Related papers: Efficient bending and lifting patterns in snake lo…
In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that…
This paper presents a convexity analysis for the dynamic snake model based on the Potential Energy functional and the Hamiltonian formulation of the classical mechanics. First we see the snake model as a dynamical system whose singular…
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…
Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of mechanical damping exist in compliant robotic legged locomotion. It remains unclear how physical…
We consider the problem of inverse kinematics (IK), where one wants to find the parameters of a given kinematic skeleton that best explain a set of observed 3D joint locations. The kinematic skeleton has a tree structure, where each node is…
This paper presents the design, analysis, and performance evaluation of RicMonk, a novel three-link brachiation robot equipped with passive hook-shaped grippers. Brachiation, an agile and energy-efficient mode of locomotion observed in…
An axisymmetric squirmer in a Bingham viscoplastic fluid is studied numerically to determine the effect of a yield stress environment on locomotion. The nonlinearity of the governing equations necessitates numerical methods, which is…
Robot arms with lighter weight can reduce unnecessary energy consumption which is desirable in robotic industry. However, lightweight arms undergo undesirable elastic deformation. In this paper, the planar motion of a lightweight flexible…
We study folding in 16-monomer heteropolymers on the square lattice. For a given sequence, thermodynamic properties and stability of the native state are unique. However, the kinetics of folding depends on the model of dynamics adopted for…
We present a framework of elastic locomotion, which allows users to enliven an elastic body to produce interesting locomotion by prescribing its high-level kinematics. We formulate this problem as an inverse simulation problem and seek the…
We analyse a non-local parabolic integro-differential equation modelling the evolutionary dynamics of a phenotypically-structured population in a changing environment. Such models arise in a variety of contexts from climate change to…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
Snakes can bend their elongate bodies in various forms to traverse various environments. We understand how snakes use lateral bending to push against asperities on flat ground for propulsion, and snake robots can do so effectively. However,…
Saving energy and enhancing performance are secular preoccupations shared by both nature and human beings. In animal locomotion, flapping flyers or swimmers rely on the flexibility of their wings or body to passively increase their…
In several biologically relevant situations, cell locomotion occurs in polymeric fluids with Weissenberg {number} larger than one. Here we present results of three-dimensional numerical simulations for the steady locomotion of a…
Reduced-order models (ROM) are popular in online motion planning due to their simplicity. A good ROM for control captures critical task-relevant aspects of the full dynamics while remaining low dimensional. However, planning within the…
Land snails move via adhesive locomotion. Through muscular contraction and expansion of their foot, they transmit waves of shear stress through a thin layer of mucus onto a solid substrate. Since a free surface cannot support shear stress,…
Screw-based propulsion systems offer promising capabilities for amphibious mobility, yet face significant challenges in optimizing locomotion across water, granular materials, and transitional environments. This study presents a systematic…
Using an experimental optimization approach, this study investigated whether two human movements, pointing tasks and squat-jumps, could be modelled with a reduced set of kinematic parameters. Three sigmoid models were proposed to model the…
Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical…