Related papers: Flapping Wings Amplify Pitch Stability: Insights f…
Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…
The optimal stiffness for soft swimming robots depends on swimming speed, which means no single stiffness can maximise efficiency in all swimming conditions. Tunable stiffness would produce an increased range of high-efficiency swimming…
Flapping insect flight is a complex and beautiful phenomenon that relies on fast, active control mechanisms to counter aerodynamic instability. To directly investigate how freely-flying D. melanogaster control their body pitch angle against…
The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amplify human strength. While human impedance is typically…
We study the statistics of the horizontal component of atmospheric boundary layer wind speed. Motivated by its non-stationarity, we investigate which parameters remain constant or can be regarded as being piece-wise constant and explain how…
Predicting flutter remains a key challenge in aeroelastic research, with certain models relying on modal parameters, such as natural frequencies and damping ratios. These models are particularly useful in early design stages or for the…
Flutter in lightweight airfoils under unsteady flows presents a critical challenge in aeroelastic stability and control. This study uncovers phase-localized mechanisms that drive the onset and suppression of flutter in a freely pitching…
We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also…
In contact-rich tasks, setting the stiffness of the control system is a critical factor in its performance. Although the setting range can be extended by making the stiffness matrix asymmetric, its stability has not been proven. This study…
Stick insect stepping patterns have been studied for insights about locomotor rhythm generation and control, because the underlying neural system is relatively accessible experimentally and produces a variety of rhythmic outputs. Harnessing…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
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…
This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…
We extend the model of surface granular flow proposed in \cite{bcre} to account for the effect of an external `wind', which acts as to dislodge particles from the static bed, such that a stationary state of flowing grains is reached. We…
The paper shows sufficiency conditions for stability of continuous periodic orbits under phase uncertainty. Phase based uncertainty is a trait of bipedal walking robots, where the desired trajectories are parameterized by a monotonous…
This paper extends our previous study on an explicit saturated control for a quadcopter, which ensures both constraint satisfaction and stability thanks to the linear representation of the system in the flat output space. The novelty here…
The expanding application in Micro-Air Vehicles has encouraged many researchers to understand the unsteady flow around a flapping foil at a low Reynolds number. We numerically investigate an incompressible unsteady flow around a…
Dimensionless frequency scaling laws for active separation control on flat-plate wings, using dielectric barrier discharge plasma actuators, were examined on the basis of maximum increases to lift coefficient, and compared with hovering…
Vine robots extend their tubular bodies by everting material from the tip, enabling navigation in complex environments with a minimalist soft body. Despite their promise for field applications, especially in the urban search and rescue…
Studying sample path behaviour of stochastic fields/processes is a classical research topic in probability theory and related areas such as fractal geometry. To this end, many methods have been developed since a long time in Gaussian…