7 papers
Optimal control of a swimming robot based on Purcell's microswimmer model
Noam Berkovich Lahav, Oren Wiezel, Yizhar Or
Purcell's swimmer is a well-known planar model of a swimming microorganism, governed by low Reynolds number hydrodynamics, which is comprised of three rigid links connected by actu…
Dynamics, stability, and energy efficiency of an energy-recycling rimless wheel with spring-clutch legs
Tongchen Lin, Yanqiu Zheng, Chuhan Zhang +3
This paper proposes an energy-recycling rimless wheel with spring-clutch legs. The proposed mechanism uses a lockable clutch to store part of the impact-induced elastic energy afte…
Passive Vibration-Driven Locomotion
Anna Zigelman, Gilad Israel, Yizhar Or +1
We investigate a concept of passive, vibration-driven locomotion, in which a mechanical system achieves horizontal self-propulsion by resonantly harvesting energy from vertical env…
Locomotion Dynamics of an Underactuated Three-Link Robotic Vehicle
Leonid Raz, Yizhar Or
The wheeled three-link snake robot is a well-known example of an underactuated system modelled using nonholonomic constraints, preventing lateral slippage (skid) of the wheels. A k…
Sample Efficient Learning of Body-Environment Interaction of an Under-Actuated System
Zvi Chapnik, Yizhar Or, Shai Revzen
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-fric…
Dynamics and multi-stability of a rotor-actuated Twistcar robot with passive steering joint
Anna Zigelman, Zitao Yu, Rom Levy +1
The nonlinear dynamics of many under-actuated wheeled platforms are governed by nonholonomic constraints of no-skid for passively rolling wheels, coupled with momentum balance. In…