Centipede-like robots offer an effective and robust solution to navigation over complex terrain with minimal sensing. However, when climbing over obstacles, such multi-legged robots often elevate their center-of-mass into unstable configurations, where even moderate terrain uncertainty can cause tipping over. Robust mechanisms for such elongate multi-legged robots to self-right remain unstudied. Here, we developed a comparative biological and robophysical approach to investigate self-righting strategies. We first released \textit{S. polymorpha} upside down from a 10 cm height and recorded their self-righting behaviors using top and side view high-speed cameras. Using kinematic analysis, we hypothesize that these behaviors can be prescribed by two traveling waves superimposed in the body lateral and vertical planes, respectively. We tested our hypothesis on an elongate robot with static (non-actuated) limbs, and we successfully reconstructed these self-righting behaviors. We further evaluated how wave parameters affect self-righting effectiveness. We identified two key wave parameters: the spatial frequency, which characterizes the sequence of body-rolling, and the wave amplitude, which characterizes body curvature. By empirically obtaining a behavior diagram of spatial frequency and amplitude, we identify effective and versatile self-righting strategies for general elongate multi-legged robots, which greatly enhances these robots' mobility and robustness in practical applications such as agricultural terrain inspection and search-and-rescue.

An Orthogonal Least Squares (OLS) based feature selection method is proposed for both binomial and multinomial classification. The novel Squared Orthogonal Correlation Coefficient (SOCC) is defined based on Error Reduction Ratio (ERR) in OLS and used as the feature ranking criterion. The equivalence between the canonical correlation coefficient, Fisher's criterion, and the sum of the SOCCs is revealed, which unveils the statistical implication of ERR in OLS for the first time. It is also shown that the OLS based feature selection method has speed advantages when applied for greedy search. The proposed method is comprehensively compared with the mutual information based feature selection methods in 2 synthetic and 7 real world datasets. The results show that the proposed method is always in the top 5 among the 10 candidate methods. Besides, the proposed method can be directly applied to continuous features without discretisation, which is another significant advantage over mutual information based methods.

In a complex system, the interactions between individual agents often lead to emergent collective behavior like spontaneous synchronization, swarming, and pattern formation. The topology of the network of interactions can have a dramatic influence over those dynamics. In many studies, researchers start with a specific model for both the intrinsic dynamics of each agent and the interaction network, and attempt to learn about the dynamics that can be observed in the model. Here we consider the inverse problem: given the dynamics of a system, can one learn about the underlying network? We investigate arbitrary networks of coupled phase-oscillators whose dynamics are characterized by synchronization. We demonstrate that, given sufficient observational data on the transient evolution of each oscillator, one can use machine learning methods to reconstruct the interaction network and simultaneously identify the parameters of a model for the intrinsic dynamics of the oscillators and their coupling. Keywords: nonlinear dynamics, phase oscillators, Kuramoto oscillators, network reconstruction, network topology, machine learning, computational methods 1. Introduction Nature and society brim with systems of coupled oscillators, including pacemaker cells in the heart, insulin-secreting cells in the pancreas, neural networks in the brain, fireflies that synchronize their flashing, chemical reactions, Josephson junctions, power grids, metronomes, and applause in human crowds, to name merely a few [1-9]. The dynamics of coupled oscillators in complex networks have been studied extensively.