Related papers: Sea star inspired crawling and bouncing
Legged locomotion is a challenging task in the field of robotics but a rather simple one in nature. This motivates the use of biological methodologies as solutions to this problem. Central pattern generators are neural networks that are…
The spontaneous emergence of collective flows is a generic property of active fluids and often leads to chaotic flow patterns characterised by swirls, jets, and topological disclinations in their orientation field. However, the ability to…
Dynamics of small particles, both living such as swimming bacteria and inanimate, such as colloidal spheres, has fascinated scientists for centuries. If one could learn how to control and streamline their chaotic motion, that would open…
Recently, various relations and criteria have been presented to establish a proper relationship between control systems and control the Global Positioning System (GPS)-intelligent buoy system. Given the importance of controlling the…
Our understanding of the neural basis of locomotor behavior can be informed by careful quantification of animal movement. Classical descriptions of legged locomotion have defined discrete locomotor gaits, characterized by distinct patterns…
The system of modular neural circuits that controls crustacean swimmerets drives a metachronal sequence of power-stroke and return-stroke movements that propels the animal forward efficiently. These neural modules are synchronized by an…
The integration of Supernumerary Limbs (SLs) on humanoid robots poses a significant stability challenge due to the dynamic perturbations they introduce. This thesis addresses this issue by designing a novel hierarchical control architecture…
A biomorphic propulsion systemfor underwater robotic fish is presented. The system is based on a combination of an elastic chord with a tail fin fixed on it. The tail fin is connected to servomotor by two symmetric movable thrusts…
We present the modeling, design, fabrication and feedback control of an earthworm-inspired soft robot capable of crawling on surfaces by actively manipulating the frictional force between its body and the surface. Earthworms are segmented…
Drag-based swimming with rowing appendages, fins, and webbed feet is a widely adapted locomotion form in aquatic animals. To develop effective underwater and swimming vehicles, a wide range of bioinspired drag-based paddles have been…
In human-robot interactions, eye movements play an important role in non-verbal communication. However, controlling the motions of a robotic eye that display similar performance as the human oculomotor system is still a major challenge. In…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
Ciliated tissues such as in the mammalian lungs, brains, and reproductive tracts, are specialized to pump fluid. They generate flows by the collective activity of hundreds of thousands of individual cilia that beat in a striking metachronal…
Motility is a fundamental survival strategy of bacteria to navigate porous environments. Swimming cells thrive in quiescent wetlands and sediments at the bottom of the marine water column, where they mediate many essential biogeochemical…
Robots are becoming increasingly essential for traversing complex environments such as disaster areas, extraterrestrial terrains, and marine environments. Yet, their potential is often limited by mobility and adaptability constraints. In…
Fish rheotaxis, or alignment into flow currents, results from intertwined sensory, neural and actuation mechanisms, all coupled with hydrodynamics to produce a behavior that is critical for upstream migration and position holding in…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
We examine the stability of the "coast" motion of fish, that is to say, the motion of a neutrally buoyant fish at constant speed in a straight line. The forces and moments acting on the fish body are thus perfectly balanced. The fish motion…
Beyond providing accurate movements, achieving smooth motion trajectories is a long-standing goal of robotics control theory for arms aiming to replicate natural human movements. Drawing inspiration from biological agents, whose reaching…
Dung beetles impressively coordinate their six legs simultaneously to effectively roll large dung balls. They are also capable of rolling dung balls varying in the weight on different terrains. The mechanisms underlying how their motor…