Lateral contact yields longitudinal cohesion in active undulatory systems.
Wei Zhou1, Jaquelin Dezha Peralta1, Zhuonan Hao1
1Mechanical and Aerospace Engineering, University of California, San Diego, California 92093, USA.
Physical Review. E
|June 16, 2022
Summary
Undulating swimmers, like robots and animals, synchronize their movements when close. Their phase difference dictates stable configurations, revealing attractive forces that promote cohesive group behavior in active matter systems.
Area of Science:
- Robotics
- Active Matter Physics
- Collective Behavior
Background:
- Many animals and robots utilize undulatory motion for locomotion.
- Close proximity of undulatory swimmers can lead to emergent collective behaviors like synchronization and clustering.
Purpose of the Study:
- Investigate the influence of contact interactions on the collective behavior of model undulatory swimmers.
- Determine how phase differences between neighboring swimmers affect contact forces and planar configurations.
Main Methods:
- Utilized robotic experiments with two, three, and four three-link swimmers.
- Employed simulations of multi-link undulatory swimmers.
- Developed and tested the 'gait compatibility condition' model for stable configurations.
Main Results:
- Undulatory swimmers in close proximity self-organize into planar equilibrium configurations dependent on their actuation phase difference.
- The gait compatibility condition accurately predicts stable configurations.
- Attractive longitudinal interaction forces were observed, driving swimmers towards compatible configurations.
Conclusions:
- Undulatory phase coherence is crucial for stable and cohesive group configurations in active-matter systems.
- Contact interactions and phase relationships significantly govern collective motion in undulatory swimmers.
- This research offers new insights into the principles of active-matter systems driven by body undulation.
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