Related papers: Gait transition in swimming
We present a framework for learning a single policy capable of producing all quadruped gaits and transitions. The framework consists of a policy trained with deep reinforcement learning (DRL) to modulate the parameters of a system of…
In order to be effective teammates, robots need to be able to understand high-level human behavior to recognize, anticipate, and adapt to human motion. We have designed a new approach to enable robots to perceive human group motion in…
Monitoring swimmer performance is crucial for improving training and enhancing athletic techniques. Traditional methods for tracking swimmers, such as above-water and underwater cameras, face limitations due to the need for multiple cameras…
Metachronal swimming, the sequential beating of limbs with a small phase lag, is observed in many organisms at various scales, but has been studied mostly in the limits of high or low Reynolds numbers. Motivated by the swimming of brine…
The pursuit-evasion game is studied for two adversarial active agents, modelled as a deterministic self-steering pursuer and a stochastic, cognitive evader. The pursuer chases the evader by reorienting its propulsion direction with limited…
Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example…
In the last few years, there have been many new developments and significant accomplishments in the research of bionic robot fishes. However, in terms of swimming performance, existing bionic robot fishes lag far behind fish, prompting…
We study the efficiency of a two-channel reaction between two walkers on a finite one-dimensional periodic lattice. The walkers perform a combination of synchronous and asynchronous jumps on the lattice and react instantaneously when they…
Navigation up a sensory gradient is one of the simplest behaviours, and the simplest strategy is run and tumble. But some organisms use other strategies, such as reversing direction or turning by some angle. Here we ask what drives the…
Recent research has shown that motile cells can adapt their mode of propulsion to the mechanical properties of the environment in which they find themselves--crawling in some environments while swimming in others. The latter can involve…
In this paper we study the motion of three linked ellipses moving through a viscous fluid in two dimensions. The angles between the ellipses change with time in a specified manner (the gait) and the resulting time varying configuration is…
The presence of active forces in various biological and artificial systems may change how those systems behaves under forcing. We present a minimal model of a suspension of passive or active swimmers driven on the boundaries by…
Ocean microbes are critical to both ocean ecosystems and the global climate. Flow cytometry, which measures cell optical properties in fluid samples, is routinely used in oceanographic research. Despite decades of accumulated data,…
MeanFlow promises high-quality generative modeling in few steps, by jointly learning instantaneous and average velocity fields. Yet, the underlying training dynamics remain unclear. We analyze the interaction between the two velocities and…
Catching high-speed targets in the flight is a complex and typical highly dynamic task. In this paper, we propose Catch Planner, a planning-with-decision scheme for catching. For sequential decision making, we propose a policy search method…
Skateboarders perform a reciprocating motion on a curved ramp, called pumping, by moving their bodies up and down perpendicular to the ramp's surface. We propose a simple mechanical model for this pumping motion and solve the equation of…
Microswimmers, especially in theoretical treatments, are generally taken to be completely inertia-free, since inertial effects on their motion are typically small and assuming their absence simplifies the problem considerably. Yet in nature…
Gait recognition is a crucial biometric identification technique. Camera-based gait recognition has been widely applied in both research and industrial fields. LiDAR-based gait recognition has also begun to evolve most recently, due to the…
A new scheme that tightly couples kinetic turbulence codes across a spatial interface is introduced. This scheme evolves from considerations of competing strategies and down-selection. It is found that the use of a composite kinetic…
Gaits and transitions are key components in legged locomotion. For legged robots, describing and reproducing gaits as well as transitions remain longstanding challenges. Reinforcement learning has become a powerful tool to formulate…