相关论文: Three-Dimensional Dynamic Modeling and Motion Anal…

Animals move in three dimensions (3D). Thus, 3D measurement is necessary to report the true kinematics of animal movement. Existing 3D measurement techniques draw on specialized hardware, such as motion capture or depth cameras, as well as…

We investigate the dynamics of a magnetoelastic robot with a dipolar magnetic head and a slender elastic body as it performs undulatory strokes and burrows through water-saturated granular beds. The robot is actuated by an oscillating…

We implement a simple hydrodynamical model to study behavioural swimming tilt angle of open swimmbladder fish. For this purpose we study the stability of forces acting on a fish swimming horizontally with constant velocity. Additionally,…

The performance of underwater crawling and adjustment of the body posture for underwater manipulating of the deep-sea crawling and swimming robot (DCSR) is directly influenced by the dynamic performance of the underwater mechanical legs…

Fish exhibit impressive locomotive performance and agility in complex underwater environments, using their undulating tails and pectoral fins for propulsion and maneuverability. Replicating these abilities in robotic fish is challenging;…

Tracking Lagrangian coherent structures in dynamical systems is important for many applications such as oceanography and weather prediction. In this paper, we present a collaborative robotic control strategy designed to track stable and…

The controlled actuation of hydraulic and pneumatic actuators has unveiled fresh and thrilling opportunities for designing mobile robots with adaptable structures. Previously reported rolling robots, which were powered by fluidic systems,…

A data-driven and equation-free approach is proposed and discussed to model ships maneuvers in waves, based on the dynamic mode decomposition (DMD). DMD is a dimensionality-reduction/reduced-order modeling method, which provides a linear…

The dynamics of flexible filaments entrained in flow, important for understanding many biological and industrial processes, are computationally expensive to model with full-physics simulations. This work describes a data-driven technique to…

This paper presents a novel Representation-Free Model Predictive Control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in three dimensional (3D) space. Our formulation directly represents the rotational…

We consider an interacting particle system proposed in the literature to model fish behavior. In this model, the agents move at constant speed and control the curvature of their trajectory (i.e. the time-derivative of their velocity) so as…

Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance…

This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle…

We investigate the scenario that a robot needs to reach a designated goal after taking a sequence of appropriate actions in a non-static environment that is partially structured. One application example is to control a marine vehicle to…

Mobile robots, such as ground vehicles and quadrotors, are becoming increasingly important in various fields, from logistics to agriculture, where they automate processes in environments that are difficult to access for humans. However, to…

Suspensions of self-propelled particles, such as swimming micro-organisms, are known to undergo complex dynamics as a result of hydrodynamic interactions. This fluid dynamics video presents a numerical simulation of such a suspension, based…

Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…

When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…

Motivated by a recent article on open problems in artificial life, here I postulate three laws which form a mathematical framework to describe artificial life evolutionary dynamics. They are based on a continuous approximation of population…

Simple experiments for which differential equations cannot be solved analytically can be addressed using an effective model that satisfactorily reproduces the experimental data. In this work, the one-dimensional kinematics of a…