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Along with the advancement of robot skin technology, there has been notable progress in the development of snake robots featuring body-surface tactile perception. In this study, we proposed a locomotion control framework for snake robots…
Summary of results in last project period (1. 10. 2009 - 30. 9. 2010) of SNFS Project "From locomotion to cognition" The research that we have been involved in, and will continue to do, starts from the insight that in order to understand…
Robot controllers are often optimised for a single robot in a single environment. This approach proves brittle, as such a controller will often fail to produce sensible behavior for a new morphology or environment. In comparison, animal…
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…
This study presents a novel, versatile traction force microscopy framework for quantifying three-dimensional (3D) interfacial forces during bio-adhesion by integrating in situ stereo digital image correlation with finite element (FE)…
Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending capability better mimic their biological counterparts'…
Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness -- the…
This paper explores visual motion-based invariants, resulting in a new instantaneous domain where: a) the stationary environment is perceived as unchanged, even as the 2D images undergo continuous changes due to camera motion, b) obstacles…
Understanding how stick-slip dynamics manifests in diverse physical conditions is a crucial topic in tribology. Although it has been extensively studied in simple frictional configurations, the characterization of stick-slip behavior in…
Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previous attempts to develop SRSs, many have been limited to…
Quadruped animals seamlessly transition between gaits as they change locomotion speeds. While the most widely accepted explanation for gait transitions is energy efficiency, there is no clear consensus on the determining factor, nor on the…
Safe manipulation-oriented navigation for humanoid robots requires scene memory that remains reliable under locomotion-induced perceptual distortion, environmental changes, and interaction-level geometric safety constraints. Existing…
The interaction of light with objects and media moving at relativistic and superluminal speeds enables unconventional phenomena such as Fresnel drag, Hawking radiation, and light amplification. Synthetic motion, facilitated by modulated…
For multilayer structures, interfacial failure is one of the most important elements related to device reliability. For cohesive zone modelling, traction-separation relations represent the adhesive interactions across interfaces. However,…
We present Brownian dynamics simulations of the facilitated diffusion of a protein, modelled as a sphere with a binding site on its surface, along DNA, modelled as a semi-flexible polymer. We consider both the effect of DNA organisation in…
Walking animals, like stick insects, cockroaches or ants, demonstrate a fascinating range of locomotive abilities and complex behaviors. The locomotive behaviors can consist of a variety of walking patterns along with adaptation that allow…
We investigate how localized inhomogeneity affects the geometry and stability of migratory bird formations. We use a lifting-line model with a horseshoe-vortex representation to describe the longitudinal dynamics of aerodynamic…
Since the 1970s, analogies between laser dynamics and fluid systems have provided insight into phenomena such as chaos, multistability, and turbulence. Building on this perspective, we model the optical field as an energy fluid and…
In this article, we review some of our approaches to granular dynamics, now well known to consist of both fast and slow relaxational processes. In the first case, grains typically compete with each other, while in the second, they…
We study in detail the recent suggestions by Tshiprut et al. [Phys. Rev. Lett. 95, 016101 (2005)] to tune tribological properties at the nanoscale by subjecting a substrate to periodic mechanical oscillations. We show that both in…