相关论文: Dynamics of digging in wet soil
We study the dynamics of an intruder moving through a fluidized granular medium in three dimensions ($d=3$). The intruder and grains have both translational and rotational degrees of freedom. The energy-dissipation mechanism is solid…
The centimeter-scale cyborg insects have a potential advantage for application in narrow environments where humans cannot operate. To realize such tasks, researchers have developed a small printed-circuit-board (PCB) which an insect can…
One of the essential functions of living organisms is spontaneous migration through the deformation of their body, such as crawling, swimming, and walking. Depending on the size of the object, the efficient migratory mode should be altered…
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…
We present an exactly solvable nonlinear model for the directed motion of an object due to zero-mean fluctuations on a uniform featureless surface. Directed motion results from the effect of dry (Coulombic) friction coupled to asymmetric…
Terrestrial animals and robots are susceptible to flipping-over during rapid locomotion in complex terrains. However, small robots are less capable of self-righting from an upside-down orientation compared to small animals like insects.…
We propose a dynamical model for the erosive growth of a channel in a granular medium driven by subsurface water flow. The model is inferred from experimental data acquired with a laser-aided imaging technique. The evolution equation for…
We show that unconstrained asymmetric dissolving solids floating in a fluid can move rectilinearly as a result of attached density currents which occur along their inclined surfaces. Solids in the form of boats composed of centimeter-scale…
The development of versatile robots capable of traversing challenging and irregular environments is of increasing interest in the field of robotics, and metameric robots have been identified as a promising solution due to their slender,…
Autonomous locomotion is a ubiquitous phenomenon in biology and in physics of active systems at microscopic scale. This includes prokaryotic, eukaryotic cells (crawling and swimming) and artificial swimmers. An outstanding feature is the…
Organisms may respond to local stimuli that benefit or threaten their fitness. The adaptive movement behaviour may allow individuals to adjust their speed to maximise the chances of being in comfort zones, where death risk is minimal. We…
Undulatory locomotion of microorganisms like soil-dwelling worms and spermatozoa, in structured environments, is ubiquitous in nature. They navigate complex environments consisting of fluids and obstacles, negotiating hydrodynamic effects…
Robots often interact with the world via attached parts such as wheels, joints, or appendages. In many systems, these interactions, and the manner in which they lead to locomotion, can be understood using the machinery of geometric…
We report laboratory experiments and numerical simulations demonstrating that the anisotropic characteristics of rocks play a major role in the elongation of hydraulic fractures propagating in a plane perpendicular to bedding. Transverse…
Drawing inspiration from animal navigation strategies, we introduce a novel computational model for navigation and mapping, rooted in biologically inspired principles. Animals exhibit remarkable navigation abilities by efficiently using…
Active (i.e., self-propelled or swimming) particles moving through an isotropic fluid exhibit conventional diffusive behavior. We report anomalous diffusion of an active particle moving in an anisotropic, nematic background. Whilst the…
Capturing the emergence of deformation waves in contractile living tissues is a challenge that has recently been tackled with models of actively deformable particles. Inspired by the anisotropic deformation of cardiomyocytes in cardiac…
The aim of this work is to quantify the spatio-temporal dynamics of flow-driven amoeboid locomotion in small ($\sim$100 $\mu$m) fragments of the true slime mold \phys {\it polycephalum}. In this model organism, cellular contraction drives…
Although typically possessing four limbs and short bodies, lizards have evolved a diversity of body plans, from short-bodied and fully-limbed to elongate and nearly limbless. Such diversity in body morphology is hypothesized as adaptations…
Mudskippers are unique amphibious fish capable of locomotion in diverse environments, including terrestrial surfaces, aquatic habitats, and highly viscous substrates such as mud. This versatile locomotion is largely enabled by their…