arXiv subjects

Jennifer M. Rieser

Publications and source records attributed to Jennifer M. Rieser.

9 recordsLinked to original sources

arXiv2026

Redundant contacts and force redistribution stabilize limbless vertical climbing

Animals navigating complex vertical environments must secure stable footholds, a challenge for species without feet. While arboreal climbing has evolved repeatedly in snakes, the physical mechanisms they use to scale broad, nearly flat surfaces remain poorly understood. By measuring three-dimensional body kinematics and per-contact forces on a smooth vertical wall with protruding posts, we show that cornsnakes climb by dynamically balancing forces across a highly redundant network of 5 to 16 simultaneous contacts--far exceeding the three contacts minimally required for physical stability. Using a computational model and a robotic climber, we demonstrate that while simple body undulations and passive friction are mechanically sufficient to climb this terrain, snakes systematically deviate from this passive baseline. While downward climbing relies primarily on friction, ascending snakes actively generate positive mechanical work at their contacts to propel themselves. Furthermore, we found that whenever a snake engages a new contact, it triggers a stereotyped, system-wide redistribution of force that seamlessly integrates the new foothold without disrupting whole-body balance. These results reveal how a continuous, flexible body can transform sparse environmental features into a robust, fault-tolerant network. This mechanism provides a biomechanical framework for understanding the repeated evolution of limbless climbing and offers physical principles for designing agile robots for unstructured terrain.

physics.bio-ph↗

arXiv2025

Preserved reptile scales retain microscopic features, revealing a new instance of convergent evolution

Small-scale structures on biological surfaces can profoundly impact how animals move, appear, and interact with their environments. Such textures may be especially important for limbless reptiles, such as snakes and legless lizards, because their skin serves as the primary interface with the world around them. Here, we examine ventral microstructures of several limbless reptiles, which are hypothesized to be highly specialized to aid locomotion via frictional interactions. Inspired by prior studies that investigated potential links between microtextures, phylogeny, habitat, and locomotion -- but that were limited by their reliance on shed skins -- we characterized the structures present on preserved museum specimens and found that they are quantitatively similar to those found on shed skins. Using this result, we confirmed a previously hypothesized -- but untested due to the lack of shed skins -- third independent evolution of sidewinding-specific isotropic microtexture. Specifically, we examined a museum-preserved \textit{Bitis peringueyi} specimen and identified a new instance of convergent evolution in sidewinding viper microstructures: the loss of micro-spikes (present on many snake species) and the appearance of micro-pits with a characteristic spacing. Our results reveal that museum-preserved specimens retain intact microtextures, greatly expanding the availability of samples for evolutionary studies.

physics.bio-ph↗

arXiv2022

A general locomotion control framework for multi-legged locomotors

Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve mobility. However, a challenge in designing and controlling such devices lies in the coordination of high-dimensional redundant modules in a way that improves mobility. Here we develop a general framework to control serially connected multi-legged robots. Specifically, we combine two approaches to build a general shape control scheme which can provide baseline patterns of self-deformation ("gaits") for effective locomotion in diverse robot morphologies. First, we take inspiration from a dimensionality reduction and a biological gait classification scheme to generate cyclic patterns of body deformation and foot lifting/lowering, which facilitate generation of arbitrary substrate contact patterns. Second, we use geometric mechanics methods to facilitates identification of optimal phasing of these undulations to maximize speed and/or stability. Our scheme allows the development of effective gaits in multi-legged robots locomoting on flat frictional terrain with diverse number of limbs (4, 6, 16, and even 0 limbs) and body actuation capabilities (including sidewinding gaits on limbless devices). By properly coordinating the body undulation and the leg placement, our framework combines the advantages of both limbless robots (modularity) and legged robots (mobility). We expect that our framework can provide general control schemes for the rapid deployment of general multi-legged robots, paving the ways toward machines that can traverse complex environments under real-life conditions.

