相关论文: Bipedal nanowalker by pure physical mechanisms

To enable the broad adoption of wearable robotic exoskeletons in medical and industrial settings, it is crucial they can adaptively support large repertoires of movements. We propose a new human-machine interface to simultaneously drive…

Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…

Due to current technological challenges, including the complexity of precise control, low long-term survival and success rates, difficulty in maintaining function over extended periods, and high energy consumption, the construction of…

We present the single-particle sector of a quantum cellular automaton, namely a quantum walk, on a simple dynamical triangulated $2-$manifold. The triangulation is changed through Pachner moves, induced by the walker density itself,…

Heller et. Al. (Science 311, 508 (2006)) demonstrated the first DNA-CN optical sensor by wrapping a piece of double-stranded DNA around the surface of single-walled carbon nanotubes (CN). This new type of optical device can be placed inside…

We aim to describe a droplet bouncing on a vibrating bath using a simple and highly versatile model inspired from quantum mechanics. Close to the Faraday instability, a long-lived surface wave is created at each bounce, which serves as a…

Self-repelling two-leg (biped) spider walk is considered where the local stochastic movements are governed by two independent control parameters $ \beta_d$ and $ \beta_h $, so that the former controls the distance ($ d $) between the legs…

Iontronics is a burgeoning paradigm that employs ions in solution as information carriers for sensing and computing, e.g., in neuromorphic devices. The fundamentally different working principle as compared to electronics requires novel…

Control over molecular scale electrical properties within nano junctions is demonstrated, utilizing site-directed C60 targeting into protein macromolecules as a doping means. The protein molecules, self-assembled in a miniaturized…

A confined system of non-interacting electrons, subject to the combined effect of a time-dependent potential and different external chemical-potentials, is considered. The current flowing through such a system is obtained for arbitrary…

A new class of self-propelled droplets, coined superwalkers, has been shown to emerge when a bath of silicone oil is vibrated simultaneously at a given frequency and its subharmonic tone with a relative phase difference between them (Valani…

Bacterial quorum sensing can be engineered with a view to the design of biotechnological applications based on their intrinsic role as a means of communication. We propose the creation of a positive feedback loop that will promote the…

Enzymes are nano-scale machines that have evolved to drive chemical reactions out of equilibrium in the right place at the right time. Given the complexity and specificity of enzymatic function, bottom-up design of enzymes presents a…

In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively…

A bouncing droplet, self-propelled by its interaction with the waves it generates, forms a classical wave-particle association called a "walker." Previous works have demonstrated that the dynamics of a single walker is driven by its global…

There are presently two models for quantum walks on graphs. The "coined" walk uses discrete time steps, and contains, besides the particle making the walk, a second quantum system, the coin, that determines the direction in which the…

This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…

Regular arrays of two-level emitters at distances smaller that the transition wavelength collectively scatter, absorb and emit photons. The strong inter-particle dipole coupling creates large energy shifts of the collective delocalized…

An omnidirectional closed-loop gait based on the direct feedback of orientation deviation estimates is presented in this paper. At the core of the gait is an open-loop central pattern generator. The orientation feedback is derived from a 3D…

This paper systematically decomposes a quadrupedal robot into bipeds to rapidly generate walking gaits and then recomposes these gaits to obtain quadrupedal locomotion. We begin by decomposing the full-order, nonlinear and hybrid dynamics…