相关论文: A Microscopic Mechanism for Muscle's Motion
While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic (or dynamic) constraints of the real robotic system when…
Muscles sense internally generated and externally applied forces, responding to these in a coordinated hierarchical manner at different time scales. The center of the basic unit of the muscle, the sarcomeric M-band, is perfectly placed to…
Many studies decompose human motion into local motion in a frame attached to the root joint and global motion of the root joint in the world frame, treating them separately. However, these two components are not independent. Global movement…
Among the multiple steps constituting the kinesin's mechanochemical cycle, one of the most interesting events is observed when kinesins move an 8-nm step from one microtubule (MT)-binding site to another. The stepping motion that occurs…
The Ising model, originally proposed a century ago, has become a cornerstone of combinatorial optimization in recent decades. However, Ising machines remain constrained by a fundamental hardware-speed trade-off. We introduce the Bounce-Bind…
Rapid transduction of sensory stimulation to action is essential for an animal to survive. To this end, most animals use the sub-second excitable and multistable dynamics of a neuromuscular system. Here, studying an animal without neurons…
We discuss the stick-slip motion of an elastic block sliding along a rigid substrate. We argue that for a given external shear stress this system shows a discontinuous nonequilibrium transition from a uniform stick state to uniform sliding…
The swinging spring, or elastic pendulum, has a 2:1:1 resonance arising at cubic order in its approximate Lagrangian. The corresponding modulation equations are the well-known three-wave equations that also apply, for example, in…
Sliding motion between two rough solids under light normal loading involves myriad micro-impacts between antagonist micro-asperities. Those micro-impacts are at the origin of many emerging macroscopic phenomena, including the friction…
Living cells move thanks to assemblies of actin filaments and myosin motors that range from very organized striated muscle tissue to disordered intracellular bundles. The mechanisms powering these disordered structures are debated, and all…
While the power stroke of myosin and the release of inorganic phosphate (Pi) play crucial roles in transforming ATP's chemical energy into mechanical work across diverse biological systems, the exact temporal relationship between these…
Use of harmonic guiding potentials is the most common method for implementing steered molecular dynamics (SMD) simulations, performed to obtain potentials of mean force (PMFs) of molecular systems using non-equilibrium work (NEW) theorems.…
Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…
Elastically-driven motion has been used as a strategy to achieve high speeds in small organisms and engineered micro-robotic devices. We examine the size-scaling relations determining the limit of elastic energy release from elastomer bands…
Stick-slip motion, a common phenomenon observed during crawling of cells, is found to be strongly sensitive to the substrate stiffness. Stick-slip behaviours have previously been investigated typically using purely elastic substrates. For a…
Cellular migration is crucial for biological processes including embryonic development, immune response, and wound healing. The myosin-clutch model is a framework that describes how cells control migration through the interactions between…
In this paper we study the controlled motion of an arbitrary two-dimensional body in an ideal fluid with a moving internal mass and an internal rotor in the presence of constant circulation around the body. We show that by changing the…
A soft, thin, elastomeric micro-cylinder is induced to roll on a solid substrate by releasing small quantity of a solvent. The solvent swells the cylinder asymmetrically at one side and evaporates out of it from where it is exposed to…
Predicting how a deformable body moves and deforms in a viscous flow underlies problems ranging from microorganism locomotion to soft microrobotics, yet existing frameworks are either problem-specific or ill-suited to inverse design. We…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…