Bridging Walking and Slithering – Stokesian Locomotion
dc.contributor.author | Revzen, Shai | |
dc.contributor.author | Zhao, Dan | |
dc.contributor.author | Clifton, Glenna | |
dc.contributor.author | Gravish, Nicholas | |
dc.date.accessioned | 2022-04-20T16:28:54Z | |
dc.date.available | 2022-04-20T16:28:54Z | |
dc.date.issued | 2021-05-20 | |
dc.identifier.uri | https://hdl.handle.net/2027.42/172173 | en |
dc.description | This a peer reviewed 1-page extended abstract for a talk given at the Dynamic Walking conference, 2021 | en_US |
dc.description.abstract | Both legged locomotion and slithering motions typically utilize periodic gaits – repeating cycles of body shape change that produce a net motion through the world. Legged locomotion can be viewed from the perspective of piecewise contact constraint formation and removal. Slithering and low Reynolds number swimming operate under continuous constraints of force balance, wherein dissipation removes the ability to accumulate momentum. Here we discuss how to bridge the gap between these domains of motion, thereby, among other benefits, producing models for the space of legged locomotion with slipping. The connective fabric is the use of a “Stokesian”, or “local connection” model. | en_US |
dc.description.sponsorship | Army Research Office Defense University Research Instrumentation Program grant W911NF-17-1-0243 Army Research Office Multi University Research Initiative grant W911NF-17-1-0306 National Science Foundation Civil, Mechanical and Manufacturing Innovation grant 1825918 D. Dan and Betty Kahn Michigan-Israel Partnership for Research and Education Autonomous Systems Mega-Project | en_US |
dc.language.iso | en_US | en_US |
dc.rights | Attribution-ShareAlike 4.0 International | * |
dc.rights.uri | http://creativecommons.org/licenses/by-sa/4.0/ | * |
dc.subject | locomotion | en_US |
dc.subject | theoretical mechanics | en_US |
dc.subject | biomechanics | en_US |
dc.title | Bridging Walking and Slithering – Stokesian Locomotion | en_US |
dc.type | Other | en_US |
dc.subject.hlbsecondlevel | Computer Science | |
dc.subject.hlbsecondlevel | Electrical Engineering | |
dc.subject.hlbtoplevel | Engineering | |
dc.description.peerreviewed | Peer Reviewed | en_US |
dc.contributor.affiliationum | Electrical Engineering and Computer Science | en_US |
dc.contributor.affiliationum | Ecology and Evolutionary Biology | en_US |
dc.contributor.affiliationum | Robotics | en_US |
dc.contributor.affiliationum | Mechanical Engineering | en_US |
dc.contributor.affiliationother | Department of Biology, University of Portland, Portland, Oregon | en_US |
dc.contributor.affiliationother | Mechanical & Aerospace Engineering, University of California San Diego | en_US |
dc.contributor.affiliationumcampus | Ann Arbor | en_US |
dc.description.bitstreamurl | http://deepblue.lib.umich.edu/bitstream/2027.42/172173/1/DW2021-1.pdf | |
dc.identifier.doi | https://dx.doi.org/10.7302/4322 | |
dc.identifier.source | Dynamic Walking | en_US |
dc.description.mapping | 84b631d7-aa77-4c16-b024-4ad83d186b3c | en_US |
dc.identifier.orcid | 0000-0002-2989-0356 | en_US |
dc.identifier.orcid | 0000-0003-0095-0818 | en_US |
dc.identifier.orcid | 0000-0002-5806-7254 | en_US |
dc.identifier.orcid | 0000-0002-9391-2476 | en_US |
dc.description.filedescription | Description of DW2021-1.pdf : Main document | |
dc.description.depositor | SELF | en_US |
dc.identifier.name-orcid | Revzen, Shai; 0000-0002-2989-0356 | en_US |
dc.identifier.name-orcid | Zhao, Dan; 0000-0003-0095-0818 | en_US |
dc.identifier.name-orcid | Clifton, Glenna; 0000-0002-5806-7254 | en_US |
dc.identifier.name-orcid | Gravish, Nicholas; 0000-0002-9391-2476 | en_US |
dc.working.doi | 10.7302/4322 | en_US |
dc.owningcollname | Electrical Engineering and Computer Science, Department of (EECS) |
Files in this item
Remediation of Harmful Language
The University of Michigan Library aims to describe library materials in a way that respects the people and communities who create, use, and are represented in our collections. Report harmful or offensive language in catalog records, finding aids, or elsewhere in our collections anonymously through our metadata feedback form. More information at Remediation of Harmful Language.
Accessibility
If you are unable to use this file in its current format, please select the Contact Us link and we can modify it to make it more accessible to you.