Related papers: The Hidden Wheel-Within
Self-organization is the generation of order out of local interactions in non-equilibrium [1]. It is deeply connected to all fields of science from physics, chemistry to biology where functional living structures self-assemble[2] and…
This text presents the proofs of the technical facts underlying theoretical justification of the convergence and performance of the novel algorithm for reactive navigation of differential drive wheeled robots in dynamic uncertain…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
Crocodiles, known as one of the oldest and most resilient species on Earth, have demonstrated remarkable locomotor abilities both on land and in water, evolving over millennia to adapt to diverse environments. In this paper, we draw…
Evolutionary algorithms offer great promise for the automatic design of robot bodies, tailoring them to specific environments or tasks. Most research is done on simplified models or virtual robots in physics simulators, which do not capture…
This paper provides an enjoyable example through which several concepts of classical mechanics can be understood. We introduce an equation that models the motion of a cat in the presence of a person. The cat is considered as a point…
In the problem of cylinder rolling without slipping on a horizontal floor, both the cylinder and floor are generally treated as rigid bodies in normal textbooks. When the air resistance is ignored, the equation of motion has a solution with…
Cells are modeled with spherical grains connected each other. Each cell can shrink and swell by transporting its fluid content to other connected neighbor while still maintaining its density at constant value. As a spherical part of a cell…
Routing information through networks is a universal phenomenon in both natural and manmade complex systems. When each node has full knowledge of the global network connectivity, finding short communication paths is merely a matter of…
Locomotion is essential for living cells. It enables bacteria and algae to explore space for food, cancer to spread, and immune system to fight infections. Motile cells display trajectories of intriguing complexity, from regular (e.g.…
Animals such as rabbits and birds can instantly generate locomotion behavior in reaction to a dynamic, approaching object, such as a person or a rock, despite having possibly never seen the object before and having limited perception of the…
The fate of every eukaryotic cell subtly relies on the exceptional mechanical properties of microtubules. Despite significant efforts, understanding their unusual mechanics remains elusive. One persistent, unresolved mystery is the…
The interiors of many planets consist mostly of fluid layers. When these layers are subject to superadiabatic temperature or compositional gradients, turbulent convection transports heat and momentum. In addition, planets are fast rotators.…
We briefly outline the physics underlying the mechanical and thermal properties of brown dwarfs, which characterizes their interiors and their atmospheres. We mention the most recent improvements realyzed in the theory of brown dwarfs and…
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…
On perfectly vertical surfaces, rolling is conventionally deemed impossible without external torque. While various species like geckos and spiders exhibit vertical locomotion, they cannot achieve rolling; instead, they fall. In this study,…
Turbulent winds and gusts fluctuate on a wide range of timescales from milliseconds to minutes and longer, a range that overlaps the timescales of avian flight behavior, yet the importance of turbulence to avian behavior is unclear. By…
Biological systems often choose actions without an explicit reward signal, a phenomenon known as intrinsic motivation. The computational principles underlying this behavior remain poorly understood. In this study, we investigate an…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
Life mechanics, an emerging field, focuses on the self-organizing forces and motions within living systems. This study introduces the novel concept of active force, generated by mind-body interactions, as an essential element in…