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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…
In this paper, we analyze the inverse dynamics and control of a bacteria-inspired uniflagellar robot in a fluid medium at low Reynolds number. Inspired by the mechanism behind the locomotion of flagellated bacteria, we consider a robot…
Bristle bots are vibration-driven robots actuated by the motion of an internal oscillating mass. Vibrations are translated into directed locomotion due to the alternating friction resistance between robots' bristles and the substrate during…
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…
The self-organization of active particles is governed by their dynamic effective interactions. Such interactions are controlled by the medium in which such active agents reside. Here, we study the interactions between active agents in a…
Drones which can swarm and loiter in a certain area cost hundreds of dollars, but mosquitos can do the same and are essentially worthless. To control swarms of low-cost robots, researchers may end up spending countless hours brainstorming…
By systematically varying the mobility of self-propelled particles in a two-dimensional (2D) lattice, we experimentally study the influence of particle mobility on system's collective motion. Our system is intrinsically non-equilibrium due…
The bundling of flagella is known to create a "run" phase, where the bacteria moves in a nearly straight line rather than making changes in direction. Historically, mechanical explanations for the bundling phenomenon intrigued many…
Active semiflexible filaments are crucial in various biophysical processes, yet insights into their single-filament behavior have predominantly relied on theory and simulations, owing to the scarcity of controllable synthetic systems. Here,…
Despite their claimed biological plausibility, most self organizing networks have strict topological constraints and consequently they cannot take into account a wide range of external stimuli. Furthermore their evolution is conditioned by…
Active particles such as swimming bacteria or self-propelled colloids are known to spontaneously organize into fascinating large-scale dynamic structures. The emergence of these collective states from the motility pattern of the individual…
Swimmers and self-propelled particles are physical models for the collective behaviour and motility of a wide variety of living systems, such as bacteria colonies, bird flocks and fish schools. Such artificial active materials are amenable…
Semiconductor microelectronics are emerging as a powerful tool for building smart, autonomous robots too small to see with the naked eye. Yet a number of existing microrobot platforms, despite significant advantages in speed, robustness,…
Recently, long and slender living worms have garnered significant interest because of their impressive ability to exhibit diverse emergent behaviors in highly entangled physical and topological conditions. These worms can form an active…
The production of mechanical stresses in living organisms largely relies on localized, force-generating active units embedded in filamentous matrices. Numerical simulations of discrete fiber networks with fixed boundaries have shown that…
Nature is an inhabitant for enormous number of species. All the species do perform complex activities with simple and elegant rules for their survival. The property of emergence of collective behavior is remarkably supporting their…
Droplets are the core functional units in microfluidic technologies that aim to integrate computation and reaction on a single platform. Achieving directed transport and control of these droplets typically demands elaborate substrate…
Populations of agents often exhibit surprising collective behavior emerging from simple local interactions. The common belief is that the agents must posses a certain level of cognitive abilities for such an emerging collective behavior to…
In active matter systems, self-propelled particles can self-organize to undergo collective motion, leading to persistent dynamical behavior out of equilibrium. In cells, cytoskeletal filaments and motor proteins self-organize into complex…
We present a model of active particles interacting through a dynamic, heterogeneous environment, leading to emergent collective behaviors without direct agent-to-agent communication. Expanding the resource-dependent framework introduced in…