相关论文: Topological sorting of magnetic colloidal bipeds
Topological defects play a critical role across many fields, mediating phase transitions and macroscopic behaviors as they move through space. Their role as robust information carriers has also generated much attention. However, controlling…
In this paper we study symmetric motion planning algorithms, i.e. such that the motion from one state A to another B, prescribed by the algorithm, is the time reverse of the motion from B to A. We experiment with several different notions…
Movements of molecular motors on cytoskeletal filaments are described by directed walks on a line. Detachment from this line is allowed to occur with a small probability. Motion in the surrounding fluid is described by symmetric random…
The collective motion of arrays of cilia - tiny, hairlike protrusions - drives the locomotion of numerous microorganisms, enabling multimodal motion and autonomous switching between gaits to navigate complex environments. To endow…
We consider a nonstationary random walk on a compact metrizable abelian group. Under a classical strict aperiodicity assumption we establish a weak-* convergence to the Haar measure, Ergodic Theorem and Large Deviation Type Estimate.
We simulate the dynamics of paramagnetic colloidal particles that are placed above a magnetic hexagonal pattern and exposed to an external field periodically changing its direction along a control loop. The conformation of three colloidal…
Topological orders are a class of exotic states of matter characterized by patterns of long-range entanglement. Certain topologically ordered systems are proposed as potential realization of fault-tolerant quantum computation. Topological…
This article describes a bipedal walking algorithm with inverse kinematics resolution based solely on geometric methods, so that all mathematical concepts are explained from the base, in order to clarify the reason for this solution. To do…
This paper studies bipedal locomotion as a nonlinear optimization problem based on continuous and discrete dynamics, by simultaneously optimizing the remaining step duration, the next step duration and the foot location to achieve…
Scaling the design of robots up or down remains a fundamental challenge. While biological systems follow well-established isometric and allometric scaling laws relating mass, stride frequency, velocity, and torque, it is unclear how these…
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…
Recent interest in topological semimetals has lead to the proposal of many new topological phases that can be realized in real materials. Next to Dirac and Weyl systems, these include more exotic phases based on manifold band degeneracies…
Understanding the motion of particles with ligand-receptors is important for biomedical applications and material design. Yet, even among a single design, the prototypical DNA-coated colloids, seemingly similar micrometric particles hop or…
Optimization of energy cost determines average values of spatio-temporal gait parameters such as step duration, step length or step speed. However, during walking, humans need to adapt these parameters at every step to respond to exogenous…
Living organisms have developed advanced motion strategies for efficient space exploration, serving as inspiration for the movements of microrobots. These real-life strategies often involve anomalous dynamics displaying random movement…
When the motion of a motile cell is observed closely, it appears erratic, and yet the combination of nonequilibrium forces and surfaces can produce striking examples of organization in microbial systems. While most of our current…
Inspired by animals that co-adapt their brain and body to interact with the environment, we present a tendon-driven and over-actuated (i.e., n joint, n+1 actuators) bipedal robot that (i) exploits its backdrivable mechanical properties to…
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…
Edge currents of paramagnetic colloidal particles propagate at the edge between two topologically equivalent magnetic lattices of different lattice constant when the system is driven with periodic modulation loops of an external magnetic…