This review focuses on how the modeling of dense granular media has advanced over the
last 15 years. The jumping-off point of our review is the μ (I) rheology for dry granular flow …

Although typically possessing four limbs and short bodies, lizards have evolved diverse
morphologies, including elongate trunks with tiny limbs. Such forms are hypothesized to aid …

Whereas the transport of matter by wheeled vehicles or legged robots can be guaranteed in
engineered landscapes such as roads or rails, locomotion prediction in complex …

Locomotion is typically studied either in continuous media where bodies and legs
experience forces generated by the flowing medium or on solid substrates dominated by …

Contact planning is crucial to the locomotion performance of robots: to properly self-propel
forward, it is not only important to determine the sequence of internal shape changes (eg …

Natural terrain is uneven so it may be beneficial to grasp onto the depressions or'valleys'
between obstacles when walking over such a surface. To examine how leg geometry …

Introduction Millipedes can avoid obstacle while navigating complex environments with their
multi-segmented body. Biological evidence indicates that when the millipede navigates …

The paper is aimed at mimicking the motion of myriapods by using an array of mechanical
arms coupled to an array of FitzHugh–Nagumo (FN) neuron circuits. The differential …

Legged robots have remarkable terrestrial mobility, but are susceptible to falling and leg
malfunction during locomotion. The use of a large number of legs, as in centipedes, can …

Miniature-legged robots are constrained by their onboard computation and control, thus
motivating the need for simple, first-principles-based geometric models that connect periodic …