To this end, I started by establishing a computational framework for the modeling and simulation of complex musculoskeletal architectures. This framework pioneers the use of one-dimensional, elastic slender body assemblies (via Cosserat rods theory) to construct active, heterogeneous, and three-dimensional biological layouts. I have demonstrated the utility of this approach across biophysical scenarios, scales, and - environment, from human joints to full-scale aquatic, terrestrial and aerial creatures (left image). I futher combine it with theory to + environment, from human joints to full-scale aquatic, terrestrial and aerial creatures. I futher combine it with theory to reveal a unified mechanism that explains the natural gait selection of limbless locomotion of snakes, and deploy it for engineering control.
+In conjunction with compuatational endeavors, I also combine the musculoskeletal solver with evolutionary algorithms to aid in + the design and realization of both walking and swimming bio-hybrid robots. These systems combine living materials + (muscles and neurons) with artificial scaffolds to achieve autonomous and controlled locomotion. + Recapitulating the musculoskeletal features encountered in nature, they also represent ideal + platforms to probe principles of biological control, sensing and actuation. (Image credits - Left: Gelson Pagan-Diaz, Right: Jiaojiao Wang)
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