Sensing via whole-body interactions with complex terrains: physical insights from robotic models

arXiv:2610.15334 (physics)

Abstract:In nature, animals interact with complex terrains and often generate forces, deformations, and vibrations across the body and environment. Such interaction-induced mechanical information may guide behavior, yet its generation and use are difficult to resolve because movement rapidly and continually reconfigures the interactions that produce it. Sensory neurophysiology and biomechanics have revealed how mechanical information is transformed within sensory, neural, and musculoskeletal subsystems, whereas studies in complex terrains reveal rich whole-body interactions and behavioral outcomes. Connecting these levels remains a challenge. Here, I present a focused perspective on how biologically guided robotic physical models can help identify candidate mechanical information generated through whole-body interactions, test its physical mechanisms and behavioral benefits, and generate biological hypotheses. Three case studies illustrate this approach, multi-legged locomotor transitions to traverse dense clutter, limbless vertical body bending to propel through uneven terrain, and rapid spider leg crouching to help vibration sensing of prey on a web. Across these systems, correspondence between robots and animals supports the biological plausibility of these candidate physical mechanisms and motivates better measurements and models to determine how the relevant mechanical information is sensed and used to modulate behavior.

Biological Physics (physics.bio-ph); Robotics (cs.RO); Systems and Control (eess.SY)

arXiv:2610.15334 [physics.bio-ph]

(or arXiv:2610.15334v1 [physics.bio-ph] for this version)

https://doi.org/10.48550/arXiv.2610.15334 arXiv-issued DOI via DataCite (pending registration)

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