Related papers: A control model for zygodactyl bird's foot
The frog model is an interacting particle system on a graph. Active particles perform independent simple random walks, while sleeping particles remain inert until visited by an active particle. Some number of sleeping particles are placed…
We study the frog model on $\mathbb{Z}^d$ with drift in dimension $d \geq 2$ and establish the existence of transient and recurrent regimes depending on the transition probabilities. We focus on a model in which the particles perform…
This work focuses on pose-following, a variant of path-following in which the goal is to steer the system's position and attitude along a path with a moving frame attached to it. Full body motion control, while accounting for the additional…
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…
Walking is a common bipedal and quadrupedal gait and is often associated with terrestrial and aquatic organisms. Inspired by recent evidence of the neural underpinnings of primitive aquatic walking in the little skate Leucoraja erinacea, we…
Symmetric random walks in $R^d$ and $Z^d$ are considered. It is assumed that the jump distribution density has moderate tails, i.e., several density moments are finite, including the second one. The global (for all $x$ and $t$) asymptotic…
Inspired by birds flying through cluttered environments such as dense forests, this paper studies the theoretical foundations of a novel motion planning problem: high-speed navigation through a randomly-generated obstacle field when only…
Collective motion of bird flocks can be explained via the hypothesis of many wrongs, and/or, a structured leadership mechanism. In pigeons, previous studies have shown that there is a well-defined hierarchical structure and certain specific…
We discuss various features of the trajectories of spider monkeys looking for food in a tropical forest, as observed recently in an extensive {\it in situ} study. Some of the features observed can be interpreted as the result of social…
Symmetry manifests itself in legged locomotion in a variety of ways. No matter where a legged system begins to move periodically, the torso and limbs coordinate with each other's movements in a similar manner. Also, in many gaits observed…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
Issues of resonance that appear in non-standard random walk models are discussed. The first walk is called repulsive delayed random walk, which is described in the context of a stick balancing experiment. It will be shown that a type of…
Rapid, targeted hand movements exhibit a regular movement pattern described by Fitts law. We develop a model of these movements in which this movement pattern results from an optimal control model describing rapid hand movements and a…
Flocking is a paradigmatic example of collective animal behaviour, where decentralized interaction rules give rise to a globally ordered state. In the emergence of order out of self-organization we find similarities between biological…
Although human beings have known about the phenomenon of "flocking"- that is, the coherent movement of large numbers of creatures (flocks of birds, schools of fish, herds of woolly mammoths, etc.)- since prehistoric times, it is only in the…
The ability to capture detailed interactions among individuals in a social group is foundational to our study of animal behavior and neuroscience. Recent advances in deep learning and computer vision are driving rapid progress in methods…
The study of interactions between multiple species in an ecosystem is an active and impactful direction of inquiry. This is true in particular for fragile systems in which even small perturbations of their functional parameters can produce…
A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a…
Zebrafish is an excellent model organism, which has been widely used in the fields of biological experiments, drug screening, and swarm intelligence. In recent years, there are a large number of techniques for tracking of zebrafish involved…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…