Related papers: A control model for zygodactyl bird's foot
This paper proposes a novel contact and wearable sensing system for estimating the upper body posture and joint angles (ankle, knee, and hip) of the human body using foot pressure distribution information obtained from a sensor attached to…
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…
Several coupled maps models are sketched and reviewed in this short communication. First, a discrete logistic type model that was proposed for the symbiotic interaction of two species. Second, a model of many of these symbiotic species…
The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards…
We consider the problem of identifying people on the basis of their walk (gait) pattern. Classical approaches to tackle this problem are based on, e.g., video recordings or piezoelectric sensors embedded in the floor. In this work, we rely…
Despite their importance for the spread of zoonotic diseases, our understanding of the dynamical aspects characterizing the movements of farmed animal populations remains limited as these systems are traditionally studied as static objects…
The paper deals with systems of ordinary differential equations containing in the right-hand side controls which are discontinuous in phase variables. These controls cause the occurrence of sliding modes. If one uses one of the well-known…
This paper investigates stability analysis of flapping flight. Due to time-varying aerodynamic forces, such systems do not display fixed points of equilibrium. The problem is therefore approached via a limit cycle analysis based on Floquet…
Effective monitoring of mobile animal populations is crucial for ecological research, wildlife management, and agricultural applications. Monitoring of bats specifically can help understand the spread of disease as well as shine light on…
In this study, we analyse a high-frequency movement dataset for a group of grazing cattle and investigate their spatiotemporal patterns using a simple two-state `stop-and-move' mobility model. We find that the dispersal kernel in the moving…
Recent quadrotors have transcended conventional designs, emphasizing more on foldable and reconfigurable bodies. The state of the art still focuses on the mechanical feasibility of such designs with limited discussions on the tracking…
Legged robots face significant challenges in moving and navigating on deformable and highly yielding terrain such as mud. We present a resistive force model for legged foot-mud interactions. The model captures rheological behaviors such as…
Sequential monitoring of images has broad applications across various domains, including climate science, ecosystem monitoring, medical diagnostics, and so forth. In many such applications, images acquired over time exhibit gradual changes,…
Predicting adaptive evolutionary trajectories is a primary goal of evolutionary biology. One can differentiate between forward and backward predictability, where forward predictability measures the likelihood of the same adaptive trajectory…
This paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global…
Consider a growing system of random walks on the 3,2-alternating tree, where generations of nodes alternate between having two and three children. Any time a particle lands on a node which has not been visited previously, a new particle is…
The pursuit-evasion problem is widespread in nature, engineering, and societal applications. It is commonly observed in nature that predators often exhibit faster speeds than their prey but have less agile maneuverability. Over millions of…
We bound the time it takes for a group of birds to reach steady state in a standard flocking model. We prove that (i) within single exponential time fragmentation ceases and each bird settles on a fixed flying direction; (ii) the flocking…
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…
Legged robots are well-suited for broad exploration tasks in complex environments with yielding terrain. Understanding robotic foot-terrain interactions is critical for safe locomotion and walking efficiency for legged robots. This paper…