Related papers: A control model for zygodactyl bird's foot
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal feet, leading to uncertainty and instability of walking…
A coarse grained description of a two-dimensional prey-predator system is given in terms of a 3-state lattice model containing two control parameters: the spreading rates of preys and predators. The properties of the model are investigated…
Despite significant analysis of bird flight, generative physics models for flight dynamics do not currently exist. Yet the underlying mechanisms responsible for various flight manoeuvres are important for understanding how agile flight can…
In the present paper, we introduce and analyze elephant random walks (ERWs) on bipartite periodic lattices arising as coverings of dipole graphs. We focus on lattices whose admissible step directions in the two parts of the bipartition are…
When animal groups move coherently in the form of a flock, their trajectories are not all parallel, the individuals exchange their position in the group. In this Letter we introduce a measure of this mixing dynamics, which we quantify as…
Animals that travel together in groups display a variety of fascinating motion patterns thought to be the result of delicate local interactions among group members. Although the most informative way of investigating and interpreting…
A discrete implementation on a lattice of the Active Walker Model is presented. After the model's validity is shown in simple simulations, more complex simulations of walkers passing consecutively a lattice from an arbitrary starting point…
Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore degrade when slip occurs. We propose a control framework that…
We apply genetic programming techniques to the `shepherding' problem, in which a group of one type of animal (sheep dogs) attempts to control the movements of a second group of animals (sheep) obeying flocking behavior. Our genetic…
Ball and hoop system is a well-known model for the education of linear control systems. In this paper, we have a look at this system from another perspective and show that it is also suitable for demonstration of more advanced control…
Most animals possess the ability to actuate a vast diversity of movements, ostensibly constrained only by morphology and physics. In practice, however, a frequent assumption in behavioral science is that most of an animal's activities can…
Most of us must have been fascinated by the eye catching displays of collectively moving animals. Schools of fish can move in a rather orderly fashion and then change direction amazingly abruptly. There are a huge number of further examples…
When analyzing animal movement, it is important to account for interactions between individuals. However, statistical models for incorporating interaction behavior in movement models are limited. We propose an approach that models dependent…
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits for locomotion at high speeds or over long distances. The…
We study the pedestrian escape from an obscure corridor using a lattice gas model with two species of particles. One species, called passive, performs a symmetric random walk on the lattice, whereas the second species, called active, is…
GPS technology is currently easily accessible to researchers, and many animal movement datasets are available. Two of the main features that a model which describes an animal's path can possess are directional persistence and attraction to…
It is preliminarily known that Aedes mosquitoes are very close to humans and their dwellings, also give rises to a broad spectrum of diseases: dengue, yellow fever, chikungunya. In this paper, we explore a multi-age-class model for mosquito…
We study a system of simple random walks on $\mathcal{T}_{d,n} = \mathcal{V}_{d,n}, \mathcal{E}_{d,n})$, the $d$-ary tree of depth $n$, known as the frog model. Initially there are Pois($\lambda$) particles at each site, independently, with…
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…
In this paper, we present a full dynamical model of a four-winged micro ornithopter inspired by a dragonfly-type insect. The micro ornithopter is modeled as four articulated rigid body components (wings) connected to the main body via…