相关论文: Optimizing snake locomotion on an inclined plane

Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees of freedom, which make them capable of versatile three-dimensional locomotion. In motion planning process, snake robot motions are often…

Snake robots are inspired by the ability of biological snakes to move over rock, grass, leaves, soil, up trees, along pavement and more. Their ability to move in multiple distinct environments is due to their legless locomotion strategy,…

Of the vast variety of animal gaits, one of the most striking is the non-planar undulating motion of a sidewinder. But non-planar gaits are not limited to sidewinders. Here we report a new non-planar mode used as an escape strategy in…

Self-propelling organisms locomote via generation of patterns of self-deformation. Despite the diversity of body plans, internal actuation schemes and environments in limbless vertebrates and invertebrates, such organisms often use similar…

Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when…

I introduce a new type of continuous-time quantum walk on graphs called the quantum snake walk, the basis states of which are fixed-length paths (snakes) in the underlying graph. First I analyze the quantum snake walk on the line, and I…

Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful…

Gaits engineered for snake-like robots to rotate in-place instrumentally fill a gap in the set of locomotive gaits that have traditionally prioritized translation. This paper designs a Turn-in-Place gait and demonstrates the ability of a…

Many previous studies of sliding locomotion have assumed that body inertia is negligible. Here we optimize the kinematics of a three-link body for efficient locomotion and include among the kinematic parameters the temporal period of…

Locomotion requires that an animal or robot be able to move itself forward farther than it moves backward in each gait cycle (formally, that it be able to break the symmetry of its interactions with the world). Previous work has established…

When navigating complex environments, animals often combine multiple strategies to mitigate the effects of external disturbances. These modalities often correspond to different sources of information, leading to speed-accuracy trade-offs.…

Tail bending associated with maneuvering flight of insects is a known phenomenon although there are only a few studies which analyze and quantify the effects and benefits of body configuration changes. We hypothesized that these…

Soft robotic snakes made of compliant materials can continuously deform their bodies and, therefore, mimic the biological snakes' flexible and agile locomotion gaits better than their rigid-bodied counterparts. Without wheel support, to…

Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how…

Snake states are open trajectories for charged particles propagating in two dimensions under the influence of a spatially varying perpendicular magnetic field. In the quantum limit they are protected edge modes that separate topologically…

Screw-based propulsion systems offer promising capabilities for amphibious mobility, yet face significant challenges in optimizing locomotion across water, granular materials, and transitional environments. This study presents a systematic…

We study the possibility of efficient intermittent locomotion for two-link bodies that slide by changing their interlink angle periodically in time. We find that the anisotropy ratio of the sliding friction coefficients is a key parameter,…

This paper presents an optimization-based motion planning methodology for snake robots operating in constrained environments. By using a reduced-order model, the proposed approach simplifies the planning process, enabling the optimizer to…

Animal locomotion is often subject to constraints arising from anatomical/physiological asymmetries. We use the nematode C.~elegans as a minimal model system to ask whether such constraints might shape locomotion patterns optimized during…

Terrestrial locomotion requires generating appropriate ground reaction forces which depend on substrate geometry and physical properties. The richness of positions and orientations of terrain features in the 3-D world gives limbless animals…