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snake_sandbox.html
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<!DOCTYPE html>
<html>
<head>
<meta name="description" content="Friction modulation for limbless locomotion">
<!-- <meta name="description" content="A minimal (setting with coupled )elastic solid--fluid interactions"> -->
<meta name="keywords" content="Cosserat rod, locomotion, snake">
<meta name="author" content="Tejaswin Parthasarathy">
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>Friction modulation sandbox</title>
<link rel="stylesheet" href="snake_sandbox.css">
</head>
<body>
<!-- Load Mathjax first for rendering-->
<!-- <script>
MathJax = {
tex: {
inlineMath: ['\\(', '\\)']
},
svg: {
fontCache: 'global'
}
};
</script>
-->
<!-- Mathjax 3 does not play well with plotly -->
<!-- <script type="text/javascript" id="MathJax-script" defer
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js">
</script> -->
<script src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/MathJax.js?config=TeX-AMS-MML_SVG.js" defer></script>
<script type="text/javascript" src="https://cdn.plot.ly/plotly-latest.min.js" defer></script>
<h1>
Friction modulation for limbless locomotion
</h1>
<hr>
<p style="font-size:16px; text-align:justify;">
The page provides an interactive sandbox for exploring and providing intuition
for the behavior of a snake as it adapts its gait in terrains of various nature.
On the right you can access a drop-down menu for choosing a behavioral
archetype of the snake.
If you want more fine-level control, you can utilize sliders to change dynamical
parameters. To access the physical meaning of these parameters, please
hover over the underlined text.
</p>
<hr>
<!-- Begin buttons -->
<div style="padding:20px; margin-left:auto; margin-right:auto; text-align:center;">
<div class="row">
<div class="column">
<div class="row">
<button type="button" id="initButton" class="loading_button">
<span class="loading_button_text">Initialize engine</span>
</button>
</div>
<div class="row">
<span style="font-size:14px;">Initialization takes 10--30s to load</span>
</div>
</div>
<div class="column">
<div class="row">
<button id="simulateButton" type="button" disabled class="loading_button">
<span class="loading_button_text">Simulate!</span>
</button>
</div>
<div class="row">
<span style="font-size:14px;">First simulation takes longer</span>
</div>
</div>
<div class="column">
<div class="row">
<select disabled id="archetypeSelection" class="big_button">
<option value="ssid">Straight sidewinding</option>
<option value="ssli">Straight slithering</option>
<option value="tsli">Turning slithering</option>
<option value="spin">Spinning</option>
<option value="tsid">Turning sidewinding</option>
<!-- <option value="test">Test</option> -->
</select>
</div>
<div class="row">
<span style="font-size:14px;">Choose snake behavior archetype</span>
</div>
</div>
</div>
</div>
<!-- End buttons -->
<div>
<div class="row">
<!-- Options pane -->
<div class="column">
<!-- Physical parameters pane -->
<h3 style="text-align:center;">
Physical parameters
</h3>
<!-- Physical parameters box -->
<div class="row">
<!--- Lateral friction ratio --->
<div class="tooltip"> Friction ratio
<span class="tooltiptext">Ratio of friction between the lateral and forward directions</span>
</div>
<span> \(\mu_t / \mu_f\) = </span> <span id="lateralFrictionReadout"> </span>
<br>
<div class="row">
<span class="column">
<input type="range" min="0" max="100" step="5" value="20"
id="lateralFrictionSlider">
</span>
</div>
<br>
<!--- Froude --->
<div class="tooltip"> Froude number
<span class="tooltiptext">Non-dimensional number representing the ratio of inertial to friction forces</span>
</div>
<span>\( Fr\) = </span> <span id="froudeNumberReadout"> </span>
<br>
<div class="row">
<span class="column">
<input type="range" min="0" max="100" step="5" value="1"
id="froudeNumberSlider">
</span>
</div>
<br>
<!--- Backward friction ratio --->
<!-- <span>Back friction ratio \(\mu_b / \mu_f\) = </span><span id="backwardFrictionReadout"> </span>
<br>
<div class="row">
<span class="column">
<input type="range" min="0" max="100" step="5" value="10"
id="backwardFrictionSlider">
</span>
</div>
<br>
-->
</div>
<hr>
<!-- Curvature selection pane -->
<h3 style="text-align:center;">
Lateral wave
</h3>
<!-- Curvature selection box -->
<div class="row">
<div class="row">
<div class="column">
Activation :
<!-- <span id="curvatureReadout"></span> -->
</div>
<span class="column">
<select disabled id="curvatureSelection">
<option value="none"></option>
<option value="sin">Sinusoidal</option>
<!-- <option value="test">Test</option> -->
</select>
</span>
</div>
<hr>
<!-- Curvature readout -->
<div class="row">
<p style="text-align:center;">
