294 citations · 687 across the 19 of their papers we have counts for
4 papers · 1 filter
Optimal Gaits for Drag-dominated Swimmers with Passive Elastic Joints
Suresh Ramasamy, Ross L. Hatton
In this paper, we identify optimal swimming strategies for drag-dominated swimmers with a passive elastic joint. We use resistive force theory (RFT) to obtain the dynamics of the s…
Geometric phase predicts locomotion performance in undulating living systems across scales
Jennifer M Rieser, Baxi Chong, Chaohui Gong +8
Self-propelling organisms locomote via generation of patterns of self-deformation. Despite the diversity of body plans, internal actuation schemes and environments in limbless vert…
A Data-Driven Approach to Connection Modeling
Brian A. Bittner, Ross L. Hatton, Shai Revzen
The study of motion in animals and robots has been aided by insights from geometric mechanics. In friction dominated systems, a mechanical "connection" can provide a high fidelity…
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…