294 citations · 676 across the 11 of their papers we have counts for
12 papers
Energetic and Control Trade-offs in Spring-Wing Systems
James Lynch, Ethan S. Wold, Jeff Gau +2
Flying insects are thought to achieve energy-efficient flapping flight by storing and releasing elastic energy in their muscles, tendons, and thorax. However, flight systems consis…
Bridging Walking and Slithering -- Stokesian Locomotion
Shai Revzen, Dan Zhao, Glenna Clifton +2
Both legged locomotion and slithering motions typically utilize periodic gaits -- repeating cycles of body shape change that produce a net motion through the world. Legged locomoti…
Lateral contact yields longitudinal cohesion in active undulatory systems
Wei Zhou, Jaquelin Dezha Peralta, Zhuonan Hao +1
Many animals and robots move using undulatory motion of their bodies. When in close proximity undulatory motion can lead to novel collective behaviors such as gait synchronization,…
Dimensional analysis of spring-wing systems reveals performance metrics for resonant flapping-wing flight
James Lynch, Jeffrey Gau, Simon Sponberg +1
Flapping-wing insects, birds, and robots are thought to offset the high power cost of oscillatory wing motion by using elastic elements for energy storage and return. Insects posse…
Collective synchronization of undulatory movement through contact
Wei Zhou, Zhuonan Hao, Nick Gravish
Many biological systems synchronize their movement through physical interactions. By far the most well studied examples concern physical interactions through a fluid: beating cilia…
Flexoskeleton printing for versatile insect-inspired robots
Mingsong Jiang, Ziyi Zhou, Nicholas G. Gravish
One of the many secrets to the success and prevalence of insects is their versatile, robust, and complex exoskeleton morphology. A fundamental challenge in insect-inspired robotics…
Towards a terramechanics for bio-inspired locomotion in granular environments
Chen Li, Yang Ding, Nick Gravish +6
Granular media (GM) present locomotor challenges for terrestrial and extraterrestrial devices because they can flow and solidify in response to localized intrusion of wheels, limbs…
Sidewinding with minimal slip: Snake and robot ascent of sandy slopes
Hamidreza Marvi, Chaohui Gong, Nick Gravish +7
Limbless organisms such as snakes can navigate nearly all terrain. In particular, desert-dwelling sidewinder rattlesnakes (Crotalus cerastes) operate effectively on inclined granul…
Climbing, falling and jamming during ant locomotion in confined environments
Nick Gravish, Daria Monaenkova, Michael A. D. Goodisman +1
Locomotion emerges from effective interactions of an individual with its environment. Principles of biological terrestrial locomotion have been discovered on unconfined vertical an…
Entangled granular media
Nick Gravish, Scott V. Franklin, David L. Hu +1
We study the geometrically induced cohesion of ensembles of granular "u-particles" which mechanically entangle through particle interpenetration. We vary the length-to-width ratio…
Drag induced lift in granular media
Yang Ding, Nick Gravish, Daniel I. Goldman
Laboratory experiments and numerical simulation reveal that a submerged intruder dragged horizontally at constant velocity within a granular medium experiences a lift force whose s…
Force and flow transition in plowed granular media
Nick Gravish, Paul B. Umbanhowar, Daniel I. Goldman
We use plate drag to study the response of granular media to localized forcing as a function of volume fraction, . A bifurcation in the force and flow occurs at the onset of dil…