Related papers: Effective Viscous Damping Enables Morphological Co…
Using a combination of theory, experiment, and simulation, we revisit the dynamics of two coupled metronomes on a moving platform. Our experiments show that the platform's motion is damped by a dry friction force of Coulomb type, not the…
We show how to adapt the approach introduced for viscous damping in [1] to derive the approximate amplitude decay in the case of damping by a force of constant magnitude (sliding friction) and in the case of damping by a force proportional…
Although commonly associated with limbless animals like snakes and fish, multi-legged organisms like centipedes also utilize undulatory locomotion. Whether these undulations are actively reinforced or resisted by the axial musculature…
We develop a continuum theory of linear viscoelastic response in oriented monodomain nematic elastomers. The expression for dissipation function is analogous to the Leslie-Ericksen version of anisotropic nematic viscosity; we propose the…
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
This paper investigates two optimization criteria for damping optimization in a multi-body oscillator system with arbitrary degrees of freedom ($n$), resembling string/rod free vibrations. The total average energy over all possible initial…
Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled the…
In this work, the problem of optimizing damper positions in vibrational systems is investigated. The objective is to determine the positions of external dampers in such a way that the influence of the input on the output is minimized. The…
Active muscles are crucial for maintaining postural stability when seated in a moving vehicle. Advanced active 3D non-linear full body models have been developed for impact and comfort simulation, including large numbers of individual…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…
The aim of this paper is to assess the effectiveness of nonlinear viscoelastic damping in controlling base-excited vibrations. Specifically, the focus is on investigating the robustness of the nonlinear base isolation performance in…
Viscoelasticity plays a key role in many practical applications and in different reasearch fields, such as in seals, sliding-rolling contacts and crack propagation. In all these contexts, a proper knowledge of the viscoelastic modulus is…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
Much current study of legged locomotion has rightly focused on foot traction forces, including on granular media. Future legged millirobots will need to go through terrain, such as brush or other vegetation, where the body contact forces…
We analyse small-amplitude oscillations of a weakly viscous electrically conducting liquid drop in a strong uniform DC magnetic field. An asymptotic solution is obtained showing that the magnetic field does not affect the shape eigenmodes,…
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…
We consider collective motion and damping of dipolar Fermi gases in the hydrodynamic regime. We investigate the trajectories of collective oscillations -- here dubbed ``weltering'' motions -- in cross-dimensional rethermalization…