Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Sea star inspired crawling and bouncing   The oral surface of sea stars is lined with arrays of tube feet that enable
them to achieve highly controlled locomotion on various terrains. The activity
of the tube feet is orchestrated by a nervous system that is distributed
throughout the body without a central brain. How such a distributed nervous
system produces a coordinated locomotion is yet to be understood. We develop
mathematical models of the biomechanics of the tube feet and the sea star body.
In the model, the feet are coupled mechanically through their structural
connection to a rigid body. We formulate hierarchical control laws that capture
salient features of the sea star nervous system. Namely, at the tube foot
level, the power and recovery strokes follow a state-dependent feedback
controller. At the system level, a directionality command is communicated
through the nervous system to all tube feet. We study the locomotion gaits
afforded by this hierarchical control model. We find that these
minimally-coupled tube feet coordinate to generate robust forward locomotion,
reminiscent of the crawling motion of sea stars, on various terrains and for
heterogeneous tube feet parameters and initial conditions. Our model also
predicts a transition from crawling to bouncing consistent with recent
experiments. We conclude by commenting on the implications of these findings
for understanding the neuromechanics of sea stars and their potential
application to autonomous robotic systems.

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The categories of this paper are: hep-ph
18
The categories of this paper are: econ
25
The categories of this paper are: patt-sol
35
The categories of this paper are: mtrl-th
22
The categories of this paper are: chao-dyn
5
The categories of this paper are: gr-qc
4
The categories of this paper are: cond-mat
23
The categories of this paper are: solv-int
34
The categories of this paper are: chem-ph
1
The categories of this paper are: cs
14
The categories of this paper are: math-ph
6
The categories of this paper are: astro-ph
21
The categories of this paper are: adap-org
29
The categories of this paper are: funct-an
30
The categories of this paper are: q-alg
17
The categories of this paper are: q-fin