Related papers: Bridging Walking and Slithering -- Stokesian Locom…
We employ three numerical methods to explore the motion of low Reynolds number swimmers, modeling the hydrodynamic interactions by means of the Oseen tensor approximation, lattice Boltzmann simulations and multiparticle collision dynamics.…
We have simulated the motion of a single vertical, two-dimensional liquid bridge spanning the gap between two flat, horizontal solid substrates of given wettabilities, using a multicomponent pseudopotential lattice Boltzmann method. For…
We study a novel approach for the existence of solutions to an incompressible fluid-rigid body interaction problem in three dimensions. Our approach introduces an iteration based on a sequence of related problems posed on domains with…
Mechanisms of locomotion in microscopic systems are of great interest not only for technological applications, but also for the sake of understanding, and potentially harnessing, processes far from thermal equilibrium. Down-scaling is a…
We study the asymptotic behaviour of a family of dynamic models of crawling locomotion, with the aim of characterizing a gait as a limit property. The locomotors, which might have a discrete or continuous body, move on a line with a…
Locomotion in Stokes flow is an intensively-studied problem because it describes important biological phenomena such as the motility of many species' sperm, bacteria, algae and protozoa. Numerical computations can be challenging,…
Hybrid dynamical systems, which include continuous flow and discrete mode switching, can model robotics tasks like legged robot locomotion. Model-based methods usually depend on predefined gaits, while model-free approaches lack explicit…
We propose a theoretical method to decompose the solution of a Stokes flow past a body immersed in a confined fluid in two simpler problems, related separately to the two geometrical elements of these systems: (i) the body immersed in the…
Mixing between two different miscible fluids with a mutual interface must be initiated by fluid transporting across this fluid interface, caused for example by applying an unsteady velocity agitation. In general, there is no necessity for…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
Dissipative dynamical systems characterised by two basins of attraction are found in many physical systems, notably in hydrodynamics where laminar and turbulent regimes can coexist. The state space of such systems is structured around a…
Locomotion of bacteria by actin polymerization, and in vitro motion of spherical beads coated with a protein catalyzing polymerization, are examples of active motility. Starting from a simple model of forces locally normal to the surface of…
We propose a simple mechanical model of locomotion induced by internal force and friction. We first construct a system of two elements as an analog of the bipedal motion. The internal force does not induce a directional motion by itself…
Quadrupedal animals employ diverse galloping strategies to optimize speed, stability, and energy efficiency. However, the biomechanical mechanisms that enable adaptive gait transitions during high-speed locomotion under load remain poorly…
A stochastic data-driven reduced-order model applicable to a wide range of turbulent natural and engineering flows is presented. Combining ideas from Koopman theory and spectral model order reduction, the stochastic low-dimensional inflated…
We investigate the physical properties of steady flows in a holographic first-order phase transition model, extending from the thermodynamics at equilibrium to the real-time dynamics far from equilibrium. Through spinodal decomposition or…
The correlations in the motion of reptating polymers in their melt are investigated by means of kinetic Monte Carlo simulations of the three dimensional slithering snake version of the bond-fluctuation model. Surprisingly, the slithering…
Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…
We conduct experiments with flexible swimmers to address the impact of fluid viscoelasticity on their locomotion. The swimmers are composed of a magnetic head actuated in rotation by a frequency-controlled magnetic field and a flexible tail…
We examine the hypothesis, that short-term synaptic plasticity (STSP) may generate self-organized motor patterns. We simulated sphere-shaped autonomous robots, within the LPZRobots simulation package, containing three weights moving along…