Terrestrial locomotionTerrestrial locomotion has evolved as animals adapted from aquatic to terrestrial environments. Locomotion on land raises different problems than that in water, with reduced friction being replaced by the increased effects of gravity. As viewed from evolutionary taxonomy, there are three basic forms of animal locomotion in the terrestrial environment: legged – moving by using appendages limbless locomotion – moving without legs, primarily using the body itself as a propulsive structure.
Undulatory locomotionUndulatory locomotion is the type of motion characterized by wave-like movement patterns that act to propel an animal forward. Examples of this type of gait include crawling in snakes, or swimming in the lamprey. Although this is typically the type of gait utilized by limbless animals, some creatures with limbs, such as the salamander, forgo use of their legs in certain environments and exhibit undulatory locomotion. In robotics this movement strategy is studied in order to create novel robotic devices capable of traversing a variety of environments.
Animal locomotionAnimal locomotion, in ethology, is any of a variety of methods that animals use to move from one place to another. Some modes of locomotion are (initially) self-propelled, e.g., running, swimming, jumping, flying, hopping, soaring and gliding. There are also many animal species that depend on their environment for transportation, a type of mobility called passive locomotion, e.g., sailing (some jellyfish), kiting (spiders), rolling (some beetles and spiders) or riding other animals (phoresis).
Robot locomotionRobot locomotion is the collective name for the various methods that robots use to transport themselves from place to place. Wheeled robots are typically quite energy efficient and simple to control. However, other forms of locomotion may be more appropriate for a number of reasons, for example traversing rough terrain, as well as moving and interacting in human environments. Furthermore, studying bipedal and insect-like robots may beneficially impact on biomechanics.
Fish locomotionFish locomotion is the various types of animal locomotion used by fish, principally by swimming. This is achieved in different groups of fish by a variety of mechanisms of propulsion, most often by wave-like lateral flexions of the fish's body and tail in the water, and in various specialised fish by motions of the fins.
SnakeSnakes are elongated, limbless, carnivorous reptiles of the suborder Serpentes (s3r'pEntiːz). Like all other squamates, snakes are ectothermic, amniote vertebrates covered in overlapping scales. Many species of snakes have skulls with several more joints than their lizard ancestors, enabling them to swallow prey much larger than their heads (cranial kinesis). To accommodate their narrow bodies, snakes' paired organs (such as kidneys) appear one in front of the other instead of side by side, and most have only one functional lung.
Rotating locomotion in living systemsSeveral organisms are capable of rolling locomotion. However, true wheels and propellers—despite their utility in human vehicles—do not seem to play a significant role in the movement of living things (with the exception of certain flagella, which work like corkscrews). Biologists have offered several explanations for the apparent absence of biological wheels, and wheeled creatures have appeared often in speculative fiction.
Aquatic locomotionAquatic locomotion or swimming is biologically propelled motion through a liquid medium. The simplest propulsive systems are composed of cilia and flagella. Swimming has evolved a number of times in a range of organisms including arthropods, fish, molluscs, amphibians, reptiles, birds, and mammals. Swimming evolved a number of times in unrelated lineages. Supposed jellyfish fossils occur in the Ediacaran, but the first free-swimming animals appear in the Early to Middle Cambrian.
RoboticsRobotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.
RobotA robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics.
Robot combatRobot combat is a mode of robot competition in which custom-built machines fight using various methods to incapacitate each other. The machines have generally been remote-controlled vehicles rather than autonomous robots. Robot combat competitions have been made into television series, including Robot Wars in the UK and BattleBots in the US. These shows were originally broadcast in the late 1990s to early 2000s and experienced revivals in the mid-2010s.
Flying and gliding animalsA number of animals are capable of aerial locomotion, either by powered flight or by gliding. This trait has appeared by evolution many times, without any single common ancestor. Flight has evolved at least four times in separate animals: insects, pterosaurs, birds, and bats. Gliding has evolved on many more occasions. Usually the development is to aid canopy animals in getting from tree to tree, although there are other possibilities.
Mathematical modelA mathematical model is an abstract description of a concrete system using mathematical concepts and language. The process of developing a mathematical model is termed mathematical modeling. Mathematical models are used in applied mathematics and in the natural sciences (such as physics, biology, earth science, chemistry) and engineering disciplines (such as computer science, electrical engineering), as well as in non-physical systems such as the social sciences (such as economics, psychology, sociology, political science).
Self-reconfiguring modular robotModular self-reconfiguring robotic systems or self-reconfigurable modular robots are autonomous kinematic machines with variable morphology. Beyond conventional actuation, sensing and control typically found in fixed-morphology robots, self-reconfiguring robots are also able to deliberately change their own shape by rearranging the connectivity of their parts, in order to adapt to new circumstances, perform new tasks, or recover from damage.
Sea snakeSea snakes, or coral reef snakes, are elapid snakes that inhabit marine environments for most or all of their lives. They belong to two subfamilies, Hydrophiinae and Laticaudinae. Hydrophiinae also includes Australasian terrestrial snakes, whereas Laticaudinae only includes the sea kraits (Laticauda), of which three species are found exclusively in freshwater. If these three freshwater species are excluded, there are 69 species of sea snakes divided between seven genera.
FrictionFriction is the force resisting the relative motion of solid surfaces, fluid layers, and material elements sliding against each other. There are several types of friction: Dry friction is a force that opposes the relative lateral motion of two solid surfaces in contact. Dry friction is subdivided into static friction ("stiction") between non-moving surfaces, and kinetic friction between moving surfaces. With the exception of atomic or molecular friction, dry friction generally arises from the interaction of surface features, known as asperities (see Figure 1).
Snake charmingSnake charming is the practice of appearing to hypnotize a snake (often a cobra) by playing and waving around an instrument called a pungi. A typical performance may also include handling the snakes or performing other seemingly dangerous acts, as well as other street performance staples, like juggling and sleight of hand. The practice was historically the profession of some tribesmen in India well into the 20th century but snake charming declined rapidly after the government banned the practice in 1972.
Snake skeletonA snake skeleton consists primarily of the skull, vertebrae, and ribs, with only vestigial remnants of the limbs. The skull of a snake is a very complex structure, with numerous joints to allow the snake to swallow prey far larger than its head. The typical snake skull has a solidly ossified braincase, with the separate frontal bones and the united parietal bones extending downward to the basisphenoid, which is large and extends forward into a rostrum extending to the ethmoidal region.
Mathematical logicMathematical logic is the study of formal logic within mathematics. Major subareas include model theory, proof theory, set theory, and recursion theory (also known as computability theory). Research in mathematical logic commonly addresses the mathematical properties of formal systems of logic such as their expressive or deductive power. However, it can also include uses of logic to characterize correct mathematical reasoning or to establish foundations of mathematics.
Mathematical economicsMathematical economics is the application of mathematical methods to represent theories and analyze problems in economics. Often, these applied methods are beyond simple geometry, and may include differential and integral calculus, difference and differential equations, matrix algebra, mathematical programming, or other computational methods. Proponents of this approach claim that it allows the formulation of theoretical relationships with rigor, generality, and simplicity.
