相关论文: Optimal Gaits for Drag-dominated Swimmers with Pas…

Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important challenge in the field. Current methods for the design of energy…

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…

This paper studies the problem of passive grasp stability under an external disturbance, that is, the ability of a grasp to resist a disturbance through passive responses at the contacts. To obtain physically consistent results, such a…

The current study presents a systematic investigation of the locomotion performance of a swimmer with a wide range of parameter settings. Two-dimensional simulations with the immersed boundary method are employed for the fluid-structure…

In this work we developed a mathematical model and a simulation platform for a fish-inspired robotic template, namely Magnetic, Modular, Undulatory Robotics ($\mu$Bots). Through this platform, we systematically explored the effects of…

Fluid antenna system promises to obtain enormous diversity in the small space of a mobile device by switching the position of the radiating element to the most desirable position from a large number of prescribed locations of the given…

Smart active particles can acquire some limited knowledge of the fluid environment from simple mechanical cues and exert a control on their preferred steering direction. Their goal is to learn the best way to navigate by exploiting the…

We study a simple model of periodic contraction and extension of large intruders in a granular bed to understand the mechanism for swimming in an otherwise solid media. Using an event-driven simulation, we find optimal conditions that…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

In nature, many unicellular organisms are able to swim with the help of beating filaments, where local energy input leads to cooperative undulatory beating motion. Here, we investigate by employing reinforcement learning how undulatory…

We present a passive, data-driven velocity control method for nonlinear robotic manipulators that achieves better tracking performance than optimized PID with comparable design complexity. Using only three minutes of probing data, a…

In our previous paper [N. Tsutsumi, K. Nakai and Y. Saiki, Chaos 32, 091101 (2022)], we proposed a method for constructing a system of differential equations of chaotic behavior from only observable deterministic time series, which we call…

A high fidelity model is developed for an elastic string pendulum, one end of which is attached to a rigid body while the other end is attached to an inertially fixed reel mechanism which allows the unstretched length of the string to be…

Swimming and flying animals demonstrate remarkable adaptations to diverse flow conditions in their environments. In this study, we aim to advance the fundamental understanding of the interaction between flexible bodies and heterogeneous…

Both experiments and direct numerical simulations have been used to demonstrate that riblets can reduce turbulent drag by as much as $10\%$, but their systematic design remains an open challenge. In this paper, we develop a model-based…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

Predicting lower limb motion intent is vital for controlling exoskeleton robots and prosthetic limbs. Surface electromyography (sEMG) attracts increasing attention in recent years as it enables ahead-of-time prediction of motion intentions…

As a first step in the project of ratchet optimisation, the optimal driving waveform among a wide class of admissible functions for an overdamped, adiabatic rocking ratchet is shown to be dichotomous. `Optimum' is defined as that which…

This paper applies the theory of rate-independent systems to model the locomotion of bio-mimetic soft crawlers. We prove the well-posedness of the approach and illustrate how the various strategies adopted by crawlers to achieve locomotion,…

We study the efficiency of sliding locomotion for three-link bodies in the presence of dry (Coulomb) friction. Friction coefficient space can be partitioned into several regions, each with distinct types of efficient kinematics. These…