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We present numerical simulations of simplified models for swimming organisms or robots, using chordwise flexible elastic plates. We focus on the tip vortices originating from three-dimensional effects due to the finite span of the plate.…
Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight but couples both wings to a shared input…
We investigate the lift and drag corrections acting on a particle suspended in a planar viscoelastic shear flow when the particle is tuned to translate relative to the flow by an external mechanism. A cross-stream lift force arises when…
Fish swim with flexible fins that stand in stark contrast to the rigid propulsors of engineered vehicles. Using numerical simulations of the dynamics of flow-structure interaction, we have found that dorso-ventral deformation in flexible…
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…
This paper studies capturability and push recovery for quadrupedal locomotion. Despite the rich literature on capturability analysis and push recovery control for legged robots, existing tools are developed mainly for bipeds or humanoids.…
In this work we developed a mathematical model and a simulation platform for a fish-inspired robotic template, namely Magnetic, Modular, Undulatory Robotics ($\mu$Bots). Through this platform, we systematically explored the effects of…
We investigate the fluid dynamics of brine shrimp larvae swimming in this gallery of fluid motion video. Time resolved particle image velocimetry was performed using nano-particles as seeding material to measure the time dependent velocity…
We investigate the dynamics and energy production capability of a flexible piezoelectric plate submerged close to the free surface and exposed to incident head gravity waves and current. A theoretical model is derived in which the flag and…
Researchers have long debated which spatial arrangements and swimming synchronizations are beneficial for the hydrodynamic performance of fish in schools. In our previous work (Seo and Mittal, Bioinsp. Biomim., Vol. 17, 066020, 2022), we…
It has been a long-standing problem how schooling fish optimize their motion by exploiting the vortices shed by the others. A recent experimental study showed that a pair of fish reduce energy consumption by matching the phases of their…
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…
This study examines flow over a cranked {\lambda}-wing model with a sweep of {\Lambda}=60{\deg} of the inboard leading edge (LE) that changed to {\Lambda}=30{\deg} outboard of the crank. The study focuses on the liftoff of the inboard…
Many biological microswimmers can modulate their swimming gait to achieve directional control of motility, especially when performing steering towards specific directional cues. This can be achieved without the need for obvious…
The Scallop Theorem states that reciprocal methods of locomotion, such as jet propulsion or paddling, will not work in Stokes flow (Reynolds number = 0). In nature the effective limit of jet propulsion is still in the range where inertial…
\emph{Spiroplasma} swimming is studied with a simple model based on resistive-force theory. Specifically, we consider a bacterium shaped in the form of a helix that propagates traveling-wave distortions which flip the handedness of the…
A fin-body configuration is tested in a water tunnel to study the hydrodynamic loads and vortex evolution under dynamic fin-flapping motions, which is an idealized approximation of the pectoral fins of fish. The fin flaps about its leading…
An axisymmetric squirmer in a Bingham viscoplastic fluid is studied numerically to determine the effect of a yield stress environment on locomotion. The nonlinearity of the governing equations necessitates numerical methods, which is…
A remarkable variety of organisms use metachronal coordination (i.e., numerous neighboring appendages beating sequentially with a fixed phase lag) to swim or pump fluid. This coordination strategy is used by microorganisms to break symmetry…
The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along…