Related papers: Optimized Fish Locomotion using Design-by-Morphing…

In many biological materials such as nacre and bone, the material structure consists of hard grains and soft interfaces, with the interfaces playing a significant role in the material's mechanical behavior. This type of structures has been…

Nature has engineered complex designs to achieve advanced properties and functionalities through evolution, over millions of years. Many organisms have adapted to their living environment producing extremely efficient materials and…

In this article, we present a new data-driven shape optimization approach for implicit hydrofoil morphing via a polynomial perturbation of parametric level set representation. Without introducing any change in topology, the hydrofoil…

In Bayesian optimisation, we often seek to minimise the black-box objective functions that arise in real-world physical systems. A primary contributor to the cost of evaluating such black-box objective functions is often the effort required…

Drag-based swimming with rowing appendages, fins, and webbed feet is a widely adapted locomotion form in aquatic animals. To develop effective underwater and swimming vehicles, a wide range of bioinspired drag-based paddles have been…

For decades, people have been seeking for fishlike flapping motions that can realize underwater propulsion with low energy cost. Complexity of the nonstationary flow field around the flapping body makes this problem very difficult. In…

Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to…

Inferring viscoelasticity parameters is a key challenge that often leads to non-unique solutions when fitting rheological data. In this context, we propose a machine learning approach that utilizes Bayesian optimization for parameter…

Inspired by the snap-through action of a steel hairclip, we propose a design method for in-plane prestressed mechanisms that exhibit biomimetic morphing and high locomotion performance. Compliant bistable flapping mechanisms are fabricated…

Aquatic locomotion is a classic fluid-structure interaction (FSI) problem of interest to biologists and engineers. Solving the fully coupled FSI equations for incompressible Navier-Stokes and finite elasticity is computationally expensive.…

The properties of biological microswimmers are to a large extent determined by fluid-mediated interactions, which govern their propulsion, perception of their surrounding, and the steering of their motion for feeding or in pursuit.…

An oscillating body floating at the water surface produces a wave-field of self-generated waves. When the oscillation induces a difference in fore-aft wave amplitude squared, these self-generated waves can be used as a mechanism to propel…

Optimal gait design is important for micro-organisms and micro-robots that propel themselves in a fluid environment in the absence of external force or torque. The simplest models of shape changes are those that comprise a series of…

This paper investigates a family of dynamical systems arising from an evolutionary re-interpretation of certain optimal control and optimization problems. We focus particularly on the application in image registration of the theory of…

As robots become more prevalent, optimizing their design for better performance and efficiency is becoming increasingly important. However, current robot design practices overlook the impact of perception and design choices on a robot's…

For nearly a century, researchers have tried to understand the swimming of aquatic animals in terms of a balance between the forward thrust from swimming movements and drag on the body. Prior approaches have failed to provide a separation…

Real-world robots are becoming increasingly complex and commonly act in poorly understood environments where it is extremely challenging to model or learn their true dynamics. Therefore, it might be desirable to take a task-specific…

Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the…

Fish locomotion emerges from a diversity of interactions among deformable structures, surrounding fluids and neuromuscular activations, i.e., fluid-structure interactions (FSI) controlled by fish's motor systems. Previous studies suggested…

Position-controlled systems driving repetitive tasks are of significant importance in industrial machinery. The electric actuators used in these systems are responsible for a large part of the global energy consumption, indicating that…