Depinning and activated motion of chiral self-propelled robots
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| Main Authors: | , , |
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| Format: | Preprint |
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2025
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| _version_ | 1866916810933141504 |
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| author | Carrillo-Mora, Juan Pablo Garcés, Adrià Levis, Demian |
| author_facet | Carrillo-Mora, Juan Pablo Garcés, Adrià Levis, Demian |
| contents | We study experimentally, numerically and analytically, the dynamics of a chiral active particle (cm-sized robots), pulled at a constant translational velocity. We show that the system can be mapped to a Brownian particle driven across a periodic potential landscape, and thus exhibits a rotational depinning transition in the noiseless limit, giving rise to a creep regime in the presence of rotational diffusion. We show that a simple model of chiral, self-aligning, active particles accurately describes such dynamics. The steady-state distribution and escape times from local potential barriers, corresponding to long-lived orientations of the particles, can be computed exactly within the model and is in excellent agreement with both experiments and particle-based simulations, with no fitting parameters. Our work thus consolidates such self-propelled robots as a model system for the study of chiral active matter, and highlights the interesting dynamics arising from the interplay between external and internal driving forces in the presence of a self-aligning torque. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2506_20610 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Depinning and activated motion of chiral self-propelled robots Carrillo-Mora, Juan Pablo Garcés, Adrià Levis, Demian Statistical Mechanics Soft Condensed Matter We study experimentally, numerically and analytically, the dynamics of a chiral active particle (cm-sized robots), pulled at a constant translational velocity. We show that the system can be mapped to a Brownian particle driven across a periodic potential landscape, and thus exhibits a rotational depinning transition in the noiseless limit, giving rise to a creep regime in the presence of rotational diffusion. We show that a simple model of chiral, self-aligning, active particles accurately describes such dynamics. The steady-state distribution and escape times from local potential barriers, corresponding to long-lived orientations of the particles, can be computed exactly within the model and is in excellent agreement with both experiments and particle-based simulations, with no fitting parameters. Our work thus consolidates such self-propelled robots as a model system for the study of chiral active matter, and highlights the interesting dynamics arising from the interplay between external and internal driving forces in the presence of a self-aligning torque. |
| title | Depinning and activated motion of chiral self-propelled robots |
| topic | Statistical Mechanics Soft Condensed Matter |
| url | https://arxiv.org/abs/2506.20610 |