Related papers: Optimizing snake locomotion in the plane. I. Compu…
We have developed a toy model of flying snake's glide [J.J. Socha, Nature vol. 418 (2002) 603.] by modifying a model for a falling paper. We have found that asymmetric oscillation is a key about why snake can glide. Further investigation…
Animal locomotion is often subject to constraints arising from anatomical/physiological asymmetries. We use the nematode C.~elegans as a minimal model system to ask whether such constraints might shape locomotion patterns optimized during…
Snake moves across various terrains by bending its elongated body. Recent studies discovered that snakes can use vertical bending to traverse terrain of large height variation, such as horizontally oriented cylinders, a wedge (Jurestovsky,…
Locomotion requires that an animal or robot be able to move itself forward farther than it moves backward in each gait cycle (formally, that it be able to break the symmetry of its interactions with the world). Previous work has established…
Wall-resolved large-eddy simulations are performed to study the impact of spanwise traveling transversal surface waves in zero-pressure gradient turbulent boundary layer flow. Eighty variations of wavelength, period, and amplitude of the…
Biological flapping wing fliers operate efficiently and robustly in a wide range of flight conditions and are a great source of inspiration to engineers. The unsteady aerodynamics of flapping-wings are dominated by large-scale vortical…
Motivated by a possible convergence of terrestrial limbless locomotion strategies ultimately determined by interfacial effects, we show how both 3D gait alterations and locomotory adaptations to heterogeneous terrains can be understood…
Waves of spanwise velocity imposed at the walls of a plane turbulent channel flow are studied by Direct Numerical Simulations. We consider sinusoidal waves of spanwise velocity which vary in time and are modulated in space along the…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
I introduce a new type of continuous-time quantum walk on graphs called the quantum snake walk, the basis states of which are fixed-length paths (snakes) in the underlying graph. First I analyze the quantum snake walk on the line, and I…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how…
Many swimming and flying animals are observed to cruise in a narrow range of Strouhal numbers, where the Strouhal number ${St = 2fA/U}$ is a dimensionless parameter that relates stroke frequency $f$, amplitude $A$, and forward speed $U$.…
Self-propelling organisms locomote via generation of patterns of self-deformation. Despite the diversity of body plans, internal actuation schemes and environments in limbless vertebrates and invertebrates, such organisms often use similar…
Limbless terrestrial animals exhibit exceptional locomotor versatility and control, currently unmatched by engineered counterparts. Here, we introduce a computational framework that enables soft synthetic snakes to navigate unstructured,…
Robotic swimmers are currently a subject of extensive research and development for several underwater applications. Clever design and planning must rely on simple theoretical models that account for the swimmer's hydrodynamics in order to…
Motion planning for locomotion systems typically requires translating high-level rigid-body tasks into low-level joint trajectories-a process that is straightforward for car-like robots with fixed, unbounded actuation inputs but more…
For autonomous crane lifting, optimal trajectories of the crane are required as reference inputs to the crane controller to facilitate feedforward control. Reducing the unactuated payload motion is a crucial issue for under-actuated tower…
What is the fastest way of finding a randomly hidden target? This question of general relevance is of vital importance for foraging animals. Experimental observations reveal that the search behaviour of foragers is generally intermittent:…
This paper presents a convexity analysis for the dynamic snake model based on the Potential Energy functional and the Hamiltonian formulation of the classical mechanics. First we see the snake model as a dynamical system whose singular…