论文标题
桥接步行和滑行 - 斯托克斯运动
Bridging Walking and Slithering -- Stokesian Locomotion
论文作者
论文摘要
腿部的运动和滑行运动通常都使用周期性步态 - 重复体形的循环变化，从而在世界各地产生净运动。可以从零件的触点约束形成和去除的角度看待腿部运动。滑行和低雷诺数游泳在力平衡的连续约束下运行，其中耗散消除了积累动量的能力。在这里，我们讨论了如何弥合这些运动领域之间的差距，从而除其他好处外，还为腿部运动空间产生模型，并滑倒。结缔组织是使用“ Stokesian”或“本地连接”模型的使用。
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 piece-wise 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.
