We present experimental and numerical results for a model crawler which is able to extract net positional changes fromreciprocal shape changes, i.e. 'breathinglike' deformations, thanks to directional, frictional interactions with a textured solid substrate, mediated by flexible inclined feet. We also present a simple reduced model that captures the essential features of the kinematics and energetics of the gait, and compare its predictions with the results from experiments and from numerical simulations.

A robotic crawler exploiting directional frictional interactions: Experiments, numerics and derivation of a reduced model / Noselli, Giovanni; De Simone, Antonio. - In: PROCEEDINGS OF THE ROYAL SOCIETY OF LONDON. SERIES A. - ISSN 1364-5021. - 470:271(2014), pp. 20140333.1-20140333.15. [10.1098/rspa.2014.0333]

A robotic crawler exploiting directional frictional interactions: Experiments, numerics and derivation of a reduced model

Noselli, Giovanni;De Simone, Antonio
2014-01-01

Abstract

We present experimental and numerical results for a model crawler which is able to extract net positional changes fromreciprocal shape changes, i.e. 'breathinglike' deformations, thanks to directional, frictional interactions with a textured solid substrate, mediated by flexible inclined feet. We also present a simple reduced model that captures the essential features of the kinematics and energetics of the gait, and compare its predictions with the results from experiments and from numerical simulations.
2014
470
271
1
15
20140333
10.1098/rspa.2014.0333
https://arxiv.org/abs/1408.6470
Noselli, Giovanni; De Simone, Antonio
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.11767/17343
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