相关论文: Cockroaches use diverse strategies to self-right o…

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.…

Animals and robots must self-right on the ground after overturning. Biology research described various strategies and motor patterns in many species. Robotics research devised many strategies. However, we do not well understand how the…

Animals and robots must right themselves after flipping over on the ground. The discoid cockroach pushes its wings against the ground in an attempt to dynamically self-right by a somersault. However, because this maneuver is strenuous, the…

To traverse complex natural terrain, animals often transition between locomotor modes. It is well known that locomotor transitions can be induced by switching in neural control circuits or be driven by a need to minimize metabolic energetic…

Despite contending with constraints imposed by the environment, morphology, and physiology, animals move well by physically interactingwith the environment to use and transition between modes such as running, climbing, and self-righting. By…

Robots excel at avoiding obstacles but struggle to traverse complex 3-D terrain with cluttered large obstacles. By contrast, insects like cockroaches excel at doing so. Recent research in our lab elucidated how locomotor transitions emerge…

Randomness is common in biological and artificial systems, resulting either from stochasticity of the environment or noise in organisms or devices themselves. In locomotor control, randomness is typically considered a nuisance. For example,…

Centipede-like robots offer unique locomotion advantages due to their small cross-sectional area for accessing confined spaces, and their redundant legs enhance robustness in cluttered environments such as search-and-rescue and pipe…

Many animals, modern aircraft, and underwater vehicles use streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through…

Centipede-like robots offer an effective and robust solution to navigation over complex terrain with minimal sensing. However, when climbing over obstacles, such multi-legged robots often elevate their center-of-mass into unstable…

A major challenge to understanding locomotion in complex 3-D terrain with large obstacles is to create tools for controlled, systematic lab experiments. Existing terrain arenas only allow observations at small spatiotemporal scales (~10…

It is well known that animals can use neural and sensory feedback via vision, tactile sensing, and echolocation to negotiate obstacles. Similarly, most robots use deliberate or reactive planning to avoid obstacles, which relies on prior…

Small animals and robots must often rapidly traverse large bump-like obstacles when moving through complex 3-D terrains, during which, in addition to leg-ground contact, their body inevitably comes into physical contact with the obstacles.…

Robots still struggle to dynamically traverse complex 3-D terrain with many large obstacles, an ability required for many critical applications. Body-obstacle interaction is often inevitable and induces perturbation and uncertainty in…

Birds employ rapid pitch-up motions for different purposes: perching birds use this motion to decelerate and come to a complete stop while hunting birds, like bald eagles, employ it to catch prey and swiftly fly away. Motivated by these…

Many animals display sensitivity to external magnetic field, but only in the simplest organisms the sensing mechanism is understood. Here we report on behavioural experiments where American cockroaches (Periplaneta americana) were subjected…

Crocodiles, known as one of the oldest and most resilient species on Earth, have demonstrated remarkable locomotor abilities both on land and in water, evolving over millennia to adapt to diverse environments. In this paper, we draw…

Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…

A diversity of animals that run on solid, level, flat, non-slip surfaces appear to bounce on their legs; elastic elements in the limbs can store and return energy during each step. The mechanics and energetics of running in natural terrain,…

Unlike a helicopter, an insect can, in theory, use both lift and drag to stay aloft. Here we show that a dragonfly uses mostly drag to hover by employing asymmetric up and down strokes. Computations of a family of strokes further show that…