Related papers: Gait modeling and optimization for the perturbed S…
Stokesian Dynamics is a well-established computational method for simulating dynamics of many particles suspended in a conventional passive fluid medium. Active fluids composed of self-propelling particles with broken time reversal symmetry…
We study an optimization problem that aims to determine the shape of an obstacle that is submerged in a fluid governed by the Stokes equations. The mentioned flow takes place in a channel, which motivated the imposition of a Poiseuille-like…
Modeling complex dynamical systems under varying conditions is computationally intensive, often rendering high-fidelity simulations intractable. Although reduced-order models (ROMs) offer a promising solution, current methods often struggle…
Finite-amplitude gravity waves at the air-water interface induce net fluid and particle transport, known as Stokes drift. While this mechanism is well understood for steady waves, transport under unsteady, evolving conditions remains poorly…
The aim of this paper is to calculate the time dependence of the mean position (and orientation) of a fluid particle when a fluid system at thermodynamic equilibrium is submitted to a mechanical action. The starting point of this novel…
In this paper, we propose a method for generating undulatory gaits for snake robots. Instead of starting from a pre-defined movement pattern such as a serpenoid curve, we use a Model Predictive Control approach to automatically generate…
Turbulent dynamical systems characterized by both a high-dimensional phase space and a large number of instabilities are ubiquitous among many complex systems in science and engineering. The existence of a strange attractor in the turbulent…
During learning trials, systems are exposed to different failure conditions which may break robotic parts before a safe behavior is discovered. Humans contour this problem by grounding their learning to a safer structure/control first and…
In this article, we are interested in studying locomotion strategies for a class of shape-changing bodies swimming in a fluid. This class consists of swimmers subject to a particular linear dynamics, which includes the two most investigated…
Nature suggests that exploiting the elasticities and natural dynamics of robotic systems could increase their locomotion efficiency. Prior work on elastic snake robots supports this hypothesis, but has not fully exploited the nonlinear…
We present a theory for the self-propulsion of symmetric, half spherical Marangoni boats (soap or camphor boats) at low Reynolds numbers. Propulsion is generated by release (diffusive emission or dissolution) of water-soluble surfactant…
Systems whose movement is highly dissipative provide an opportunity to both identify models easily and quickly optimize motions. Geometric mechanics provides means for reduction of the dynamics by environmental homogeneity, while the…
This paper presents a reduced order approach for transient modeling of multiple moving objects in nonlinear crossflows. The Proper Orthogonal Decomposition method and the Galerkin projection are used to construct a reduced version of the…
The biomechanics of the human body gives subjects a high degree of freedom in how they can execute movement. Nevertheless, subjects exhibit regularity in their movement patterns. One way to account for this regularity is to suppose that…
Adaptive biomechanical systems may show similar observable gait performance while differing in latent organization and longitudinal behavior. This study examines whether an observed longitudinal transformation of gait organization can be…
This study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics model of the soft quadruped robot, we employ a central…
Helical propulsion is used by many microorganisms to swim in viscous-dominated environments. Their swimming dynamics are relatively well understood, but detailed study of the flow fields and actuation mechanisms are still needed to realize…
An axisymmetric squirmer in a Bingham viscoplastic fluid is studied numerically to determine the effect of a yield stress environment on locomotion. The nonlinearity of the governing equations necessitates numerical methods, which is…
The aim of this paper is to present a modeling for the rheological behavior of simple liquids as a function of the amplitude of the imposed shear stress or strain. The elastic mode theory (Ref. 6) is first generalized to take into account…
Inertia is intrinsic to many living and synthetic active systems, from animals and robotic agents to colloidal swimmers, and it strongly shapes transport. Many such systems employ intermittent restart protocols to regulate exploration.…