Related papers: Optimizing snake locomotion on an inclined plane
We discuss how searching for finite amplitude disturbances of a given energy which maximise their subsequent energy growth after a certain later time $T$ can be used to probe phase space around a reference state and ultimately to find other…
Studying snake robot locomotion in a cluttered environment has been a complicated task because the motion model is discontinuous due to the physical contact with obstacles, and the contact force cannot be determined solely by contact…
The magnetic metamaterials known as Artificial Spin Ice (ASI) are promising candidates for neuromorphic computing, composed of vast numbers of interacting nanomagnets arranged in the plane. Every computing device requires the ability to…
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,…
This paper deals with the optimal streaky perturbations (which maximize the perturbed energy growth) in a wedge flow boundary layer. These three dimensional perturbations are governed by a system of linearized boundary layer equations…
The goal of this paper is to study the family of snake polyominoes. More precisely, we focus our attention on the class of partially directed snakes. We establish functional equations and length generating functions of two dimensional,…
We study the electron motion near magnetic field steps at which the strength and/or sign of the magnetic field changes. The energy spectrum for such systems is found and the electron states (bound and scattered) are compared with their…
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…
Swimming fish and flying insects use the flapping of fins and wings to generate thrust. In contrast, microscopic organisms typically deform their appendages in a wavelike fashion. Since a flapping motion with two degrees of freedom is able,…
The correlations in the motion of reptating polymers in their melt are investigated by means of kinetic Monte Carlo simulations of the three dimensional slithering snake version of the bond-fluctuation model. Surprisingly, the slithering…
Snake robots have been studied for decades with the aim of achieving biological snakes' fluent locomotion. Yet, as of today, their locomotion remains far from that of the biological snakes. Our recent study suggested that snake locomotion…
Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset of these robots which utilize soft, compliant actuators to…
Limbless crawling is ubiquitous in biology, from cells to organisms. We develop and analyze a model for the dynamics of one-dimensional elastic crawlers, subject to active stress and deformation-dependent friction with the substrate. We…
Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previous attempts to develop SRSs, many have been limited to…
Snake robots offer exceptional mobility across extreme terrain inaccessible to conventional rovers, yet their highly articulated bodies present fundamental challenges for autonomous navigation in environments lacking external tracking…
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…
With the aim of providing a first step in the quest for a reduction of the aerodynamic drag on the rear-end of a car, we study the phenomena of separation and reattachment of an incompressible flow focusing on a specific aerodynamic…
This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic…
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…