Related papers: Biomimetic Synchronization in biciliated robots
Synchronization is a phenomenon where interacting particles lock their motion and display non-trivial dynamics. Despite intense efforts studying synchronization in systems without clear classical limits, no comprehensive theory has been…
It is now well established that nearby beating pairs of eukaryotic flagella or cilia typically synchronize in phase. A substantial body of evidence supports the hypothesis that hydrodynamic coupling between the active filaments, combined…
In nature, metachronal coordination is an efficient strategy for fluid pumping and self-propulsion. Yet, mimetic systems for this type of organization are scarce. Recently, metachronal motion was observed in a bead-based magnetocapillary…
For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nominal locomotion gaits and more specialized transient…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
Spontaneous synchronisation is a collective phenomenon that can occur in both dynamical classical and quantum systems. Here, we analyse the spontaneous synchronisation dynamics of vibrations assisting energy transfer in a bio-inspired…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
In the last few years, there have been many new developments and significant accomplishments in the research of bionic robot fishes. However, in terms of swimming performance, existing bionic robot fishes lag far behind fish, prompting…
Taking inspiration from the crawling motion of biological cells on a substrate, we consider a physical model of self-propulsion where the spatio-temporal driving can involve both, a mechanical actuation by active force couples, and a…
Drawing inspiration from flight behavior in biological settings (e.g. territorial battles in dragonflies, and flocking in starlings), this paper demonstrates two strategies for coverage and flocking. Using earlier theoretical studies on…
Dissipative coupling is known to induce synchronization. Conversely it may be hypothesized that oscillators driven to synchronize may reduce power dissipation in their coupling. The latter scenario is realized in the human cardiorespiratory…
A fundamental design rule that nature has developed for biological machines is the intimate correlation between motion and function. One class of biological machines is molecular motors in living cells, which directly convert chemical…
A unified approach for analyzing synchronization in coupled systems of autonomous differential equations is presented in this work. Through a careful analysis of the variational equation of the coupled system we establish a sufficient…
Cilia are ubiquitous organelles involves in eukaryotic motility. They are long, slender, and motile protrusions from the cell body. They undergo active regular oscillatory beating patterns that can propel cells, such as the algae…
Mechanism calibration is an important and non-trivial task in robotics. Advances in sensor technology make affordable but increasingly accurate devices such as cameras and tactile sensors available, making it possible to perform automated…
While the original goal for developing robots is replacing humans in dangerous and tedious tasks, the final target shall be completely mimicking the human cognitive and motor behaviour. Hence, building detailed computational models for the…
In nature, biological organisms jointly evolve both their morphology and their neurological capabilities to improve their chances for survival. Consequently, task information is encoded in both their brains and their bodies. In robotics,…
This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…
Animal behavior reflects interactions between the nervous system, body, and environment. Therefore, biomechanics and environmental context must be considered to understand algorithms for behavioral control. Neuromechanical digital twins,…
From fireflies to heart cells, many systems in Nature show the remarkable ability to spontaneously fall into synchrony. By imitating Nature's success at self-synchronizing, scientists have designed cost-effective methods to achieve…