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We analyze a simple problem in elasticity: the \emph{initial} motion of an elastic bar that after being hanged from an end is suddenly released. In a second problem a point mass is attached on the top of the bar. The analytical solutions…
The legged robots with variable stiffness actuators (VSAs) can achieve energy-efficient and versatile locomotion. However, equipping legged robots with VSAs in real-world application is usually restricted by (i) the redundant mechanical…
We present a novel pneumatic augmentation to traditional electric motor-actuated legged robot to increase intermittent power density to perform infrequent explosive hopping behaviors. The pneumatic system is composed of a pneumatic pump, a…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
We attempt to give a bird's eye view of the physical mechanisms leading to anomalous relaxation, and the relation of this phenomenon with anomalous diffusion and transport. Whereas in some cases these two notions are indeed deeply related,…
Minimising the energy consumption associated with periodic motion is a priority common to a wide range of technologies and organisms - among them, many species of flying insect, for which flapping-wing flight is a life-essential mode of…
Flapping animal flight is often modeled as a combined pitching and heaving motion in order to investigate the unsteady flow structures and resulting forces that could augment the animal's lift and propulsive capabilities. This work isolates…
Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is interesting to study from a robotics perspective since it can…
Fluid dynamics, and flight in particular, is a domain where organisms challenge our understanding of its physics. Integrating the current knowledge of animal flight, we propose to revisit the use of live animals to study physical phenomena.…
Reconfigurable robots refer to a category of robots that their components (individual joints and links) can be assembled in multiple configurations and geometries. Most of existing latching mechanisms are based on physical tools such as…
We study an extreme active matter system, which is essentially a dense assembly of athermal, soft and infinitely persistent active particles. Using extensive numerical simulations we obtain jammed configurations of this system in two…
This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds with a rigid spine. We introduce an elastic model for a…
Activation sparsity can reduce the computational overhead and memory transfers during the forward pass of Large Language Model (LLM) inference. Existing methods face limitations, either demanding time-consuming recovery training that…
We report an experimental study of the motion of a clapping body consisting of two flat plates pivoted at the leading edge by a torsion spring. Clapping motion and forward propulsion of the body are initiated by the sudden release of the…
The effect of air viscosity on the flow around an insect wing increases as insect size decreases. For the smallest insects (wing length R below 1 mm), the viscous effect is so large that lift-generation mechanisms used by their larger…
The levels of agility and flight or swimming performance demonstrated by insects, birds, fish, and even some aquatic invertebrates, are often vastly superior to what even the most advanced human-engineered vehicles operating in the same…
Wing flexibility plays an essential role in the aerodynamic performance of insects due to the considerable deformation of their wings during flight under the impact of inertial and aerodynamic forces. These forces come from the complex wing…
Glassy dynamics is intermittent, as particles suddenly jump out of the cage formed by their neighbours, and heterogeneous, as these jumps are not uniformly distributed across the system. Relating these features of the dynamics to the…
Moving animal groups consist of many distinct individuals but can operate and function as one unit when performing different tasks. Effectively evading unexpected predator attacks is one primary task for many moving groups. The current…
Birds employ rapid pitch-up motions for different purposes: perching birds use this motion to decelerate and come to a complete stop while hunting birds, like bald eagles, employ it to catch prey and swiftly fly away. Motivated by these…