Abstract
Transitions between chiral rotational locomotion modes occur in a variety of active individuals and populations, such as sidewinders, self-propelled chiral droplets, and dense bacterial suspensions. Despite recent progress in the study of active matter, general principles governing rotational chiral transition remain elusive. Here, we study, experimentally and theoretically, rotational locomotion and its chiral transition in a 2D polyacrylamide (PAAm)-based BZ gel driven by Belousov-Zhabotinsky reaction-diffusion waves. Analysis reveals that the phase difference (Δφ) between orthogonal components of kinematic quantities, such as chemomechanical force, displacement, and velocity, determines rotational chirality, i.e., chiral locomotion transition occurs when Δφ changes sign. This criterion is illustrated with a kinematic equation, which can be applied to biological and physical systems, including super-rotational/superhelical locomotion reported recently during
swimming and sperm navigation. This work has potential applications for the design of functional materials and intelligent robots.