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

TitleA robotic crawler exploiting directional frictional interactions: Experiments, numerics and derivation of a reduced model
Publication TypeJournal Article
Year of Publication2014
AuthorsNoselli G, DeSimone A
JournalProceedings of the Royal Society A
Volume470
Pagination20140333
Keywordsbreathing-like deformations, crawling motility, directional interactions, directional surfaces, scallop theorem
Abstract

We present experimental and numerical results for a model crawler which is able to extract net positional changes from reciprocal shape changes, i.e. ‘breathing-like’ 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.

DOI10.1098/rspa.2014.0333