Proprioceptive feedback design for gait synchronization in collective undulatory robots

Hao, Zhuonan; Zhou, Wei; Gravish, Nick

doi:10.1080/01691864.2022.2050810

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Mechanical Model For a Single Tail Motion1

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2022

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“…When body curvature propagates down a nematode body, as required for locomotion (e.g., [42]), we find that a natural outcome is a figure of 8 shaped tail tip trajectory. However, a more complex model than explored here, including steric interactions and possibly proprioceptive feedback [42,43], would be needed to better match the observed body shapes.…”

Section: Mechanical Model For a Single Tail Motionmentioning

confidence: 99%

Fluid circulation driven by collectively organized metachronal waves in swimming T. aceti nematodes

et al. 2022

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Recent experiments have shown that the nematode T. aceti can assemble into collectively undulating groups at the edge of fluid drops. This coordinated state consists of metachronal waves and drives fluid circulation inside the drop. We find that the circulation velocity is about 2 mm/s and nearly half the speed of the metachronal wave. We develop a quasi two-dimensional hydrodynamics model using the Stokes flow approximation. The periodic motion of the nematodes constitute our moving boundary condition that drives the flow. Our model suggests that large amplitude excursions of the nematodes tails produce the fluid circulation. We discuss the constraints on containers that would enhance fluid motion, which could be used in the future design of on demand flow generating systems.

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Section: Mechanical Model For a Single Tail Motionmentioning

confidence: 99%