Related papers: The sensorimotor loop as a dynamical system: How r…
The dynamics of a linear dynamical system over a finite field can be described by using the elementary divisors of the corresponding matrix. It is natural to extend the investigation to a general finite commutative ring. In a previous…
A conceptual and computational framework is proposed for modelling of human sensorimotor control, and is exemplified for the sensorimotor task of steering a car. The framework emphasises control intermittency, and extends on existing models…
Random networks of symmetrically coupled, excitable elements can self-organize into coherently oscillating states if the networks contain loops (indeed loops are abundant in random networks) and if the initial conditions are sufficiently…
Animals move smoothly and reliably in unpredictable environments. Models of sensorimotor control have assumed that sensory information from the environment leads to actions, which then act back on the environment, creating a single,…
In this paper we present a study of a specific class of vibration-driven robots: the brushbots. In a bottom-up fashion, we start by deriving dynamic models of the brushes and we discuss the conditions under which these models can be…
Maintaining stable internal representations of continuous variables is fundamental for effective robotic control. Continuous attractor networks provide a biologically inspired mechanism for encoding such variables, yet neuromorphic…
Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…
Under-actuated compliant robotic systems offer a promising approach to mitigating actuation and control challenges by harnessing pre-designed, embodied dynamic behaviors. This paper presents Flix-Walker, a novel, untethered,…
Biomimetic underwater robots use lateral periodic oscillatory motion to propel forward, which is seen in most fishes known as body caudal fin (BCF) propulsion. The lateral oscillatory motion makes slender-bodied fish-like robots roll…
The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
Steady swimming can be characterized as both periodic and stable. These characteristics are the very definition of limit cycles, and so we ask "Can we view swimming as a limit cycle?" In this paper we will find that the answer is "yes". We…
We investigate numerically the self-sustained dynamo action in a spinning sphere whose sense of rotation reverses periodically. This system serves as a simple model of a dynamo in small bodies powered by frequent collisions. It is found…
Dynamical systems at the edge of chaos, which have been considered as models of self-organization phenomena, are marked by their ability to perform nontrivial computations. To distinguish them from systems with limited computing power, we…
Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…
Open-loop stable limit cycles are foundational to legged robotics, providing inherent self-stabilization that minimizes the need for computationally intensive feedback-based gait correction. While previous methods have primarily targeted…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Many organisms leverage an interplay between shape and activity to generate motion and adapt to their environment. Embedding such feedback into synthetic microrobots could eliminate the need for sensors, software, and actuators, yet current…
In recent decades, several mathematical models describing the pacemaker activity of the rabbit sinoatrial node have been developed. We demonstrate that it is not possible to establish the existence, uniqueness, and stability of a limit…
We study the behaviour of discrete dynamical systems generated by a continuous map $f$ of a compact real interval into itself where at randomly chosen times a function different from $f$ - so called impulse function is applied. We show that…