Related papers: Optimally swimming Stokesian robots
Efficient swimming at low Reynolds numbers is a major concern of microbots. To compare the efficiencies of different swimmers we introduce the notion of ``swimming drag coefficient'' which allows for the ranking of swimmers. We find the…
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…
Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a…
We have proposed a method for the dynamic simulation of a collection of self-propelled particles in a viscous Newtonian fluid. We restrict attention to particles whose size and velocity are small enough that the fluid motion is in the…
Many forms of locomotion, both natural and artificial, are dominated by viscous friction in the sense that without power expenditure they quickly come to a standstill. From geometric mechanics, it is known that for swimming at the…
Self-propulsion at low Reynolds number is notoriously restricted, a concept that is commonly known as the "scallop theorem". Here we present a truly self-propelled swimmer (force- and torque- free) that, while unable to swim in a Newtonian…
There are numerous ways to control objects in the Stokes regime, with microscale examples ranging from the use of optical tweezers to the application of external magnetic fields. In contrast, there are relatively few explorations of…
Copepod nauplii are larval crustaceans with important ecological functions. Due to their small size, they experience an environment of low Reynolds number within their aquatic habitat. Here we provide a mathematical model of a swimming…
The swimming of a bead-spring chain in a viscous incompressible fluid as a model of a sperm is studied in the framework of low Reynolds number hydrodynamics. The optimal mode in the class of planar flagellar strokes of small amplitude is…
Nature has always inspired scientists and engineers to understand the underlying mechanism leading to optimal design in bio-inspired dynamics. This study presents a computational framework for optimizing undulatory swimming profiles using a…
In this work, we develop a computational framework that aims at simultaneously optimizing the shape and the slip velocity of an axisymmetric microswimmer suspended in a viscous fluid. We consider shapes of a given reduced volume that…
We reconsider fluid dynamics for a self-propulsive swimmer in Stokes flow. With an exact definition of deformation of a swimmer, a proof is given to Purcell's scallop theorem including the body rotation. The breakdown of the theorem due to…
Various microswimmers move along circles rather than straight lines due to their swimming mechanisms, body shapes or hydrodynamic effects. Here, we adopt the concepts of stochastic thermodynamics to analyze circle swimmers confined in a…
We show that a two-dimensional system of flocking microswimmers interacting hydrodynamically can be expressed using a Hamiltonian formalism. The Hamiltonian depends strictly on the angles between the particles and their swimming…
Most classical work on the hydrodynamics of low-Reynolds-number swimming addresses deterministic locomotion in quiescent environments. Thermal fluctuations in fluids are known to lead to a Brownian loss of the swimming direction. As most…
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…
Optimal gait design is important for micro-organisms and micro-robots that propel themselves in a fluid environment in the absence of external force or torque. The simplest models of shape changes are those that comprise a series of…
Magnetically driven artificial microswimmers have the potential to revolutionize many biomedical technologies, such as minimally-invasive microsurgery, micro-particle manipulation, and localized drug delivery. However, many of these…
The swimming of a sphere by means of radial helical surface waves is studied on the basis of the Stokes equations. Explicit expressions are derived for the matrices characterizing the mean translational and rotational swimming velocities…
Natural swimmers rely for their survival on sensors that gather information from the environment and guide their actions. The spatial organization of these sensors, such as the visual fish system and lateral line, suggests evolutionary…