相关论文: Cockroaches adjust body and appendages to traverse…

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…

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…

Many applications require robots to move through complex 3-D terrain with large obstacles, such as self-driving, search and rescue, and extraterrestrial exploration. Although robots are already excellent at avoiding sparse obstacles, they…

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…

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…

Effective locomotion in nature happens by transitioning across multiple modes (e.g., walk, run, climb). Despite this, far more mechanistic understanding of terrestrial locomotion has been on how to generate and stabilize around…

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.…

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…

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…

Walking animals, like stick insects, cockroaches or ants, demonstrate a fascinating range of locomotive abilities and complex behaviors. The locomotive behaviors can consist of a variety of walking patterns along with adaptation that allow…

To traverse complex three-dimensional terrainwith large obstacles, animals and robots must transition across different modes. However, the most mechanistic understanding of terrestrial locomotion concerns how to generate and stabilize…

Robots are still poor at traversing cluttered large obstacles required for important applications like search and rescue. By contrast, animals are excellent at doing so, often using direct physical interaction with obstacles rather than…

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…

Terrestrial animals often must self-right from an upside-down orientation on the ground to survive. Here, we compared self-righting strategies of the Madagascar hissing, American, and discoid cockroaches on a challenging flat, rigid,…

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…

Quadruped animals seamlessly transition between gaits as they change locomotion speeds. While the most widely accepted explanation for gait transitions is energy efficiency, there is no clear consensus on the determining factor, nor on the…

The centimeter-scale cyborg insects have a potential advantage for application in narrow environments where humans cannot operate. To realize such tasks, researchers have developed a small printed-circuit-board (PCB) which an insect can…

Many snakes live in deserts, forests, and river valleys and traverse challenging 3-D terrain like rocks, felled trees, and rubble, with obstacles as large as themselves and variable surface properties. By contrast, apart from branch…