Related papers: Gait transition in swimming
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…
Rapid, targeted hand movements exhibit a regular movement pattern described by Fitts law. We develop a model of these movements in which this movement pattern results from an optimal control model describing rapid hand movements and a…
Marine microorganisms must cope with complex flow patterns and even turbulence as they navigate the ocean. To survive they must avoid predation and find efficient energy sources. A major difficulty in analysing possible survival strategies…
Swimming in curved spacetimes is a phenomenon whereby free bodies in curved spacetimes are able to propel themselves by performing cyclic internal motions. When originally proposed, it was further suggested that, in the limit of fast…
In some athletic races, such as cycling and types of speed skating races, athletes have to complete a relatively long distance at a high speed in the presence of direct opponents. To win such a race, athletes are motivated to hide behind…
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…
A widely accepted explanation for robots planning overcautious or overaggressive trajectories alongside human is that the crowd density exceeds a threshold such that all feasible trajectories are considered unsafe -- the freezing robot…
We use particle simulations to reveal two distinct propulsion mechanisms for a scallop-like swimmer to locomote itself in granular media by reciprocally flapping its wings. Based on the discrete element method, we examine the kinematics and…
We characterize the full spatiotemporal gait of populations of swimming {\it Escherichia coli} using renewal processes to analyze the measurements of intermediate scattering functions. This allows us to demonstrate quantitatively how the…
This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…
In this paper we study the locomotion of a shape-changing body swimming in a two-dimensional perfect fluid of infinite extent. The shape-changes are prescribed as functions of time satisfying constraints ensuring that they result from the…
We study the energetic efficiency of navigating microswimmers by explicitly taking into account the geometry of their body. We show that, as their shape transitions from prolate to oblate, non-steering microswimmers rotated by flow…
In this note, we study the effect of viscosity gradients on the energy dissipated by the motion of microswimmers and the associated efficiency of that motion. Using spheroidal squirmer model swimmers in weak linearly varying viscosity…
Zooplankton live in dynamic environments where turbulence may challenge their limited swimming abilities. How this interferes with fundamental behavioral processes remains elusive. We reconstruct simultaneously the trajectories of flow…
Swimming consists by definition in propelling through a fluid by means of bodily movements. Thus, from a mathematical point of view, swimming turns into a control problem for which the controls are the deformations of the swimmer. The aim…
We focus on the problem of developing energy efficient controllers for quadrupedal robots. Animals can actively switch gaits at different speeds to lower their energy consumption. In this paper, we devise a hierarchical learning framework,…
Copepods participate in large-scale diel vertical migrations (DVM) as primary consumers in marine ecosystems. Given that they are negatively buoyant, gravity facilitates their downward cruising but impedes their upward relocation. In…
The water entry at high horizontal speed of double-curvature specimens, reproducing the rear part of the fuselage that first gets in contact with the water during aircraft ditching, is investigated experimentally. Three shapes are analysed,…
Due to its great efficiency and maneuverability, undulatory swimming is the predominant form of locomotion in aquatic vertebrates. A myriad of animals of different species and sizes oscillate their bodies to propel themselves in aquatic…
Gait recognition aims to identify a person based on their walking sequences, serving as a useful biometric modality as it can be observed from long distances without requiring cooperation from the subject. In representing a person's walking…