4.8 Article

Walking is like slithering: A unifying, data-driven view of locomotion

相关参考文献

注意:仅列出部分参考文献,下载原文获取全部文献信息。
Article Multidisciplinary Sciences

Coordinating tiny limbs and long bodies: Geometric mechanics of lizard terrestrial swimming

Baxi Chong et al.

Summary: This study investigates body-limb coordination in lizards using biological experiments, a geometric theory of locomotion, and robophysical models. The findings suggest that body-wave dynamics in lizards can be described by a combination of standing and traveling waves, and the ratio of these components is inversely related to limb reduction and body elongation. The study also reveals that soil-dwelling lizards propel via terrestrial swimming, similar to sand-swimming lizards and snakes. The research provides insights into the functional constraints of elongation and limb reduction and can contribute to advancements in robot designs.

PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA (2022)

Proceedings Paper Automation & Control Systems

Generalized Omega Turn Gait Enables Agile Limbless Robot Turning in Complex Environments

Tianyu Wang et al.

Summary: This paper proposes a novel control method for limbless robots inspired by the turning behavior of nematode worms, and demonstrates its effectiveness and stability in various environments through experiments.

2022 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2022) (2022)

Article Robotics

Coordination of lateral body bending and leg movements for sprawled posture quadrupedal locomotion

Baxi Chong et al.

Summary: This study investigates the coordination between body bending and limb movement in quadrupedal locomotion, using a geometric approach to quantify gait performance and optimize coordination patterns for systems dominated by damping forces. The effectiveness of lateral undulation coordinated with leg movement in robot motion is demonstrated, with theoretical results validated through numerical simulations and robophysical experiments. The study not only focuses on robotics, but also accurately predicts optimal body bending of a living salamander.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2021)

Article Robotics

Frequency modulation of body waves to improve performance of sidewinding robots

Baxi Chong et al.

Summary: Sidewinding locomotion in limbless robots and snakes relies on coordination of horizontal and vertical traveling waves for stability and maneuverability. Modulating the vertical wave can stabilize configurations and generate desired translation and rotation. This approach expands the movement capabilities of sidewinding locomotors on different terrains.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2021)

Review Biology

Surprising simplicities and syntheses in limbless self-propulsion in sand

Henry C. Astley et al.

JOURNAL OF EXPERIMENTAL BIOLOGY (2020)

Article Biochemistry & Molecular Biology

Mantis Shrimp Navigate Home Using Celestial and Idiothetic Path Integration

Rickesh N. Patel et al.

CURRENT BIOLOGY (2020)

Article Multidisciplinary Sciences

Uneven substrates constrain walking speed in ants through modulation of stride frequency more than stride length

G. T. Clifton et al.

ROYAL SOCIETY OPEN SCIENCE (2020)

Proceedings Paper Engineering, Electrical & Electronic

A systematic approach to creating terrain-capable hybrid soft/hard myriapod robots

Yasemin Ozkan-Aydin et al.

2020 3RD IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT) (2020)

Article Engineering, Mechanical

Gait modeling and optimization for the perturbed Stokes regime

Matthew D. Kvalheim et al.

NONLINEAR DYNAMICS (2019)

Article Biochemical Research Methods

Fast animal pose estimation using deep neural networks

Talmo D. Pereira et al.

NATURE METHODS (2019)

Article Engineering, Mechanical

Geometrically optimal gaits: a data-driven approach

Brian Bittner et al.

NONLINEAR DYNAMICS (2018)

Article Biology

Static stability predicts the continuum of interleg coordination patterns in Drosophila

Nicholas S. Szczecinski et al.

JOURNAL OF EXPERIMENTAL BIOLOGY (2018)

Article Automation & Control Systems

Rapidly Prototyping Robots Using Plates and Reinforced Flexures

Ian Fitzner et al.

IEEE ROBOTICS & AUTOMATION MAGAZINE (2017)

Article Robotics

Geometric Swimming at Low and High Reynolds Numbers

Ross L. Hatton et al.

IEEE TRANSACTIONS ON ROBOTICS (2013)

Article Multidisciplinary Sciences

Ancient deuterostome origins of vertebrate brain signalling centres

Ariel M. Pani et al.

NATURE (2012)

Article Robotics

Geometric motion planning: The local connection, Stokes' theorem, and the importance of coordinate choice

Ross L. Hatton et al.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2011)

Review Biology

Odometry and insect navigation

Harald Wolf

JOURNAL OF EXPERIMENTAL BIOLOGY (2011)

Article Biochemistry & Molecular Biology

Direct Evidence for Distance Measurement via Flexible Stride Integration in the Fiddler Crab

Michael L. Walls et al.

CURRENT BIOLOGY (2009)

Article Multidisciplinary Sciences

Undulatory Swimming in Sand: Subsurface Locomotion of the Sandfish Lizard

Ryan D. Maladen et al.

SCIENCE (2009)

Article Physics, Fluids & Plasmas

Estimating the phase of synchronized oscillators

Shai Revzen et al.

PHYSICAL REVIEW E (2008)

Article Multidisciplinary Sciences

Enhanced Caenorhabditis elegans Locomotion in a Structured Microfluidic Environment

Sungsu Park et al.

PLOS ONE (2008)

Article Computer Science, Cybernetics

A hexapedal jointed-leg model for insect locomotion in the horizontal plane

Raghavendra P. Kukillaya et al.

BIOLOGICAL CYBERNETICS (2007)

Article Robotics

Geometric motion planning analysis for two classes of underactuated mechanical systems

Elie A. Shammas et al.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2007)

Article Automation & Control Systems

Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting

B Goodwine et al.

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION (2002)

Article Multidisciplinary Sciences

Ant odometry in the third dimension

S Wohlgemuth et al.

NATURE (2001)

Article Robotics

Optimal gait selection for nonholonomic locomotion systems

JP Ostrowski et al.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2000)