry adhesive system inspired by the leaf-climbing mechanisms in Galium aparine. Among the different species of climbing plants, G. aparine shows a unique capability of adhesion to a wide range of roughness and stiffness objects, mainly via its leaves, using microscopic hooks for the physical interlocking. The...
Plants use many strategies to move efficiently in soil, such as growth from the tip, tropic movements, and morphological changes. In this paper, we propose a method to translate morphological features of Zea mays roots into a new design of soft robots that will be able to move in soil. The method relies on image processing and curve fitting techniq...
Effective penetration depth for DEM numerical simulations: Explanation of numerical simulation model.
(DOCX)
Soil penetration curves of five different shapes for 11 mm diameter probe.
Maximum reached penetration depth was 100 mm at 10 mm/min speed.
(DOCX)
Soil penetration curves of five different shapes for 9 mm diameter probe.
Maximum reached penetration depth was 100 mm at 10 mm/min speed.
(DOCX)
Soil penetration curves of five different shapes for 3 mm diameter probe.
Maximum reached penetration depth was 100 mm at 10 mm/min speed.
(DOCX)
Soil penetration curves of five different shapes for 5 mm diameter probe.
Maximum reached penetration depth was 100 mm at 10 mm/min speed.
(DOCX)
Comparison of penetration force at different depths of five different shapes for 3 mm diameter probe.
Maximum reached penetration depth was 100 mm at 10 mm/min speed.
(DOCX)
Soil type.
Soil texture triangle, which was characterized for the experimental purpose.
(DOCX)
Simulated probe geometries immersed in the granular packing.
From left to right: cylinder, ellipse, parabola, cone and root-like.
(DOCX)
Contact number curves of five different probes from numerical simulations.
The diameter of the tested probes is equal to 3 mm and the maximum reached penetration depth was 15 mm at 10 mm/s speed. The lines refer to the average values of five random simulations, the shaded areas to the standard deviations.
(DOCX)
Material properties and main DEM simulation settings.
(DOCX)
Comparison of penetration force at different depths of five different shapes for 9 mm diameter probe.
Maximum reached penetration depth was 100 mm at 10 mm/min speed.
(DOCX)
Comparison of penetration force at different depths of five different shapes for 5 mm diameter probe.
Maximum reached penetration depth was 100 mm at 10 mm/min speed.
(DOCX)
Numerical simulation with different morphologies.
Sample simulation video of probes with different morphologies such as cylindrical, elliptical, parabolic, conical and root-like. The simulation is based on numerical method (Dynamic Element method) in cylindrically bounded soil environment.
(MP4)
Comparison of penetration force at different depths of five different shapes for 11 mm diameter probe.
Maximum reached penetration depth was 100 mm at 10 mm/min speed.
(DOCX)
Penetration force change over different diameters and depths of the probes.
(DOCX)
In this paper we describe the conceptual design and implementation of the SIMBA manipulator, designed and developed for participating in the RoboSoft Grand Challenge 2016. In our novel design we have proposed: 1) a modular continuum arm with independent actuation units for each module, to increase maintainability; 2) a soft reconfigurable hand, for...
Objective: Within the field of biorobotics, an emerging branch is plant-inspired robotics. Some effort exists in particular towards the production of digging robots that mimic roots; for these, a deeper comprehension of the role of root tip geometry in excavation would be highly desirable. Here we demonstrate a photogrammetry-based pipeline for the...
In this paper, we present an innovative probe for soil penetration inspired by the strategies of radial expansion and sloughing mechanisms exploited by plants at the level of their root apical regions (i.e., apexes). These phenomena help roots in reducing friction with soil during their movements and pressure needed for penetration. We imitated the...
We present the basic module of a modular continuum arm (soft compliant manipulator for broad applications (SIMBA)). SIMBA is a robotic arm with a hybrid structure, namely a combination of rigid and soft components, which makes the arm highly versatile, dexterous, and robust. These key features are due to the design of its basic module, which is cha...
We present the basic module of a modular continuum arm (SIMBA). SIMBA is a robotic arm with a hybrid structure, namely a combination of rigid and soft components, which makes the arm highly versatile, dexterous, and robust. These key features are due to the design of its basic module, which is characterized by a three-dimensional workspace with a c...
We present the basic module of a modular continuum arm (soft compliant manipulator for broad applications (SIMBA)). SIMBA is a robotic arm with a hybrid structure, namely a combination of rigid and soft components, which makes the arm highly versatile, dexterous, and robust. These key features are due to the design of its basic module, which is cha...
In recent years, robotics has been influenced by a new approach, soft-robotics, bringing the idea that safe interaction with user and more adaptation to the environment can be achieved by exploiting easily deformable materials and flexible components in the structure of robots. In 2016, the soft-robotics community has promoted a new robotics challe...
A survey poster based on smart actuators at centimeter and millimeter scale
This paper offers motivation for modeling and simulation of an electromagnetic levitation based active suspension system (EMLASS) using bondgraph. Model of EMLASS contains 2 electromagnets as an unsprung mass and one magnet as sprung mass. Levitation based suspension is a novel technique to develop an active suspension over current technology. It h...
This work reports design, simulation, fabrication, and planning of bio-inspired quadruped robot. This dissertation deals with two types of bio-inspired quadruped locomotion patterns, namely, mammalian and reptilian. Legged locomotion is one of the most successful locomotion patterns found in the nature. Quadruped walking in many mammals and reptile...
Robot Fabrication Rapid Prototyping (U Print plus 3d printer) Time taking operation (for all legs fabrication time is 6hr) Expensive Requirement of special reagent for preparing a solution Special training is required to operate the RP Required 3D model CO2 Laser Cutting (VLS 3.2) Very less time require (all parts fabrication time is < 30 minutes)...
This paper reports design, fabrication, and gait planning based on high walk diagonal trot gait pattern of an alligator inspired robot having eight degrees of freedom. Each leg of the robot described in this paper has two revolute joints representing the hip and knee respectively which are actuated by servo motors. The body of the robot was fabrica...
Magnetic Levitation has been a keen area of research, especially in the field of automotive where low losses due to friction and low energy consumption are important considerations. This paper offers the theoretical and experimental idea of the magnetic force control in the magnetic levitation system using the bond graph modeling approach consideri...
Industrial Robot is one of the most crucial components of modern industries. This is because it is flexible and intelligent machine with the potential to perform tasks in a repetitive manner at acceptable cost and quality levels. Robotic welding is one of the most successful applications of industrial robot manipulators. At present the welding robo...
This paper reports design, fabrication, and gait planning based on high walk diagonal trot gait pattern of an alligatorinspired robot having eight degrees of freedom. Each leg of the robot described in this paper has two revolute joints representing the hip and knee respectively which are actuated by servo motors. The body of the robot was fabricat...
Questions
Questions (10)
Is there any standard definition for that, or is it just a synonym.
I'm trying to record data from two electrodes and signal amplitude would be in the order of milli or micro volts. Any suggestions would be highly appreciated.
I'm simulating a soft actuator in an ANSYS software. I want to export stl file at different time series while simulation is running. What I mean is, I want to export the 3D model after simulation at different time.
I want to glue silicon polymer to delrin or plexigalss so that it can resist high pressure.
Thanks in advance
I want to simulate granular and real soil behavior.
I would like to simulate the soil to validate the soil penetration test. I would like to know, which software can be used and which is the better model for close results. Is it possible to simulate the granular soil also??
I would like to mimic biological system. so is it possible to make model for 3D printing from 2D image.
I am working on cone penetration test in granular soil media, I would like to know, how can I decide this parameter.
Thanking You