Related papers: Energy cost and optimisation in breath-hold diving
Many swimmers, especially small to medium-sized animals, use intermittent locomotion that differs from continuous swimming of large species. This type of locomotion, called burst-and-coast, is often associated with an energetic advantage.…
We study the energetic efficiency of navigating microswimmers by explicitly taking into account the geometry of their body. We show that, as their shape transitions from prolate to oblate, non-steering microswimmers rotated by flow…
We consider the dynamics of a microswimmer and show that they can be approximated by active Brownian motion. The swimmer is modeled by coupled overdamped Langevin equations with periodic driving. We compare the energy dissipation of the…
Copepods participate in large-scale diel vertical migrations (DVM) as primary consumers in marine ecosystems. Given that they are negatively buoyant, gravity facilitates their downward cruising but impedes their upward relocation. In…
So far, only the energy thresholds of single discrete breathers in nonlinear Hamiltonian systems have been analytically obtained. In this work, the energy thresholds of discrete breathers in thermal equilibrium and the energy thresholds of…
Saving energy and enhancing performance are secular preoccupations shared by both nature and human beings. In animal locomotion, flapping flyers or swimmers rely on the flexibility of their wings or body to passively increase their…
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 fluid dynamics of two fish-like bodies with synchronised swimming patterns. Our studies are based on two-dimensional simulations of viscous incompressible flows. We distinguish between motion patterns that are externally…
Existing research has yet to reach a consensus on whether and how small flying animals utilize elastic energy storage mechanisms to reduce flight energy expenditure, and there is a lack of systematic and universal methods for assessment. To…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
Inviscid computational results are presented on a self-propelled swimmer modeled as a virtual body combined with a two-dimensional hydrofoil pitching intermittently about its leading edge. Lighthill (1971) originally proposed that this…
Fish often travel in highly organized schools. One of the most quoted functions of these configurations is energy savings. Here, we verified the hypothesis and explored the mechanism through series of experiments on "schooling" robotic…
Marine mammal biomechanics research has focused on straight-line swimming at consistent speeds, resulting in a lack of knowledge about how animals select movement strategies to balance cost vs performance during tasks like cornering. In…
Viscous dissipation causes significant energy losses in fluid flows; in ducts, laminar flows provide the minimum resistance to the motion, whereas turbulent currents substantially increase the friction at the wall and the energy requirement…
Swimming organisms can escape their predators by creating and harnessing unsteady flow fields through their body motions. Stochastic optimization and flow simulations have identified escape patterns that are consistent with those observed…
A model of optimal control of ventilation has recently been developed for humans. This model highlights the importance of the localization of the transition between a convective and a diffusive transport of respiratory gas. This…
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…
Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of mechanical damping exist in compliant robotic legged locomotion. It remains unclear how physical…
How much work does it cost for a propelled particle to stay localised near a stationary target, defying both thermal noise and a constant flow that would carry it away? We study the control of such a particle in finite time and find optimal…
Energy efficiency is a critical factor in the performance and autonomy of quadrupedal robots. While previous research has focused on mechanical design and actuation improvements, the impact of gait parameters on energetics has been less…