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We demonstrate that the clustering statistics and the corresponding phase transition to non-equilibrium clustering found in many experiments and simulation studies with self-propelled particles (SPPs) with alignment can be obtained from a…
Research on untethered micro-swimming robots is growing fast owing to their potential impact on minimally invasive medical procedures. Candidate propulsion mechanisms of robots are based on flagellar mechanisms of microorganisms such as…
Self-propulsion of chemically active droplet and phoretic disk has been widely studied; however, most research overlooks the influence of disk shape on swimming dynamics. Inspired by the experimentally observed prolate composite droplets…
To maintain full autonomy, autonomous robotic systems must have the ability to self-repair. Self-repairing via compensatory mechanisms appears in nature: for example, some fish can lose even 76% of their propulsive surface without loss of…
In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion…
Robotic fish have attracted growing attention in recent years owing to their biomimetic design and potential applications in environmental monitoring and biological surveys. Among robotic fish employing the Body-Caudal Fin (BCF) locomotion…
Compared with fixed-wing flight, flapping flight can generate a higher lift and is also more maneuverable, largely resulting from the benefits of wing rotation. By analyzing the real wing kinematics of fruit flies, we found that the wing…
Undulatory locomotion, a gait in which thrust is produced in the opposite direction of a traveling wave of body bending, is a common mode of propulsion used by animals in fluids, on land, and even within sand. As such it has been an…
We computationally study the kinematics of a simple model reciprocal swimmer (asymmetric dumbbell) as a function of the Reynolds number (Re) and investigate how the onset and gradual increase of inertia impacts the swimming behavior: a…
We theoretically study the self-propulsion of a thin (slender) colloid driven by asymmetric chemical reactions on its surface at vanishing Reynolds number. Using the method of matched asymptotic expansions, we obtain the colloid…
We study a linear inviscid model of a passively flexible swimmer with distributed flexibility, calculating its propulsive performance and optimal distributions of flexibility. The frequencies of actuation and mean stiffness ratios we…
Understanding the interplay between hydrodynamics and chemical sensing in aquatic environments is crucial for unraveling biological swimmers' navigation, foraging, and communication strategies. This study investigates the role of kinematics…
Organisms that locomote by propagating waves of body bending can maintain performance across heterogeneous environments by modifying their gait frequency $\omega$ or wavenumber $k$. We identify a unifying relationship between these…
Sperm modulate their flagellar symmetry to navigate through complex physico-chemical environments and achieve reproductive function. Yet it remains elusive how sperm swim forwards despite the inherent asymmetry of several components that…
Recent research has shown that motile cells can adapt their mode of propulsion depending on the environment in which they find themselves. One mode is swimming by blebbing or other shape changes, and in this paper we analyze a class of…
Gas turbine engines are highly efficient and powerful because of their high-pressure turbines (HPTs). Furthermore, stationary blades shape and prepare high-pressure gas for efficient utilization by moving blades. Consequently, optimizing…
In this paper, we introduce a kinodynamic model predictive control (MPC) framework that exploits unidirectional parallel springs (UPS) to improve the energy efficiency of dynamic legged robots. The proposed method employs a hierarchical…
Hexapod robots are potentially suitable for carrying out tasks in cluttered environments since they are stable, compact, and light weight. They also have multi-joint legs and variable height bodies that make them good candidates for tasks…
We study, by means of an exact analytical solution, the motion of a spheroidal, axisymmetric squirmer in an unbounded fluid, as well as the low Reynolds number hydrodynamic flow associated to it. In contrast to the case of a spherical…
Sinusoidal undulation has long been considered the most successful swimming pattern for fish and bionic aquatic robots [1]. However, a swimming pattern generated by the hair clip mechanism (HCM, part iii, Figure 1A) [2]~[5] may challenge…