16 papers · 1 filter
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…
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…
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…
Shape-induced obstacle attraction and repulsion during dynamic locomotion
Yuanfeng Han, Ratan Othayoth, Yulong Wang +4
Robots still struggle to dynamically traverse complex 3-D terrain with many large obstacles, an ability required for many critical applications. Body-obstacle interaction is often…
Randomness in appendage coordination facilitates strenuous ground self-righting
Qihan Xuan, Chen Li
Randomness is common in biological and artificial systems, resulting either from stochasticity of the environment or noise in organisms or devices themselves. In locomotor control,…