相关论文: Optimizing snake locomotion in the plane. I. Compu…
This article describes a set of methods for quickly computing the solution to the regularized optimal transport problem. It generalizes and improves upon the widely-used iterative Bregman projections algorithm (or Sinkhorn--Knopp…
The swimming of a bead-spring chain in a viscous incompressible fluid as a model of a sperm is studied in the framework of low Reynolds number hydrodynamics. The optimal mode in the class of planar flagellar strokes of small amplitude is…
Despite advances in a diversity of environments, snake robots are still far behind snakes in traversing complex 3-D terrain with large obstacles. This is due to a lack of understanding of how to control 3-D body bending to push against…
We use a series of global models to investigate the linear and nonlinear interactions between shock cells, Kelvin-Helmholtz waves, guided jet modes, and other fluctuations in a screeching jet. First, we identify a set of lightly damped…
Recent theoretical and experimental investigations have revealed that flapping compliant membrane wings can significantly enhance propulsive performance (e.g. Tzezana and Breuer, 2019, J. Fluid Mech., 862, 871-888) and energy harvesting…
Animals run robustly in diverse terrain. This locomotion robustness is puzzling because axon conduction velocity is limited to a few ten meters per second. If reflex loops deliver sensory information with significant delays, one would…
Animals use a combination of egocentric navigation driven by the internal integration of environmental cues, interspersed with geocentric course correction and reorientation, often with uncertainty in sensory acquisition of information,…
Insect flight motors are extraordinary natural structures that operate efficiently at high frequencies. Structural resonance is thought to play a role in ensuring efficient motor operation, but the details of this role are elusive. While…
This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic…
Animals' internal states reflect variables like their position in space, orientation, decisions, and motor actions -- but how should these internal states be arranged? Internal states which frequently transition between one another should…
This paper presents a soft-robotic platform for exploring the ecological relevance of non-locomotory movements via animal-robot interactions. Coral snakes (genus Micrurus) and their mimics use vigorous, non-locomotory, and arrhythmic…
A new idea for turbulent skin-friction reduction is proposed, wherein the shape of the solid wall is designed to create the spanwise pressure gradient acting similarly to the well-known method of drag reduction by in-plane spanwise wall…
We wish to discriminate spike sequences based on the degree of irregularity. For this purpose, we search for a rational expressions of quadratic functions of consecutive interspike intervals that efficiently measures spiking irregularity.…
Hovering insects are limited by their physiology and need to rotate their wings at the end of each back and forth motion to keep the wing's leading edge ahead of its trailing edge. The wing rotation at the end of each half-stroke pushes the…
L\'evy walks are random walk processes whose step-lengths follow a long-tailed power-law distribution. Due to their abundance as movement patterns of biological organisms, significant theoretical efforts have been devoted to identifying the…
Kiiking is an extreme sport in which athletes alternate between standing and squatting to pump a standing swing till it is inverted and completes a rotation. A minimal model of the sport may be cast in terms of the control of an actively…
We put forward a novel formulation of the vortex gas model of turbulent circulation statistics to address the challenging case of nonplanar circulation contours. Relying upon a field-theoretical description, statistical moments of the…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…
We give an algorithm to compute a morph between any two convex drawings of the same plane graph. The morph preserves the convexity of the drawing at any time instant and moves each vertex along a piecewise linear curve with linear…