Substantial work exists in the robotics literature on the mechanical design, modeling, gait generation and implementation of undulatory robotic prototypes. However, there appears to have been relatively limited work on closing the control loop, for such robotic locomotors, using sensory information from exteroceptive sensors, thus leading to more complex reactive undulatory behaviors. This pape...

This work is devoted to the calculation of the undulatory parameters and the study of the influence of te number parallel path of a winding on overvoltage compared to the frame and between turns (sections) in a multiturn random winding of an asynchronous motors supplied with PWMconverters. Keywords—Asynchronous Motors, Parallel path, PWMconverters, Undulatory process, Undulatory parameters, Und...

Undulatory locomotion is studied as a biological paradigm of versatile body morphology and effective motion control, adaptable to a large variety of unstructured and tortuous environmental conditions. Computational models of undulatory locomotion have been developed, and validated on a series of robotic prototypes propelling themselves on sand. The present paper explores in simulation neuromusc...

This paper addresses the modular design of an underwater biomimetic vehicle-manipulator systems (UBVMS) propelled by undulatory fins. Motivated by the cuttlefish, which can perform flexible motions by undulatory propulsion in narrow spaces, our UBVMS with two undulatory fins is designed. The specific implementation of mechanical structure is detailed. In particular, the design philosophy of mod...

Background: In earlier work, inversion of S matrix for 330 MeV O on C resulted in highly undulatory potentials; the S matrix resulted from the inclusion of strong coupling to states of projectile and target nuclei. L-independent S-matrix equivalent potentials for other explicitly L-dependent potentials have been found to be undulatory. Purpose: To investigate the possible implications of the un...

Structure-Borne Traveling Waves (SBTWs) can replicate the combined undulatory and oscillatory motions utilized by body and/or caudal fin (BCF) aquatic swimmers. However, when SBTWs are generated in a dense fluid media, such as water, there is poor understanding of Fluid–Structure Interactions (FSI). There also limited how to achieve full motions. This study demonstrates effect FSI on investigat...

The bodies of fish change shape over propulsive, behavioral, developmental, and evolutionary time scales, a general phenomenon that we call "reconfiguration". Undulatory, postural, and form-reconfiguration can be distinguished, studied independently, and examined in terms of mechanical interactions and evolutionary importance. Using a combination of live, swimming fishes and digital robotic fis...