相关论文: Optimizing snake locomotion on an inclined plane

Taming the instabilities inherent to many nonlinear optical phenomena is of paramount importance for modern photonics. In particular, the so-called snake instability is universally known to severely distort localized wave stripes, leading…

We study self propelled stokesian robots composed of assemblies of balls, in dimensions 2 and 3, and prove that they are able to control their position and orientation. This is a result of controllability, and its proof relies on applying…

In this paper, we propose a novel strategy for a snake robot to move straight up a cylindrical surface. Prior works on pole-climbing for a snake robot mainly utilized a rolling helix gait, and although proven to be efficient, it does not…

The gaits of undulating animals arise from a complex interaction of their central nervous system, muscle, connective tissue, bone, and environment. As a simplifying assumption, many previous studies have often assumed that sufficient…

Bipedal animals have diverse morphologies and advanced locomotion abilities. Terrestrial birds, in particular, display agile, efficient, and robust running motion, in which they exploit the interplay between the body segment masses and…

We consider the optimal dynamics in the infinite population evolution models with general symmetric fitness landscape. The search of optimal evolution trajectories are complicated due to sharp transitions (like shock waves) in evolution…

Common gastropods such as snails crawl on a solid substrate by propagating muscular waves of shear stress on a viscoelastic mucus. Producing the mucus accounts for the largest component in the gastropod's energy budget, more than twenty…

In this paper, we propose a method for generating undulatory gaits for snake robots. Instead of starting from a pre-defined movement pattern such as a serpenoid curve, we use a Model Predictive Control approach to automatically generate…

Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and other natural environments. The elongated, laterally-narrow…

This paper presents a bio-inspired central pattern generator (CPG)-type architecture for learning optimal maneuvering control of periodic locomotory gaits. The architecture is presented here with the aid of a snake robot model problem…

Undulatory locomotion is ubiquitous in nature and observed in different media, from the swimming of flagellated microorganisms in biological fluids, to the slithering of snakes on land, or the locomotion of sandfish lizards in sand. Despite…

High performance quantum computing requires a calibration system that learns optimal control parameters much faster than system drift. In some cases, the learning procedure requires solving complex optimization problems that are non-convex,…

In order to generalize the well-known spanwise-oscillating-wall technique for drag reduction, non-sinusoidal oscillations of a solid wall are considered as a means to alter the skin-friction drag in a turbulent channel flow. A series of…

We study the properties of least time trajectories for particles moving on a two dimensional surface which consists of piecewise homogeneous regions. The particles are assumed to move with different constant speeds on different regions and…

Land snails move via adhesive locomotion. Through muscular contraction and expansion of their foot, they transmit waves of shear stress through a thin layer of mucus onto a solid substrate. Since a free surface cannot support shear stress,…

Propulsion at microscopic scales is often achieved through propagating traveling waves along hair-like organelles called flagella. Taylor's two-dimensional swimming sheet model is frequently used to provide insight into problems of…

We study the parameterized complexity of a variant of the classic video game Snake that models real-world problems of motion planning. Given a snake-like robot with an initial position and a final position in an environment (modeled by a…

We consider arbitrary-shaped microswimmers of spherical topology and propose a framework for expressing their slip velocity in terms of tangential basis functions defined on the boundary of the swimmer using the Helmholtz decomposition.…

The "squirmer model" is a classical hydrodynamic model for the motion of interfacially-driven microswimmers, such as self-phoretic colloids or volvocine green algae. To date, most studies using the squirmer model have considered spherical…

The levels of agility and flight or swimming performance demonstrated by insects, birds, fish, and even some aquatic invertebrates, are often vastly superior to what even the most advanced human-engineered vehicles operating in the same…