In this project, I modeled undulatory locomotion using multibody dynamics.
Thanks to variational mechanics, by using Lagragian function setting up the equations of motion was more intuitive.
Later on the equations of motion were solved numerically in Mathematica.
The investigations concluded that various gaits can emerge as the passive body interacts with the environment.
Swimming, crawling, and polychaete-like locomotion are the main observed gaits.
This study also explores how the speed of the body can be maximized depending on its environment and its contact with the environment.
The proper selection of stiffness distribution along the length of the body optimizes the performance of undulatory locomotion.
The theoretical findings are validated using a robo-physical prototype on various substrates.
For detailed reading please refer to the published work.
Yaqoob B, Rodella A, Mazzolai B, Pugno NM. 2023 Investigating the dynamic influence of passive effects on undulatory
locomotion in viscous environment and unleashing the potential of hybrid friction. Extrem. Mech. Lett. ,
102048. https://doi.org/10.1016/j.eml.2023.102048
Yaqoob B, Del Dottore E, Mondini A, Rodella A, Mazzolai B, Pugno NM. Towards the optimization of passive undulatory
locomotion on land: mathematical and physical models. J. R. Soc. Interface
https://doi.org/10.1098/rsif.2023.0330
Yaqoob B, Rodella A, Del Dottore E, Mondini A, Mazzolai B, Pugno NM. 2023 Mechanics and optimization of undulatory locomotion
in different environments, tuning geometry, stiffness, damping and frictional anisotropy. J. R. Soc. Interface
https://doi.org/10.1098/rsif.2022.0875
