3 papers
cs.RO2025
The Omega Turn: A General Turning Template for Elongate Robots
Baxi Chong, Tianyu Wang, Kelimar Diaz +12
Elongate limbless robots have the potential to locomote through tightly packed spaces for applications such as search-and-rescue and industrial inspections. The capability to effec…
physics.bio-ph2024
Dispersion Relations for Active Undulators in Overdamped Environments
Christopher J. Pierce, Daniel Irvine, Lucinda Peng +3
Organisms that locomote by propagating waves of body bending can maintain performance across heterogeneous environments by modifying their gait frequency or wavenumber . We…
cs.RO2023
Mechanical Intelligence Simplifies Control in Terrestrial Limbless Locomotion
Tianyu Wang, Christopher Pierce, Velin Kojouharov +4
Limbless locomotors, from microscopic worms to macroscopic snakes, traverse complex, heterogeneous natural environments typically using undulatory body wave propagation. Theoretica…