相关论文: Bifurcations in Latch-Mediated Spring Actuation (L…
Many small animals, particularly insects, use power-amplification to generate rapid motions, such as jumping, that would otherwise be impossible given the standard power density of muscle. A common framework for understanding this power…
Natural organisms have evolved integrated Latch-Mediated Spring Actuation systems (LaMSA) that consist of multiple latches and springs to enhance power output and adapt to diverse environmental conditions. Similar designs are appealing yet…
Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling…
Latch-mediated Spring Actuation (LaMSA) is a mechanism found in nature, employed by organisms that generate the highest levels of power density through repeatable, rapid energy release. While LaMSA has been used in engineered systems like…
Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is interesting to study from a robotics perspective since it can…
Quadrupedal animals employ diverse galloping strategies to optimize speed, stability, and energy efficiency. However, the biomechanical mechanisms that enable adaptive gait transitions during high-speed locomotion under load remain poorly…
Many biochemical processes can successfully be described by dynamical systems allowing some form of switching when, depending on their initial conditions, solutions of the dynamical system end up in different regions of state space…
We propose a novel design paradigm for multistate machines where transitions from one state to another are organized by bifurcations of multiple equilibria of the energy landscape describing the collective interactions of the machine…
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On…
This paper discusses the theory and algorithms for interacting large language model agents (LLMAs) using methods from statistical signal processing and microeconomics. While both fields are mature, their application to decision-making…
In statistical mechanics, the Potts model is a model for interacting spins with more than two discrete states. Neural networks which exhibit features of learning and associative memory can also be modeled by a system of Potts spins. A…
Teleoperating high degrees-of-freedom (DoF) robotic manipulators via low-DoF controllers like joysticks often requires frequent switching between control modes, where each mode maps controller movements to specific robot actions. Manually…
Reconfigurable robots refer to a category of robots that their components (individual joints and links) can be assembled in multiple configurations and geometries. Most of existing latching mechanisms are based on physical tools such as…
Spin masers are a prototype nonlinear dynamic system. They undergo a bifurcation at a critical amplification factor, transiting into a limit cycle phase characterized by a Larmor precession around the external bias magnetic field, thereby…
Identifying early warning signs of sudden population changes and mechanisms leading to regime shifts are highly desirable in population biology. In this paper, a two-trophic ecosystem comprising of two species of predators, competing for…
Modulating the stiffness of soft actuators is crucial for improving the efficiency of interaction with the environment. However, current stiffness modulation mechanisms are hard to achieve high lateral stiffness and a wide range of bending…
Dynamical properties of two-component mass-imbalanced few-fermion systems confined in a one-dimensional harmonic trap following a sudden quench of interactions are studied. It is assumed that initially the system is prepared in the…
Large-Scale Multi-Agent Systems (LS-MAS) consist of several autonomous components, interacting in a non-trivial way, so that the emerging behaviour of the ensemble depends on the individual dynamics of the components and their reciprocal…
Animals run robustly in diverse terrain. This locomotion robustness is puzzling because axon conduction velocity is limited to a few ten meters per second. If reflex loops deliver sensory information with significant delays, one would…
It was recently argued that one-dimensional systems of several strongly interacting fermions of different mass undergo critical transitions between different spatial orderings when the external confinement adiabatically changes its shape.…