Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Mechanical principles of dynamic terrestrial self-righting using wings   Terrestrial animals and robots are susceptible to flipping-over during rapid
locomotion in complex terrains. However, small robots are less capable of
self-righting from an upside-down orientation compared to small animals like
insects. Inspired by the winged discoid cockroach, we designed a new robot that
opens its wings to self-right by pushing against the ground. We used this robot
to systematically test how self-righting performance depends on wing opening
magnitude, speed, and asymmetry, and modeled how kinematic and energetic
requirements depend on wing shape and body/wing mass distribution. We
discovered that the robot self-rights dynamically using kinetic energy to
overcome potential energy barriers, that larger and faster symmetric wing
opening increases self-righting performance, and that opening wings
asymmetrically increases righting probability when wing opening is small. Our
results suggested that the discoid cockroach's winged self-righting is a
dynamic maneuver. While the thin, lightweight wings of the discoid cockroach
and our robot are energetically sub-optimal for self-righting compared to tall,
heavy ones, their ability to open wings saves them substantial energy compared
to if they had static shells. Analogous to biological exaptations, our study
provided a proof-of-concept for terrestrial robots to use existing morphology
in novel ways to overcome new locomotor challenges.

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The categories of this paper are: gr-qc
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The categories of this paper are: solv-int
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The categories of this paper are: chem-ph
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The categories of this paper are: dg-ga
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The categories of this paper are: hep-ex
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The categories of this paper are: hep-lat
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The categories of this paper are: math-ph
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The categories of this paper are: mtrl-th
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The categories of this paper are: quant-ph
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The categories of this paper are: hep-th
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The categories of this paper are: math
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The categories of this paper are: q-fin
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The categories of this paper are: supr-con
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The categories of this paper are: cond-mat
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The categories of this paper are: adap-org
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The categories of this paper are: nucl-th