Dynamics of scattering in undulatory active collisions

Area of Science:

• Robotics and Mechanical Engineering
• Physics of Complex Systems
• Biomimetic Design

Background:

• Self-propelled systems navigate complex environments, facing unique challenges from active collisions.
• Classical physics models do not fully capture the dynamics of driven, dissipative systems interacting with obstacles.

Purpose of the Study:

• To investigate the effects of active collisions on a self-propelled system.
• To develop a simplified model for understanding these interactions.
• To inform the design of locomotors for complex terrains.

Main Methods:

• Experimental and numerical study of a laterally undulating, sensory-deprived robophysical model.
• Analysis of scattering patterns resulting from interactions with single posts and post arrays.
• Development of a reduced model treating the system as a driven circular particle.

Main Results:

• Single post collisions are dominated by head-post contact, leading to scattering.
• Interactions with post arrays produce diffraction-like patterns, with smaller spacing increasing large deflections.
• Multimodal scattering arises from altered collision probabilities due to multiple posts, not changes in individual collision dynamics.

Conclusions:

• Active collisions in self-propelled systems exhibit complex dynamics distinct from classical physics.
• Environmental geometry significantly influences scattering patterns by modulating collision likelihood.
• Findings can guide the control of robots in cluttered environments and the design of active matter.