Related papers: Passive Vibration-Driven Locomotion
We present a locomotion mechanism that uses the stick-slip transition of a soft passive structure with an internal mechanical resonance. The structure is harmonically driven by a global vertical shaking and, because of its resonance…
Locomotion by shape changes (spermatozoon swimming, snake slithering, bird flapping) or gas expulsion (rocket firing) is assumed to require environmental interaction, due to conservation of momentum. As first noted in (Wisdom, 2003) and…
Transport-induced self-sustained oscillations in electromechanical systems convert a static electrochemical bias into robust, autonomous oscillatory motion in the absence of any external periodic drive. However, an exact description of such…
Robotic locomotion can become efficient when mechanisms exploit passive dynamics, compliance, and resonance rather than track prescribed trajectories. This paper formulates natural locomotion as an exchange principle for systems whose…
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…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
The locomotion and design of microswimmers are topical issues of current fundamental and applied research. In addition to numerous living and artificial active microswimmers, a passive microswimmer was identified only recently: a soft,…
Pumps are transport mechanisms in which direct currents result from a cyclic evolution of the potential. As Thouless has shown, the pumping process can have topological origins, when considering the motion of quantum particles in spatially…
It has been shown in experiments that self-climb of prismatic dislocation loops by pipe diffusion plays important roles in their dynamical behaviors, e.g., coarsening of prismatic loops upon annealing, as well as the physical and mechanical…
This paper presents aims at mobility improvement of flexible underwater robots. For this purpose, a novel propulsion method using planar structural vibration pattern is proposed, and tested on two kinds of prototypes. The result of…
Typically the motion of self-propelled active particles is described in a quiescent environment establishing an inertial frame of reference. Here we assume that friction, self-propulsion and uctuations occur relative to a non-inertial frame…
Much of the Earth and many surfaces of extraterrestrial bodies are composed of in-cohesive particle matter. Locomoting on granular terrain is challenging for common robotic devices, either wheeled or legged. In this work, we discover a…
A beam-slider system is considered whose passive self-adaption relies on an intricate locomotion process involving both frictional and unilateral contact. The system also exploits geometric nonlinearity to achieve broadband efficacy. The…
A vibrational model of transport properties of dense fluids assumes that solid-like oscillations of atoms around their temporary equilibrium positions dominate the dynamical picture. The temporary equilibrium positions of atoms do not form…
In the present work, we examine the role of nonlinearity in vibrational resonance (VR) of a forced and damped form of a velocity-dependent potential system. Many studies have focused on studying the vibrational resonance in different…
We study the dynamical behavior of a single degree of freedom mechanical system with a particle damper. The particle (granular) damping was optimized for the primary system operating condition by using an appropriate gap size for a…
This paper treats possible solutions for vibration mitigation in reduced-order model of partially-filled liquid tank under impulsive forcing. Such excitation may lead to hydraulic impacts applied on the tank inner walls. Finite stiffness of…
We report a new type of fluid-based driven dissipative oscillator system consisting of a lattice of millimetric fluid droplets bouncing on a vertically vibrating liquid bath and bound within an annular ring. We characterize the system…
We investigate the dynamics of elastic capsules suspended in two-dimensional active nematic fluids using lattice Boltzmann simulations. The capsules, modeled as flexible membranes enclosing active internal regions, exhibit a rich variety of…
Collective motion is ubiquitous in active systems at all length and time scales. The mechanisms behind such collective motion usually are alignment interactions between active particles, effective alignment after collisions between agents…