19 papers
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…
Simulation of snakes using vertical body bending to traverse terrain with large height variation
Yifeng Zhang, Qihan Xuan, Qiyuan Fu +1
Snake moves across various terrains by bending its elongated body. Recent studies discovered that snakes can use vertical bending to traverse terrain of large height variation, suc…
Cockroaches adjust body and appendages to traverse cluttered large obstacles
Yaqing Wang, Ratan Othayoth, Chen Li
To traverse complex natural terrain, animals often transition between locomotor modes. It is well known that locomotor transitions can be induced by switching in neural control cir…
Omni-Roach: A legged robot capable of traversing multiple types of large obstacles and self-righting
Jonathan Mi, Yaqing Wang, Chen Li
Robots excel at avoiding obstacles but struggle to traverse complex 3-D terrain with cluttered large obstacles. By contrast, insects like cockroaches excel at doing so. Recent rese…
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…
Locomotor transitions in the potential energy landscape-dominated regime
Ratan Othayoth, Qihan Xuan, Yaqing Wang +1
To traverse complex three-dimensional terrainwith large obstacles, animals and robots must transition across different modes. However, the most mechanistic understanding of terrest…