Related papers: Gait transition in swimming
Robotic adaptation to unanticipated operating conditions is crucial to achieving persistence and robustness in complex real world settings. For a wide range of cutting-edge robotic systems, such as micro- and nano-scale robots, soft robots,…
Fish in schooling formations navigate complex flow-fields replete with mechanical energy in the vortex wakes of their companions. Their schooling behaviour has been associated with evolutionary advantages including collective energy…
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…
Three-dimensional experiments are presented on a school of three pitching hydrofoils. Two side-by-side leader foils maintain the same relative positions while the location of a third follower foil is varied. Force and flow measurements…
In this paper we investigate different strategies to overcome the scallop theorem. We will show how to obtain a net motion exploiting the fluid's type change during a periodic deformation. We are interested in two different models: in the…
In this paper, we identify optimal swimming strategies for drag-dominated swimmers with a passive elastic joint. We use resistive force theory (RFT) to obtain the dynamics of the system. We then use frequency domain analysis to relate the…
To explore and react to their environment, living micro-swimmers have developed sophisticated strategies for locomotion - in particular, motility with multiple gaits. To understand the physical principles associated with such a behavioural…
Finding an optimum strategy to reach a certain destination by swimming in a background flow is an interesting question which leads to non-trivial results and swimming paths. Here we consider different strategies for various types of surface…
Many robotic systems locomote using gaits - periodic changes of internal shape, whose mechanical interaction with the robot's environment generate characteristic net displacements. Prominent examples with two shape variables are the low…
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…
We present simulations that reveal a surprisingly large effect of hydrodynamic coupling on the speed of thermal ratchet motors. The model that we use considers particles performing thermal ratchet motion in a hydrodynamic solvent. Using…
Fish typically swim by periodic bending of their bodies. Bending seems to follow a universal rule; it occurs at about one-third from the posterior end of the fish body with a maximum bending angle of about $30^o$. However, the hydrodynamic…
In nature, metachronal coordination is an efficient strategy for fluid pumping and self-propulsion. Yet, mimetic systems for this type of organization are scarce. Recently, metachronal motion was observed in a bead-based magnetocapillary…
Metachronal paddling is a swimming strategy in which an organism oscillates sets of adjacent limbs with a constant phase lag, propagating a metachronal wave through its limbs and propelling it forward. This limb coordination strategy is…
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…
Cooperation between micro-organisms give rise to novel phenomena like clustering, swarming in suspension. We study the collective behavior of the artificial swimmer called Taylor line at low Reynolds number using multi-particle collision…
Understanding principles of neurolocomotion requires the synthesis of neural activity, sensory feedback, and biomechanics. The nematode \textit{C. elegans} is an ideal model organism for studying locomotion in an integrated neuromechanical…
Populations of swimming microorganisms produce fluid motions that lead to dramatically enhanced diffusion of tracer particles. Using simulations of suspensions of swimming particles in a periodic domain, we capture this effect and show that…
There is increasing evidence that mammalian cells not only crawl on substrates but can also swim in fluids. To elucidate the mechanisms of the onset of motility of cells in suspension, a model which couples actin and myosin kinetics to…
Many plankton species undergo daily vertical migration to large depths in the turbulent ocean. To do this efficiently, the plankton can use a gyrotactic mechanism, aligning them with gravity to swim downwards, or against gravity to swim…