Related papers: Gait transition in swimming
It is well known that the addition of noise to a multistable dynamical system can induce random transitions from one stable state to another. For low noise, the times between transitions have an exponential tail and Kramers' formula gives…
Depending on multiple parameters, soft robots can exhibit different modes of locomotion that are difficult to model numerically. As a result, improving their performance is complex, especially in small-scale systems characterized by low…
Flow-matching models deliver state-of-the-art fidelity in image and video generation, but the inherent sequential denoising process renders them slower. Existing acceleration methods like distillation, trajectory truncation, and consistency…
We conduct experiments with flexible swimmers to address the impact of fluid viscoelasticity on their locomotion. The swimmers are composed of a magnetic head actuated in rotation by a frequency-controlled magnetic field and a flexible tail…
We introduce a minimal model of multilevel selection on structured populations, considering the interplay between game theory and population dynamics. Through a bottleneck process, finite groups are formed with cooperators and defectors…
Humans experience small fluctuations in their gait when walking on uneven terrain. The fluctuations deviate from the steady, energy-minimizing pattern for level walking, and have no obvious organization. But humans often look ahead when…
We examine theoretically the flow interactions and forward flight dynamics of tandem or in-line flapping wings. Two wings are driven vertically with prescribed heaving-and-plunging motions, and the horizontal propulsion speeds and positions…
Recent advancements in whole-body control through deep reinforcement learning have enabled humanoid robots to achieve remarkable progress in real-world chal lenging locomotion skills. However, existing approaches often struggle with…
Tight coordination is required for effective human-robot teams in domains involving fast dynamics and tactical decisions, such as multi-car racing. In such settings, robot teammates must react to cues of a human teammate's tactical…
Large arrays of active cilia coordinate their beat cycles into metachronal waves. These waves can travel in different directions with respect to the cilium's beat direction and the resulting direction of fluid propulsion. Hydrodynamic…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
For nearly a century, researchers have tried to understand the swimming of aquatic animals in terms of a balance between the forward thrust from swimming movements and drag on the body. Prior approaches have failed to provide a separation…
The main aim of the study is to propose an approach for 3D modeling and simulation of swimmers impulse during a grab start. Four national level swimmers were investigated. For every swimmer, 3D model was generated in BRG.LifeMOD TM on the…
Computational scientists have investigated swimming performance across a multitude of different systems for decades. Most models depend on numerous model parameters and performance is sensitive to those parameters. In this paper, parameter…
The psychological state of flow has been linked to optimizing human performance. A key condition of flow emergence is a match between the human abilities and complexity of the task. We propose a simple computational model of flow for…
Systems of motile microorganisms exhibit a multitude of collective phenomena, including motility-induced phase separation and turbulence. Sensing of the environment and adaptation of movement plays an essential role in the emergent…
During motion from deep to shallow water, multiple equilibria may emerge, each with identical drag - a phenomenon that can be explained by a localised amplification of the wave drag near the shallow wave speed. The implication of this is…
In this communication we address some hydrodynamic aspects of recently revisited drift mechanism of biogenic mixing in the ocean (Katija and Dabiri, Nature vol. 460, pp. 624-626, 2009). The relevance of the locomotion gait at various…
Mixed traffic flow consisting of vehicles equipped with adaptive cruise control (ACC) and manually driven vehicles is analyzed using car-following simulations. Unlike simulations that show suppression of jams due to increased string…
We consider the stirring of an inviscid fluid caused by the locomotion of bodies through it. The swimmers are approximated by non-interacting cylinders or spheres moving steadily along straight lines. We find the displacement of fluid…