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Fish display remarkable swimming capabilities through the coordinated interaction of the body and caudal fin, yet the potential role of a passively pitching tail in enhancing hydrodynamic performance remains unresolved. In this work, we…
Self-propelled colloidal swimmers move by pushing the adjacent fluid backwards. The resulting motion of an asymmetric body depends on the profile of pushing velocity over its surface. We describe a method of predicting the motion arising…
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…
The ability to generate robust walking gaits on bipedal robots is key to their successful realization on hardware. To this end, this work extends the method of Hybrid Zero Dynamics (HZD) -- which traditionally only accounts for locomotive…
Myoelectric prosthetic hands are intended to replace the function of the amputee's lost arm. Therefore, developing robotic prosthetics that can mimic not only the appearance and functionality of humans but also characteristics unique to…
We establish through numerical simulation conditions for optimal undulatory propulsion for a single fish, and for a pair of hydrodynamically interacting fish, accounting for linear and angular recoil. We first employ systematic 2D…
Undulatory locomotion is common to nematodes as well as to limbless vertebrates, but its control is not understood in spite of the identification of hundred of genes involved in Caenorhabditis elegans locomotion. To reveal the mechanisms of…
Several micro-organisms, such as bacteria, algae, or spermatozoa, use flagella or cilia to swim in a fluid, while many other micro-organisms instead use ample shape deformation, described as amoeboid, to propel themselves by either crawling…
This paper presents the modeling and verification of multibody structural dynamics for offshore wind turbines. The flexible tower and support structure of a monopile-based offshore wind turbine are modeled using an acausal,…
Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…
Fish schools are capable of simultaneous linear acceleration. To reveal the underlying hydrodynamic mechanism, we numerically investigate how Reynolds number $ Re = 1000 - 2000 $, Strouhal number $ St = 0.2 - 0.7 $ and wavelength $ \lambda…
We present force characterizations of two newly developed insect-scale propulsors--one single-tailed and one double-tailed--for microrobotic swimmers that leverage fluid-structure interaction (FSI) to generate thrust. The designs of these…
All-around, real-time navigation and sensing across the water environments by miniature soft robotics are promising, for their merits of small size, high agility and good compliance to the unstructured surroundings. In this paper, we…
Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a…
The swimming of a spheroid immersed in a viscous fluid and performing surface deformations periodically in time is studied on the basis of Stokes equations of low Reynolds number hydrodynamics. The average over a period of time of the…
The bizarre trident-like cephalic projections of Walliserops trifurcatus have previously been interpreted as sexually selected weapons for intraspecific combat. We propose an alternative hypothesis grounded in biomechanics and collective…
The journey of mammalian spermatozoa in nature is well-known to be reliant on their individual motility. Often swimming in crowded microenvironments, the progress of any single swimmer is likely dependent on their interactions with other…
Pump foiling enables a hydrofoil surfboard to sustain forward motion on flat water using only periodic leg pumping, converting vertical oscillations into hydrodynamic lift and thrust. We present a minimal mechanical model of pump foil…
A key ecological parameter for planktonic copepods studies is their interspecies encounter rate which is driven by their behaviour and is strongly influenced by turbulence of the surrounding environment. A distinctive feature of copepods…
Fluid-suspended microorganisms have evolved different swimming and feeding strategies in order to cope with an environment dominated by viscous effects. For instance ciliated organisms rely on the collective motion of flexible appendices to…