T_Sy = 0.5 * m_S * (r_S * diff(phi_y,t))^2 + 0.5 * I_S * diff(phi_y,t)^2; v_Uy_x = r_S * diff(phi_y,t) + l_U * cos(theta_y) * diff(theta_y,t); v_Uy_z = -l_U * sin ...
% 1. Derives the equations of motion for the ballbot in both the Y-Z % (pitch) and X-Z (roll) planes using the Lagrangian method. % 2. Includes all external forces (motor torques) and dissipative ...
Geometric confinement paradoxically enhances bacterial chemotaxis through chiral surface swimming and sidewall alignment, with optimal performance when lane width matches the circular swimming radius.
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