Abstract: Terrestrial locomotion that is produced by creating and exploiting frictional anisotropy is common amongst animals such as snakes, gastropods, and limbless lizards. In this paper we present a model of a bristlebot that ...

Abstract: Microscale swimming robots have been envisaged for many biomedical applications such as targeted drug delivery, where the microrobot will be expected to navigate in a fluid environment while carrying a payload. We show ...

Abstract: Objects moving in water or stationary objects in streams create a vortex wake. An underwater robot encountering the wake created by another body experiences disturbance forces and moments. These disturbances can be associated ...

Abstract: The Chaplygin sleigh is a canonical problem of mechanical systems with nonholonomic constraints. Such constraints often arise due to the role of a no-slip requirement imposed by friction. In the case of the Chaplygin sleigh, ...

Abstract: The control of the motion of nonholonomic systems is of practical importance from the perspective of robotics. In this paper, we consider the dynamics of a cartlike system that is both propelled forward by motion of an ...

Abstract: Compliant mechanisms have been studied extensively as an alternative to traditional rigid body design with advantages like part number reduction, compliance, and multistable configurations. Most of the past research on ...

Abstract: A mathematical model that invokes the Kutta condition to account for vortex shedding from the trailing edge of a free hydrofoil in a planar ideal fluid is compared with a canonical model for the dynamics of a terrestrial ...