波动主动碰撞中的散射动力学
The dynamics of scattering in undulatory active collisions
摘要：
自然和人工自推进系统必须在运动过程中管理环境相互作用。这种相互作用，我们称之为主动碰撞，与经典物理学中研究的动量守恒相互作用有着根本的不同，这主要是因为运动的内部驱动可以导致与异质性的持续接触。在这里，我们的实验和数值研究的横向起伏的感觉剥夺robophysical模型，其动态适用于跨长度尺度和环境的自推进系统的主动碰撞的影响。机器人通过身体部分的空间波动移动，具有接近线性的几何中心轨迹。与单个刚性柱的相互作用分散机器人，并且这些偏转与头柱接触持续时间成比例。散射角的分布是平滑的，并且在柱的正后方具有强峰值。与单排均匀间隔的柱（柱间间距为$d$）的相互作用产生的分布使人联想到远场衍射图案：随着$d$减小，随着大的偏转变得更可能，出现明显的次级峰。令人惊讶的是，我们发现，多个职位的存在并没有改变个别碰撞的性质，相反，多模态散射模式产生多个职位改变个别碰撞发生的可能性。随着$d$的减小，柱前缘附近的碰撞变得更有可能，并且我们发现这些相互作用与更大的偏转有关。我们的研究结果强调了自推进系统主动碰撞期间可能发生的令人惊讶的动力学，可以为复杂地形中的运动器的控制原理提供信息，并促进具有任务能力的活性物质的设计。
英文摘要：
Natural and artificial self-propelled systems must manage environmental interactions during movement. Such interactions, which we refer to as active collisions, are fundamentally different from momentum-conserving interactions studied in classical physics, largely because the internal driving of the locomotor can lead to persistent contact with heterogeneities. Here, we experimentally and numerically study the effects of active collisions on a laterally-undulating sensory-deprived robophysical model, whose dynamics are applicable to self-propelled systems across length scales and environments. The robot moves via spatial undulation of body segments, with a nearly-linear center-of-geometry trajectory. Interactions with a single rigid post scatter the robot, and these deflections are proportional to the head-post contact duration. The distribution of scattering angles is smooth and strongly-peaked directly behind the post. Interactions with a single row of evenly-spaced posts (with inter-post spacing $d$) produce distributions reminiscent of far-field diffraction patterns: as $d$ decreases, distinct secondary peaks emerge as large deflections become more likely. Surprisingly, we find that the presence of multiple posts does not change the nature of individual collisions; instead, multi-modal scattering patterns arise from multiple posts altering the likelihood of individual collisions to occur. As $d$ decreases, collisions near the leading edges of the posts become more probable, and we find that these interactions are associated with larger deflections. Our results, which highlight the surprising dynamics that can occur during active collisions of self-propelled systems, can inform control principles for locomotors in complex terrain and facilitate design of task-capable active matter.
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