# Physical synchronization of soft self-oscillating limbs for fast and autonomous locomotion

arXiv: https://arxiv.org/abs/2409.07011 · HTML: https://mlsanity.com/paper/2409.07011/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Sep 2024.

## Built on by (most cited first, 1 of 1)

- [Mastering Contact-rich Tasks by Combining Soft and Rigid Robotics with Imitation Learning](https://mlsanity.com/paper/2410.07787/) (2024)

## Abstract (arXiv)

Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous locomotion strategy with synchronized gaits emerging through physical interactions between self-oscillating limbs and the environment, without control signals. Each limb is a single soft tube that only requires constant flow of air to perform cyclic stepping motions at frequencies reaching 300 hertz. By combining several of these self-oscillating limbs, their physical synchronization enables locomotion speeds that are orders of magnitude faster than comparable state-of-the-art. Through body-environment dynamics, these seemingly simple devices exhibit autonomy, including obstacle avoidance, amphibious gait transitions, and phototaxis.