Related papers: Gait transition in swimming
This paper addresses the physical mechanism of intermittent swimming by considering the burst-and-coast regime of fish swimming at different speeds. The burst-and-coast regime consists of a cycle with two successive phases: a phase of…
We address the problem of controlling a dynamical system governing the motion of a 3D weighted shape changing body swimming in a perfect fluid. The rigid displacement of the swimmer results from the exchange of momentum between prescribed…
It has long been known that some microswimmers seem to swim counter-intuitively faster when the viscosity of the surrounding fluid is increased, whereas others slow down. This conflicting dependence of the swimming velocity on the viscosity…
Humans typically walk at low speeds and run at higher speeds. Previous studies of transitions between walking and running were mostly on treadmills, but real-world locomotion allows more flexibility. Here, we study overground locomotion…
Quadruped animals seamlessly transition between gaits as they change locomotion speeds. While the most widely accepted explanation for gait transitions is energy efficiency, there is no clear consensus on the determining factor, nor on 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…
Human movements are physical processes combining the classical mechanics of the human body moving in space and the biomechanics of the muscles generating the forces acting on the body under sophisticated sensory-motor control. One way to…
In this fluid dynamics video, we show that low Reynolds number swimmers, such as Caenorhabditis (C.) elegans, synchronize their gait when swimming in close proximity to maximize utilization of space. Synchronization most likely results from…
In this paper, we give formulas for the swimming of simplified two-dimensional bodies in complex fluids using the reciprocal theorem. By way of these formulas we calculate the swimming velocity due to small-amplitude deformations on the…
The properties of biological microswimmers are to a large extent determined by fluid-mediated interactions, which govern their propulsion, perception of their surrounding, and the steering of their motion for feeding or in pursuit.…
Fish swim by undulating their bodies. These propulsive motions require coordinated shape changes of a body that interacts with its fluid environment, but the specific shape coordination that leads to robust turning and swimming motions…
Controllability results of four models of two-link microscale swimmers that are able to change the length of their links are obtained. The problems are formulated in the framework of Geometric Control Theory, within which the notions of…
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…
Fishes, cetaceans, and many other aquatic vertebrates undulate their bodies to propel themselves through water. Swimming requires an intricate interplay between sensing the environment, making decisions, controlling internal dynamics, and…
We concentrate on kinetic models for swarming with individuals interacting through self-propelling and friction forces, alignment and noise. We assume that the velocity of each individual relaxes to the mean velocity. In our present case,…
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…
Isolated mechanical systems -- e.g., those floating in space, in free-fall, or on a frictionless surface -- are able to achieve net rotation by cyclically changing their shape, even if they have no net angular momentum. Similarly, swimmers…
Smart active particles can acquire some limited knowledge of the fluid environment from simple mechanical cues and exert a control on their preferred steering direction. Their goal is to learn the best way to navigate by exploiting the…
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.…
The self-propelled motion of microscopic bodies immersed in a fluid medium is studied using molecular dynamics simulation. The advantage of the atomistic approach is that the detailed level of description allows complete freedom in…