Related papers: Optimizing snake locomotion on an inclined plane
Recent research highlighted the scaling property of human and animal mobility. An interesting issue is that the exponents of scaling law for animals and humans in different situations are quite different. This paper proposes a general…
Micron-scale swimmers move in the realm of negligible inertia, dominated by viscous drag forces. In this paper, we formulate the leading-order dynamics of a slender multi-link (N-link) microswimmer assuming small-amplitude undulations about…
We study the efficiency of sliding locomotion for three-link bodies in the presence of dry (Coulomb) friction. Friction coefficient space can be partitioned into several regions, each with distinct types of efficient kinematics. These…
In this paper we focus on a two-link swimmer called scallop which moves changing dynamics between two fluids regimes. We address and solve explicitly two optimal control problems, the minimum time one and the minimum quadratic cost needed…
Continuous neural field models with inhomogeneous synaptic connectivities are known to support traveling fronts as well as stable bumps of localized activity. We analyze stationary localized structures in a neural field model with periodic…
We investigate the snaking of localised patterns, seen in numerous physical applications, using a variational approximation. This method naturally introduces the exponentially small terms responsible for the snaking structure, that are not…
Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that…
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…
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…
Undulatory locomotion is common to nematodes as well as to limbless vertebrates, but its control is not understood in spite of the identification of hundred of genes involved in Caenorhabditis elegans locomotion. To reveal the mechanisms of…
We compute the average shape of trajectories of some one--dimensional stochastic processes x(t) in the (t,x) plane during an excursion, i.e. between two successive returns to a reference value, finding that it obeys a scaling form. For…
L\'evy walks are random walk processes whose step-lengths follow a long-tailed power-law distribution. Due to their abundance as movement patterns of biological organisms, significant theoretical efforts have been devoted to identifying the…
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…
Turbulent channel flow controlled by spanwise wall oscillations is studied using direct numerical simulations to improve how spanwise forcing reduces skin-friction drag. Harmonic wall oscillations generate a periodic transverse Stokes layer…
Insects excel in trajectory and attitude handling during flight, yet the specific kinematic behaviours they use for maintaining stability in air disturbances are not fully understood. This study investigates the adaptive strategies of…
Saving energy and enhancing performance are secular preoccupations shared by both nature and human beings. In animal locomotion, flapping flyers or swimmers rely on the flexibility of their wings or body to passively increase their…
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…
\emph{Spiroplasma} swimming is studied with a simple model based on resistive-force theory. Specifically, we consider a bacterium shaped in the form of a helix that propagates traveling-wave distortions which flip the handedness of the…
The swimming of a deformable planar slab in a viscous incompressible fluid is studied on the basis of the Navier-Stokes equations. A continuum of plane wave displacements, symmetric on both sides of the slab and characterized by a…
Invariant solutions of shear flows have recently been extended from spatially periodic solutions in minimal flow units to spatially localized solutions on extended domains. One set of spanwise-localized solutions of plane Couette flow…