cs.RO↗

arXiv2021

Field-mediated locomotor dynamics on highly deformable surfaces

In many systems motion occurs on deformed and deformable surfaces, setting up the possibility for dynamical interactions solely mediated by the coupling of the entities with their environment. Here we study the "two-body" dynamics of robot locomotion on a highly deformable spandex membrane in two scenarios: one in which a robot orbits a large central depression and the other where the two robots affect each other's motion solely through mutual environmental deformations. Inspired by the resemblance of the orbits of the single robot with those of general relativistic orbits around black holes, we recast the vehicle plus membrane dynamics in physical space into the geodesic motion of a "test particle" in a fiducial curved space-time and demonstrate how this framework facilitates understanding the observed dynamics. The two-robot problem also exhibits a resemblance with Einstein's general relativistic view of gravity, which in the words of Wheeler: "spacetime tells matter how to move; matter tells spacetime how to curve." We generalize this case the mapping to include a reciprocal coupling that translates into robotic curvature-based control schemes which modify interaction (promoting avoidance or aggregation) without long-range sensing. Our work provides a starting point for developing a mechanical analog gravity system as well as develops a framework that can provide insights into active matter in deformable environments and robot exploration in complex landscapes.

cs.RO↗

arXiv2018

The dynamics of scattering in undulatory active collisions

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.

physics.class-ph↗

arXiv2015

Divergence of Voronoi cell anisotropy vector: A threshold-free characterization of local structure in amorphous materials

Characterizing structural inhomogeneity is an essential step in understanding the mechanical response of amorphous materials. We introduce a threshold-free measure based on the field of vectors pointing from the center of each particle to the centroid of the Voronoi cell in which the particle resides. These vectors tend to point in toward regions of high free volume and away from regions of low free volume, reminiscent of sinks and sources in a vector field. We compute the local divergence of these vectors, for which positive values correspond to overpacked regions and negative values identify underpacked regions within the material. Distributions of this divergence are nearly Gaussian with zero mean, allowing for structural characterization using only the moments of the distribution. We explore how the standard deviation and skewness vary with packing fraction for simulations of bidisperse systems and find a kink in these moments that coincides with the jamming transition.

cond-mat.soft↗

arXiv2015

Deformation-Driven Diffusion and Plastic Flow in Two-Dimensional Amorphous Granular Pillars

We report a combined experimental and simulation study of deformation-induced diffusion in compacted two-dimensional amorphous granular pillars, in which thermal fluctuations play negligible role. The pillars, consisting of bidisperse cylindrical acetal plastic particles standing upright on a substrate, are deformed uniaxially and quasistatically by a rigid bar moving at a constant speed. The plastic flow and particle rearrangements in the pillars are characterized by computing the best-fit affine transformation strain and non-affine displacement associated with each particle between two stages of deformation. The non-affine displacement exhibits exponential crossover from ballistic to diffusive behavior with respect to the cumulative deviatoric strain, indicating that in athermal granular packings, the cumulative deviatoric strain plays the role of time in thermal systems and drives effective particle diffusion. We further study the size-dependent deformation of the granular pillars by simulation, and find that different-sized pillars follow self-similar shape evolution during deformation. In addition, the yield stress of the pillars increases linearly with pillar size. Formation of transient shear lines in the pillars during deformation becomes more evident as pillar size increases. The width of these elementary shear bands is about twice the diameter of a particle, and does not vary with pillar size.

cond-mat.soft↗

arXiv2014

Tunable capillary-induced attraction between vertical cylinders

Deformation of a fluid interface caused by the presence of objects at the interface can lead to large lateral forces between the objects. We explore these fluid-mediated attractive force between partially submerged vertical cylinders. Forces are experimentally measured by slowly separating cylinder pairs and cylinder triplets after capillary rise is initially established for cylinders in contact. For cylinder pairs, numerical computations and a theoretical model are found to be in good agreement with measurements. The model provides insight into the relative importance of the contributions to the total force. For small separations, the pressure term dominates, while at large separations, surface tension becomes more important. A cross-over between the two regimes occurs at a separation of around half of a capillary length. The experimentally measured forces between cylinder triplets are also in good agreement with numerical computations, and we show that pair-wise contributions account for nearly all of the attractive force between triplets. For cylinders with equilibrium capillary rise height greater than the height of the cylinder, we find that the attractive force depends on the height of the cylinders above the submersion level, which provides a means to create precisely-controlled tunable cohesive forces between objects deforming a fluid interface.

cond-mat.soft↗

arXiv2014

Identifying structural flow defects in disordered solids using machine learning methods

We use machine learning methods on local structure to identify flow defects - or regions susceptible to rearrangement - in jammed and glassy systems. We apply this method successfully to two disparate systems: a two dimensional experimental realization of a granular pillar under compression, and a Lennard-Jones glass in both two and three dimensions above and below its glass transition temperature. We also identify characteristics of flow defects that differentiate them from the rest of the sample. Our results show it is possible to discern subtle structural features responsible for heterogeneous dynamics observed across a broad range of disordered materials.

cond-mat.soft↗