Advances in modeling dense granular media
This review focuses on how the modeling of dense granular media has advanced over the
last 15 years. The jumping-off point of our review is the μ (I) rheology for dry granular flow …
last 15 years. The jumping-off point of our review is the μ (I) rheology for dry granular flow …
Coordinating tiny limbs and long bodies: Geometric mechanics of lizard terrestrial swimming
Although typically possessing four limbs and short bodies, lizards have evolved diverse
morphologies, including elongate trunks with tiny limbs. Such forms are hypothesized to aid …
morphologies, including elongate trunks with tiny limbs. Such forms are hypothesized to aid …
Multilegged matter transport: A framework for locomotion on noisy landscapes
Whereas the transport of matter by wheeled vehicles or legged robots can be guaranteed in
engineered landscapes such as roads or rails, locomotion prediction in complex …
engineered landscapes such as roads or rails, locomotion prediction in complex …
Self-propulsion via slipping: Frictional swimming in multilegged locomotors
Locomotion is typically studied either in continuous media where bodies and legs
experience forces generated by the flowing medium or on solid substrates dominated by …
experience forces generated by the flowing medium or on solid substrates dominated by …
Optimizing contact patterns for robot locomotion via geometric mechanics
Contact planning is crucial to the locomotion performance of robots: to properly self-propel
forward, it is not only important to determine the sequence of internal shape changes (eg …
forward, it is not only important to determine the sequence of internal shape changes (eg …
Optimal planar leg geometry in robots and crabs for idealized rocky terrain
Natural terrain is uneven so it may be beneficial to grasp onto the depressions or'valleys'
between obstacles when walking over such a surface. To examine how leg geometry …
between obstacles when walking over such a surface. To examine how leg geometry …
Leg-body coordination strategies for obstacle avoidance and narrow space navigation of multi-segmented, legged robots
Introduction Millipedes can avoid obstacle while navigating complex environments with their
multi-segmented body. Biological evidence indicates that when the millipede navigates …
multi-segmented body. Biological evidence indicates that when the millipede navigates …
Actuating mechanical arms coupled to an array of FitzHugh–Nagumo neuron circuits
IK Ngongiah, B Ramakrishnan, GF Kuiate… - The European Physical …, 2023 - Springer
The paper is aimed at mimicking the motion of myriapods by using an array of mechanical
arms coupled to an array of FitzHugh–Nagumo (FN) neuron circuits. The differential …
arms coupled to an array of FitzHugh–Nagumo (FN) neuron circuits. The differential …
Maneuverable and Efficient Locomotion of a Myriapod Robot with Variable Body-Axis Flexibility via Instability and Bifurcation
S Aoi, Y Yabuuchi, D Morozumi, K Okamoto… - Soft …, 2023 - liebertpub.com
Legged robots have remarkable terrestrial mobility, but are susceptible to falling and leg
malfunction during locomotion. The use of a large number of legs, as in centipedes, can …
malfunction during locomotion. The use of a large number of legs, as in centipedes, can …
Geometrically modulable gait design for quadrupeds
HKH Prasad, RL Hatton… - IEEE Robotics and …, 2024 - ieeexplore.ieee.org
Miniature-legged robots are constrained by their onboard computation and control, thus
motivating the need for simple, first-principles-based geometric models that connect periodic …
motivating the need for simple, first-principles-based geometric models that connect periodic …