Related papers: Gait transition in swimming
We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…
Efficient and accurate motion prediction is crucial for ensuring safety and informed decision-making in autonomous driving, particularly under dynamic real-world conditions that necessitate multi-modal forecasts. We introduce TrajFlow, a…
The potential of gaze for hands-free mobile interaction is increasingly evident. While each gaze input technique presents distinct advantages and limitations, a combination can amplify strengths and mitigate challenges. We report on the…
Gait synchronization in pedestrians is influenced by biomechanical, environmental, and cognitive factors. Studying gait in ecological settings provides insights often missed in controlled experiments. This study tackles the challenges of…
Imitation learning is a promising approach for enabling generalist capabilities in humanoid robots, but its scaling is fundamentally constrained by the scarcity of high-quality expert demonstrations. This limitation can be mitigated by…
Artificial gliders are designed to disperse as they settle through a fluid, requiring precise navigation to reach target locations. We show that a compact glider settling in a viscous fluid can navigate by dynamically adjusting its…
We present CROSS-GAiT, a novel algorithm for quadruped robots that uses Cross Attention to fuse terrain representations derived from visual and time-series inputs; including linear accelerations, angular velocities, and joint efforts. These…
We investigate the collective dynamics of self-propelled droplets, confined in a one dimensional micro-fluidic channel. On one hand, neighboring droplets align and form large trains of droplets moving in the same direction. On the other…
Micro-organisms expend energy moving through complex media. While propulsion speed is an important property of locomotion, efficiency is another factor that may determine the swimming gait adopted by a micro-organism in order to locomote in…
An artificial microswimmer drifts in response to spatio-temporal modulations of an activating suspension medium. We consider two competing mechanisms capable of influencing its tactic response: angular fluctuations, which help it explore…
Getting up from an arbitrary fallen state is a basic human skill. Existing methods for learning this skill often generate highly dynamic and erratic get-up motions, which do not resemble human get-up strategies, or are based on tracking…
We introduce a measure for energetic efficiency of biological cilia acting individually or collectively and numerically determine the optimal beating patterns according to this criterion. Maximizing the efficiency of a single cilium leads…
A key problem in robotic locomotion is in finding optimal shape changes to effectively displace systems through the world. Variational techniques for gait optimization require estimates of body displacement per gait cycle; however, these…
Gait recognition aims to identify individuals based on their body shape and walking patterns. Though much progress has been achieved driven by deep learning, gait recognition in real-world surveillance scenarios remains quite challenging to…
Many eukaryotic microorganisms propelled by multiple flagella can swim very rapidly with distinct gaits. Here, we model a three-dimensional mutiflagellate swimming strategy, resembling the microalgae, and investigate the effects of…
We consider the nonlinear optimal control of bypass transition in a boundary layer flow subjected to a pair of free stream vortical perturbations using a receding horizon approach. The optimal control problem is solved using the Lagrange…
The current study presents a systematic investigation of the locomotion performance of a swimmer with a wide range of parameter settings. Two-dimensional simulations with the immersed boundary method are employed for the fluid-structure…
Understanding the collective actuation of microscopic structures driven by external fields can lead to the development of next-generation autonomous machines. With this goal in mind, we investigated light-induced collective motion of…
In order to describe the velocity and the anaerobic energy of two runners competing against each other for middle-distance races, we present a mathematical model relying on an optimal control problem for a system of ordinary differential…
An asymptotic approach is employed to study the swimming speed of a two-dimensional Taylor swimming sheet beneath a Brinkman layer of finite thickness. This configuration is representative of a swimmer confined within a porous non-Newtonian…