<div class="tooltip"> Activation function
<span class="tooltiptext"> Function for the imposed (active) curvature of the snake body</span>
</div>
<span> \(\kappa (s,t) \)</span>
<br>
<span id="curvatureActivationReadout">\( \)</span>
</p>
</div>
<hr>
<!-- Curvature params -->
<div class="row">
<div id="noneParams" class="hide">
<div>
</div>
</div>
<div id="sinParams" class="hide">
<div class="row">
<!--- Amp --->
<div class="row">
<div class="tooltip"> Amplitude
<span class="tooltiptext"> Lateral wave amplitude </span>
</div>
<span>\( \epsilon\) = </span> <span id="sinAmplitudeReadout"> </span>
</div>
<div class="row">
<span>
<input type="range" min="0" max="100" step="5" value="20"
id="sinAmplitudeSlider">
</span>
</div>
<!--- Wavenumber --->
<div class="row" style="display: none;">
<div class="tooltip"> Wavenumber
<span class="tooltiptext">Some arbit text</span>
</div>
<span> \( k \) = </span> <span id="sinWaveNumberReadout"> </span>
</div>
<div class="row" style="display: none;">
<span>
<input type="range" min="1" max="4" step="1" value="2"
id="sinWaveNumberSlider">
</span>
</div>
</div>
</div>
<div id="testParams" class="hide">
<div>
Test
</div>
</div>
</div>
</div>
<hr>
<!-- Lift selection pane -->
<h3 style="text-align:center;">
Lifting Wave
</h3>
<!-- Lift selection box -->
<div class="row">
<div class="row">
<div class="column">
Lift :
<!-- <span id="curvatureReadout"></span> -->
</div>
<span class="column">
<select disabled id="liftSelection">
<option value = "none"> None </option>
<option value="sin">Sinusoidal</option>
<option value="exp">Exponential</option>
</select>
</span>
</div>
<hr>
<!-- Lift readout -->
<div class="row">
<p style="text-align:center;">
<div class="tooltip"> Lift function
<span class="tooltiptext">Function imposing the lift of snake body from the surface </span>
</div>
<span> \(\hat{N} (s,t) \)</span>
<br>
<span id="liftActivationReadout"> \( {} \)</span>
</p>
</div>
<hr>
<!-- Lift params -->
<div class="row">
<div id="liftNoneParams" class="hide">
<div>
</div>
</div>
<div id="liftSinParams" class="hide">
<div class="row">
<!--- Amp --->
<div class="row">
<div class="tooltip"> Amplitude
<span class="tooltiptext"> Amplitude of the lift function</span>
</div>
<span> \( A \) = </span> <span id="liftSinAmplitudeReadout"> </span>
</div>
<div class="row">
<span>
<input type="range" min="0" max="200" step="10" value="20"
id="liftSinAmplitudeSlider">
</span>
</div>
<!--- Wavenumber --->
<div class="row">
<div class="tooltip"> Wavenumber ratio
<span class="tooltiptext"> Ratio of wavenumbers between the lift and curvature wave</span>
</div>
<span>\( \lambda = k_l / k \) = </span> <span id="liftSinWaveNumberReadout"> </span>
</div>
<div class="row">
<span>
<input type="range" min="1" max="4" step="1" value="1"
id="liftSinWaveNumberSlider">
</span>
</div>
<!--- Phase --->
<div class="row">
<div class="tooltip"> Phase
<span class="tooltiptext"> Phase difference between lift and curvature wave</span>
</div>
<span> \( \Phi \) = </span> <span id="liftSinPhaseReadout"> </span>
</div>
<div class="row">
<span>
<input type="range" min="0" max="100" step="5" value="0"
id="liftSinPhaseSlider">
</span>
</div>
</div>
</div>
<div id="liftExpParams" class="hide">
<div class="row">
<!--- Coeff --->
<div class="row">
<div class="tooltip"> Exp. Coeff
<span class="tooltiptext"> Coefficient scaling the curvature wave </span>
</div>
<span>\( A \) = </span> <span id="liftExpCoeffReadout"> </span>
</div>
<div class="row">
<span>
<input type="range" min="1" max="3" step="1" value="2"
id="liftExpCoeffSlider">
</span>
</div>
</div>
</div>
</div>
</div>
</div>
<!-- Plot pane -->
<div class="double_width_column">
<figure id="plot_div">
</figure>
</div>
</div>
</div>
<hr>
<footer>
<p style="font-size:14px; text-align:center;">
This is a beta version of the sandbox and we welcome your <a href="mailto:[email protected]?subject = Feedback on Snake Sandbox"> feedbacks </a>.
</p>
<p style="font-size:14px; text-align:center;">
Designed by <a href="https://parthas1.github.io/" target="_blank" rel="noopener">Tejaswin Parthasarathy</a>,
and powered by <a href="https://pyodide.org/en/stable/" target="_blank" rel="noopener">Pyodide</a>.
For best experience, please use Chrome or Firefox.
</p>
<!-- <p style="font-size:14px; text-align:center;">
</p>
-->
<p style="font-size:14px; text-align:center;">
Copyright © 2021 <a href="https://parthas1.github.io/" target="_blank" rel="noopener">Tejaswin Parthasarathy</a>, <a href="https://mattia-lab.com/" target="_blank" rel="noopener">GazzolaLab</a>.
</p>
</footer>
<!-- <div id="content_1" class="inv">Content 1</div> -->
<script type="text/javascript" src="snake_sandbox.js" defer></script>
<noscript>
<p>Oops! This website requires a JavaScript-enabled browser.</p>
</noscript>
</body>
</html>