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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 470, 20140333 (2014)
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

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