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Scombrid fishes and tuna are efficient swimmers capable of maximizing performance to escape predators and save energy during long journeys. A key aspect in achieving these goals is the flexibility of the tail, which the fish optimizes…
Traditional locomotion strategies become ineffective at low Reynolds numbers, where viscous forces predominate over inertial forces. To adapt, microorganisms have evolved specialized structures like cilia and flagella for efficient…
Hovering insects are limited by their physiology and need to rotate their wings at the end of each back and forth motion to keep the wing's leading edge ahead of its trailing edge. The wing rotation at the end of each half-stroke pushes the…
Metachronal swimming, the sequential beating of limbs with a small phase lag, is observed in many organisms at various scales, but has been studied mostly in the limits of high or low Reynolds numbers. Motivated by the swimming of brine…
In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel…
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…
The move to high performance applications greatly increases the demand to produce large instantaneous fluid forces for high-speed maneuvering and improved power efficiency for sustained propulsion. Animals achieve remarkable feats of…
Scyphozoan jellyfish exhibit the highest locomotive efficiency in the animal kingdom making them of particular interest in fluid dynamics and bioinspired robotics. Despite this prevalent analytical models of jellyfish swimming have been…
Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…
Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enhance locomotion performance, which, however, makes the…
Many kinds of adult Lepidoptera insects possess a long proboscis which is used to suck liquids and has the coiling and uncoiling movements. Although experiments revealed qualitatively that the coiling movement is governed by the hydraulic…
Motile eukaryotic cells propel themselves in viscous fluids by passing waves of bending deformation down their flagella. An infinitely long flagellum achieves a hydrodynamically optimal low-Reynolds number locomotion when the angle between…
Quadrupedal animals employ diverse galloping strategies to optimize speed, stability, and energy efficiency. However, the biomechanical mechanisms that enable adaptive gait transitions during high-speed locomotion under load remain poorly…
Left-right symmetry breaking is critical to vertebrate embryonic development; in many species this process begins with cilia-driven flow in a structure termed the `node'. Primary `whirling' cilia, tilted towards the posterior, transport…
Any swimmer embedded on a inertialess fluid must perform a non-reciprocal motion to swim forward. The archetypal demonstration of this unique motion-constraint was introduced by Purcell with the so-called "scallop theorem". Scallop here is…
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…
The three bio-inspired strategies that have been used for balance recovery of biped robots are the ankle, hip and stepping Strategies. However, there are several cases for a biped robot where stepping is not possible, e. g. when the…
Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…