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8th Vienna International Conference on Mathematical Modelling

作者： Cicconofri, Giancarlo DeSimone, Antonio SISSA Int Sch Adv Studies Via Bonomea 265 I-3136 Trieste Italy

We examine the problem of snake-like locomotion by studying a model system consisting of a planar inextensible elastic rod that is able to control its spontaneous curvature. Using Cosserat theory we derive the equations of motion for two special cases: one in which the system is confined inside a channel with frictionless walls, and one in which the system is placed on an anisotropic frictional environment with an infinite contrast between longitudinal and transversal friction, so that the rod can slide longitudinally along its axis, but cannot slip laterally (i.e., in the transversal direction). The results obtained by solving these equations of motion are reminiscent of classical experimental results in the biological literature, and provide a scheme to rationalise the observed behaviour. (C) 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Modelling applications in Mechanics, Mechatronics, and Robotics control systems and real-time applications Biology, Physiology and Medicine Self-propelled locomotion Limbless undulatory locomotion Snake locomotion Soft bio-inspired robotics

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Swimming and crawling motility at microscopic scales: from biological templates to bio-inspired devices 8

Swimming and crawling motility at microscopic scales: from b...

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8th Vienna International Conference on Mathematical Modelling

作者： DeSimone, Antonio Cicconofri, Giancarlo SISSA Int Sch Adv Studies Via Bonomea 265 I-34130 Trieste Italy

We discuss the mechanical bases of cellular motility by swimming and crawling. Special emphasis placed on the connections between low Reynolds number swimming and Geometric control Theory, and on the geometric structure of the underlying equations of motion. We examine some concrete examples, taken from the case studies that have been recently considered by our group. These include reverse engineering of the euglenoid movement, self-propelled droplets of active fluids, and one-dimensional models of slender crawlers. (C) 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved,

关键词： Modelling applications in Mechanics Mechatronics, and Robotics control systems and real-time applications Biology, Physiology and Medicine Self-propelled locomotion Unicelluar swimmers Biological Crawlers Soft bio-inspired robotics

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Limbless locomotion on solid surfaces: a case study in soft bio-inspired robotics

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IFAC-PapersOnLine 2015年第1期48卷 827-828页

作者： Giancarlo Cicconofri Antonio DeSimone SISSA-International School for Advanced Studies Via Bonomea 265 34136 Trieste Italy SISSA-International School for Advanced Studies Via Bonomea 265 34136 Trieste Italy.

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Swimming and crawling motility at microscopic scales: from biological templates to bio-inspired devices

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IFAC-PapersOnLine 2015年第1期48卷 825-826页

作者： Antonio DeSimone Giancarlo Cicconofri SISSA-International School for Advanced Studies Via Bonomea 265 34136 Trieste Italy.

We discuss the mechanical bases of cellular motility by swimming and crawling. Special emphasis is placed on the connections between low Reynolds number swimming and Geometric control Theory, and on the geometric structure of the underlying equations of motion. We examine some concrete examples, taken from the case studies that have been recently considered by our group. These include reverse engineering of the euglenoid movement, self-propelled droplets of active fluids, and one-dimensional models of slender crawlers.

关键词： Modelling applications in Mechanics, Mechatronics, and Robotics control systems and real-time applications Biology, Physiology and Medicine Self-propelled locomotion Unicelluar swimmers Biological Crawlers Soft bio-inspired robotics

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