A "Sidewinding" Locomotion Gait for Hyper-Redundant Robots

This paper considers the kinematics of a novel form of hyper-redundant mobile robot locomotion which is analogous to the 'sidewinding' locomotion of desert snakes. This form of locomotion can be generated by a repetitive travel wave of mechanism bending. Using a continuous backbone curve model, we develop algorithms which enable travel in a uniform direction as well as changes in direction

Interaction of quasilocal harmonic modes and boson peak in glasses

The direct proportionality relation between the boson peak maximum in glasses, $\omega_b$, and the Ioffe-Regel crossover frequency for phonons, $\omega_d$, is established. For several investigated materials $\omega_b = (1.5\pm 0.1)\omega_d$. At the frequency $\omega_d$ the mean free path of the phonons $l$ becomes equal to their wavelength because of strong resonant scattering on quasilocal harmonic oscillators. Above this frequency phonons cease to exist. We prove that the established correlation between $\omega_b$ and $\omega_d$ holds in the general case and is a direct consequence of bilinear coupling of quasilocal oscillators with the strain field.Comment: RevTex, 4 pages, 1 figur

Stiff polymer in monomer ensemble

We make use of the previously developed formalism for a monomer ensemble and include angular dependence of the segments of the polymer chains thus described. In particular we show how to deal with stiffness when the polymer chain is confined to certain regions. We investigate the stiffness from the perspectives of a differential equation, integral equations, or recursive relations for both continuum and lattice models. Exact analytical solutions are presented for two cases, whereas numerical results are shown for a third case.Comment: 10 pages, including 6 figure

Tension Dynamics and Linear Viscoelastic Behavior of a Single Semiflexible Polymer Chain

We study the dynamical response of a single semiflexible polymer chain based on the theory developed by Hallatschek et al. for the wormlike-chain model. The linear viscoelastic response under oscillatory forces acting at the two chain ends is derived analytically as a function of the oscillation frequency . We shall show that the real part of the complex compliance in the low frequency limit is consistent with the static result of Marko and Siggia whereas the imaginary part exhibits the power-law dependence +1/2. On the other hand, these compliances decrease as the power law -7/8 for the high frequency limit. These are different from those of the Rouse dynamics. A scaling argument is developed to understand these novel results.Comment: 23 pages, 6 figure

Design, fabrication and control of soft robots

Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.National Science Foundation (U.S.) (Grant IIS-1226883