Related papers: Optimizing snake locomotion on an inclined plane
In this manuscript, we present relaxation optimized methods for transfer of bilinear spin correlations along Ising spin chains. These relaxation optimized methods can be used as a building block for transfer of polarization between distant…
We consider so-called discrete snakes obtained from size-conditioned critical Bienaym\'e-Galton-Watson trees by assigning to each node a random spatial position in such a way that the increments along each edge are i.i.d. When the offspring…
Efficient path planning and navigation is critical for animals, robotics, logistics and transportation. We study a model in which spatial navigation problems can rapidly be solved in the brain by parallel mental exploration of alternative…
This work studies the motion of Purcell's three-link microswimmer in viscous flow, by using perturbation expansion of its dynamics under small-amplitude strokes. Leading-order expressions and next-order correction terms for the displacement…
This work is directed towards investigating the fate of three-dimensional long perturbation waves in a plane incompressible wake. The analysis is posed as an initial-value problem in space. More specifically, input is made at an initial…
Scaling laws for the propulsive performance of rigid foils undergoing oscillatory heaving and pitching motions are presented. Water tunnel experiments on a nominally two-dimensional flow validate the scaling laws, with the scaled data for…
Despite advances in a diversity of environments, snake robots are still far behind snakes in traversing complex 3-D terrain with large obstacles. This is due to a lack of understanding of how to control 3-D body bending to push against…
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…
The ability of streamwise-travelling waves of spanwise velocity to reduce the turbulent skin friction drag is assessed in the compressible regime. Direct numerical simulations are carried out to compare drag reduction in subsonic, transonic…
Over the past few decades, oscillating flexible foils have been used to study the physics of organismal propulsion in different fluid environments. Here we extend this work to a study of flexible foils in a frictional environment. When the…
Animal movements have been related to optimal foraging strategies where self-similar trajectories are central. Most of the experimental studies done so far have focused mainly on fitting statistical models to data in order to test for…
Reorientation (turning in plane) plays a critical role for all robots in any field application, especially those that in confined spaces. While important, reorientation remains a relatively unstudied problem for robots, including limbless…
Insects use flight muscles attached at the base of the wings to produce impressive wing flapping frequencies. The maximum power output of these flight muscles is insufficient to maintain such wing oscillations unless there is good elastic…
Animals' internal states reflect variables like their position in space, orientation, decisions, and motor actions -- but how should these internal states be arranged? Internal states which frequently transition between one another should…
Insect flight motors are extraordinary natural structures that operate efficiently at high frequencies. Structural resonance is thought to play a role in ensuring efficient motor operation, but the details of this role are elusive. While…
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…
A new highly efficient method is developed for computation of traveling periodic waves (Stokes waves) on the free surface of deep water. A convergence of numerical approximation is determined by the complex singularites above the free…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
In undulatory locomotion, torques along the body are required to overcome external forces from the environment and bend the body. Using a resistive force theory model, we find that the torque from external resistive forces has a traveling…
Scroll waves are three-dimensional analogs of spiral waves. The linear stability spectrum of untwisted and twisted scroll waves is computed for a two-variable reaction-diffusion model of an excitable medium. Different bands of modes are…