Related papers: Optimal Gaits for Drag-dominated Swimmers with Pas…
A single flexible filament can be actuated to escape from the scallop theorem and generate net propulsion at low Reynolds number. In this work, we study the dynamics of a simple boundary-driven multi-filament swimmer, a two-arm clamshell…
Flexible-joint manipulators are frequently used for increased safety during human-robot collaboration and shared workspace tasks. However, joint flexibility significantly reduces the accuracy of motion, especially at high velocities and…
In this paper, we report the results from the analysis of a numerical model used for the design of a magnetic linear actuator with applications to fin-based locomotion. Most of the current robotic fish generate bending motion using rotary…
A dilute non-interacting suspension of micro-swimmers exhibits a finite velocity variance and short-ranged correlations that decay over a swimmer length. For a suspension of interacting straight swimmers, however, pair-interactions leads to…
The selective frequency damping (SFD) method is an alternative to classical Newton's method to obtain unstable steady-state solutions of dynamical systems. However this method has two main limitations: it does not converge for arbitrary…
Motion control of flexible joint robots (FJR) is challenged by inherent flexibility and configuration-dependent variations in system dynamics. While disturbance observers (DOB) can enhance system robustness, their performance is often…
To explore and react to their environment, living micro-swimmers have developed sophisticated strategies for locomotion - in particular, motility with multiple gaits. To understand the physical principles associated with such a behavioural…
Information processing abilities of active matter are studied in the reservoir computing (RC) paradigm to infer the future state of a chaotic signal. We uncover an exceptional regime of agent dynamics that has been overlooked previously. It…
Similar to their counterparts in nature, the flexible bodies of snake-like robots enhance their movement capability and adaptability in diverse environments. However, this flexibility corresponds to a complex control task involving highly…
The goal of this note is to provide a theoretical explanation for the saturation of the drag coefficient in strong wind conditions. The hydrodynamic model under consideration takes into account the important effects of airborne droplets of…
We describe a method, based on techniques used in molecular dynamics, for simulating the inertialess dynamics of an elastic filament immersed in a fluid. The model is used to study the "one-armed swimmer". That is, a flexible appendage…
We propose a method for approximating solutions to optimization problems involving the global stability properties of parameter-dependent continuous-time autonomous dynamical systems. The method relies on an approximation of the…
We consider a classical elastohydrodynamic model of an inextensible filament undergoing planar motion in $\mathbb{R}^3$. The hydrodynamics are described by resistive force theory, and the fiber elasticity is governed by Euler-Bernoulli beam…
The role of passive body dynamics on the kinematics of swimming micro-organisms in complex fluids is investigated. Asymptotic analysis of small amplitude motions of a finite-length undulatory swimmer in a Stokes-Oldroyd-B fluid is used to…
With the rapid development of aerospace technology, the vibration problem of the spacecraft flexible structure urgently needs to be solved. Magnetic fluids are a type of multi-functional smart materials, which can be employed in shock…
We present theoretical and numerical results concerning the problem to find the path that minimizes the time to navigate between two given points in a complex fluid under realistic navigation constraints. We contrast deterministic Optimal…
The paper presents a methodology for the enhanced stiffness analysis of parallel manipulators with internal preloading in passive joints. It also takes into account influence of the external loading and allows computing both the non-linear…
We address a challenge of active flow control: the optimization of many actuation parameters guaranteeing fast convergence and avoiding suboptimal local minima. This challenge is addressed by a new optimizer, called explorative gradient…
Soft robotics aims to develop robots able to adapt their behavior across a wide range of unstructured and unknown environments. A critical challenge of soft robotic control is that nonlinear dynamics often result in complex behaviors hard…
Micro-swimmers put into motion by a rotating magnetic field have provided interesting challenges both in engineering and in mathematical modelling. We study here the dynamics of a permanent-magnetic rigid body submitted to a…