| Title | A robotic crawler exploiting directional frictional interactions: experiments, numerics, and derivation of a reduced model |
| Publication Type | Journal Article |
| Year of Publication | 2014 |
| Authors | Noselli, G, DeSimone, A |
| Journal | Proceedings 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. |
| DOI | 10.1098/rspa.2014.0333 |
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