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.| File | Dimensione | Formato | |
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