Related papers: Sea star inspired crawling and bouncing
Jellyfish cyborgs present a promising avenue for soft robotic systems, leveraging the natural energy-efficiency and adaptability of biological systems. Here we demonstrate a novel approach to predicting and controlling jellyfish locomotion…
The theories of aero- and hydrodynamics predict animal movement and device design in air and water through the computation of lift, drag, and thrust forces. Although models of terrestrial legged locomotion have focused on interactions with…
Multi-flagellated bacteria utilize the hydrodynamic interaction between their filamentary tails, known as flagella, to swim and change their swimming direction in low Reynolds number flow. This interaction, referred to as bundling and…
This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The framework enables precise interaction between a humanoid…
Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…
In a set of experiments, Couder et. al. demonstrate that an oscillating fluid bed may propagate a bouncing droplet through the guidance of the surface waves. We present a dynamical systems model, in the form of an iterative map, for a…
This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom…
Topological pumping supplies a robust mechanism to steer waves across a sample without being affected by disorders and defects. For the first time, we demonstrate the pumping of elastic surface waves, achieved by a smart patterning of a…
Dense suspensions of swimming bacteria are known to exhibit collective behaviour arising from the interplay of steric and hydrodynamic interactions. Unconfined suspensions exhibit transient, recurring vortices and jets, whereas those…
As a person learns a new skill, distinct synapses, brain regions, and circuits are engaged and change over time. In this paper, we develop methods to examine patterns of correlated activity across a large set of brain regions. Our goal is…
We apply optimal control theory to a model of a polar active fluid (the Toner-Tu model), with the objective of driving the system into particular emergent dynamical behaviors or programming switching between states on demand. We use the…
Cell crawling requires the generation of intracellular forces by the cytoskeleton and their transmission to an extracellular substrate through specific adhesion molecules. Crawling cells show many features of excitable systems, such as…
Material properties of soft electro-active (SEA) structures are significantly sensitive to external electro-mechanical biasing fields (such as pre-stretch and electric stimuli), which generate remarkable knock-on effects on their dynamic…
Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully reconstructed by limbless robotic systems for effective movement…
Slow and accurate finger and limb movements are essential to daily activities, but their neural control and governing mechanics are relatively unexplored. We consider neuromechanical systems where slow movements are produced by neural…
Autonomous ocean-exploring vehicles have begun to take advantage of onboard sensor measurements of water properties such as salinity and temperature to locate oceanic features in real time. Such targeted sampling strategies enable more…
Collective decision-making in biological systems requires all individuals in the group to go through a behavioural change of state. During this transition, the efficiency of information transport is a key factor to prevent cohesion loss and…
Natural swimmers rely for their survival on sensors that gather information from the environment and guide their actions. The spatial organization of these sensors, such as the visual fish system and lateral line, suggests evolutionary…
Recent experimental studies have demonstrated that cellular motion can be directed by topographical gradients, such as those resulting from spatial variations in the features of a micropatterned substrate. This phenomenon, known as…
This paper presents the development of a comprehensive dynamics and stabilizing control architecture for Tethered Unmanned Aerial Vehicle (TUAV) systems. The proposed architecture integrates both onboard and ground-based controllers,…