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Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…
A fundamental understanding of synchronized behavior in multi-agent systems can be acquired by studying analytically tractable Kuramoto models. However, such models typically diverge from many real systems whose dynamics evolve under…
The controlled assembly of solid-state spins with nanoscale spatial precision is an outstanding challenge for quantum technology. Here, we combine DNA-based patterning with nitrogen-vacancy (NV) ensemble quantum sensors in diamond to form…
Light carrying orbital angular momentum (OAM) has been shown to be of use in a disparate range of fields ranging from astronomy to optical trapping, and as a promising new dimension for multiplexing signals in optical communications and…
Lattices and their underlying symmetries play a central role in determining the physical properties and applications of many natural and engineered materials. By bridging the lattice geometry and rigid-folding kinematics, this study…
Fish locomotion is enabled by fin rays-actively deformable boney rods, which manipulate the fin to facilitate complex interaction with surrounding water and enable propulsion. Replicating the performance and kinematics of the biological fin…
Inspired by spiking neural feedback, we propose a spiking controller for efficient locomotion in a soft robotic crawler. Its bistability, akin to neural fast positive feedback, combined with a sensorimotor slow negative feedback loop,…
Modulating the frequency of a harmonic oscillator at nearly twice its natural frequency leads to amplification and self-oscillation. Above the oscillation threshold, the field settles into a coherent oscillating state with a well-defined…
The wrist plays a pivotal role in facilitating motion dexterity and hand functions. Wrist orthoses, from passive braces to active exoskeletons, provide an effective solution for the assistance and rehabilitation of motor abilities. However,…
Thick origami structures are considered here as assemblies of polygonal panels hinged to each other along their edges according to a corresponding origami crease pattern. The determination of the internal actions caused by external loads in…
This study proposes a reconfigurable modular building system that assembles multistable curved-crease origami blocks. Curved-crease origami is designed with even-vertex polygonal trajectories and an elastica curvature profile. We then…
We address the challenge of effectively controlling the locomotion of legged robots by incorporating precise frequency and phase characteristics, which is often ignored in locomotion policies that do not account for the periodic nature of…
A theoretical scheme for the realization of the sphere-coherent motional states in an optomechanical cavity in the presence of a two-level atom is proposed. To this end, the analogy between an atom-assisted optomechanical cavity and a…
The activity of collections of synchronizing neurons can be represented by weakly coupled nonlinear phase oscillators satisfying Kuramoto's equations. In this article, we build such neural-oscillator models, partly based on…
Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through…
The high-dimensional generalization of the one-dimensional Kuramoto paradigm has been an essential step in bringing about a more faithful depiction of the dynamics of real-world systems. Despite the multi-dimensional nature of the…
Origami and kirigami have emerged as potential tools for the design of mechanical metamaterials whose properties such as curvature, Poisson ratio, and existence of metastable states can be tuned using purely geometric criteria. A major…
The Kuramoto model captures various synchronization phenomena in biological and man-made systems of coupled oscillators. It is well-known that there exists a critical coupling strength among the oscillators at which a phase transition from…
Cyclic motions are fundamental patterns in robotic applications including industrial manipulation and legged robot locomotion. This paper proposes an approach for the online modulation of cyclic motions in robotic applications. For this…
We consider the inertial Kuramoto model of $N$ globally coupled oscillators characterized by both their phase and angular velocity, in which there is a time delay in the interaction between the oscillators. Besides the academic interest, we…