Related papers: A control model for zygodactyl bird's foot
In this paper, we derive the distribution of a two-dimensional (complex) random walk in which the angle of each step is restricted to a subset of the circle. This setting appears in various domains, such as in over-the-air computation in…
The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, bio-inspired robot foot design with stabilizing tarsal…
The study of matter fields on an ensemble of random geometries is a difficult problem still in need of new methods and ideas. We will follow a point of view inspired by probability theory techniques that relies on an expansion of the two…
In this paper we give a systematic review of the theory of Gibbs measures of Potts model on Cayley trees (developed since 2013) and discuss many applications of the Potts model to real world situations: mainly biology, physics, and some…
We present a real-time pattern generator for dynamic walking over rough terrains. Our method automatically finds step durations, a critical issue over rough terrains where they depend on terrain topology. To achieve this level of…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
While most processes in biology are highly deterministic, stochastic mechanisms are sometimes used to increase cellular diversity, such as in the specification of sensory receptors. In the human and Drosophila eye, photoreceptors sensitive…
Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in…
We present experimental and numerical results for a model crawler which is able to extract net positional changes from reciprocal shape changes, i.e. 'breathing-like' deformations, thanks to directional, frictional interactions with a…
Birds have a remarkable ability to perform complex maneuvers at post-stall angles of attack. The passive deployment of self-actuating covert feathers in response to unsteady flow separation while performing such maneuvers provides a passive…
Legged locomotion involves various gaits. It has been observed that fast running insects (cockroaches) employ a tripod gait with three legs lifted off the ground simultaneously in swing, while slow walking insects (stick insects) use a…
Flight is a complicated task at small scales in part due to the ubiquitous unsteady air which contains it. Flying organisms deal with these difficulties using active and passive control mechanisms to steer their body motion. Body attitudes…
In flapping flight, motion of the wings through the air generates the majority of the force and torque that controls the body motion. On the other hand, it is not clear how much effect the body motion imposes on the wings. We investigated…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
Scaling mobility patterns have been widely observed for animals. In this paper, we propose a deterministic walk model to understand the scaling mobility patterns, where walkers take the least-action walks on a lattice landscape and prey.…
This paper presents a study of the two-predators-two-preys discrete-time Lotka-Volterra model with self- inhibition terms for preys with direct applications to ecological problems. Parameters in the model are modified so that each of them…
Quadrupedal animals employ diverse galloping strategies to optimize speed, stability, and energy efficiency. However, the biomechanical mechanisms that enable adaptive gait transitions during high-speed locomotion under load remain poorly…
We study fractal measures on Euclidean space through the dynamics of "zooming in" on typical points. The resulting family of measures (the "scenery"), can be interpreted as an orbit in an appropriate dynamical system which often…
The aerial flocking of birds, or murmurations, has fascinated observers while presenting many challenges to behavioral study and simulation. We examine how the periphery of murmurations remain well bounded and cohesive. We also investigate…
The single, double, and triple pendulum has served as an illustrative experimental benchmark system for scientists to study dynamical behavior for more than four centuries. The pendulum system exhibits a wide range of interesting behaviors,…