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Importance and methods to control, vary, and characterize mud strength for studying locomotion
Divya Ramesh, Gargi Sadalgekar, Qiyuan Fu +3
Animals and robots encounter mud at the water-land interface. Like sand, mud can stay solid or flow like a fluid. Unlike sand, the yield strength of mud at which solid-fluid transi…
Snake and Snake Robot Locomotion in Complex, 3-D Terrain
Qiyuan Fu
Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perfo…
Snakes combine vertical and lateral bending to traverse uneven terrain
Qiyuan Fu, Henry C. Astely, Chen Li
Terrestrial locomotion requires generating appropriate ground reaction forces which depend on substrate geometry and physical properties. The richness of positions and orientations…
Contact feedback helps snake robots propel against uneven terrain using vertical bending
Qiyuan Fu, Chen Li
Snakes can bend their elongate bodies in various forms to traverse various environments. We understand how snakes use lateral bending to push against asperities on flat ground for…
Continuous body 3-D reconstruction of limbless animals
Qiyuan Fu, Thomas W. Mitchel, Jin Seob Kim +2
Limbless animals such as snakes, limbless lizards, worms, eels, and lampreys move their slender, long bodies in three dimensions to traverse diverse environments. Accurately quanti…
Lateral oscillation and body compliance help snakes and snake robots stably traverse large, smooth obstacles
Qiyuan Fu, Sean W. Gart, Thomas W. Mitchel +3
Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake l…