TY - JOUR T1 - A robotic crawler exploiting directional frictional interactions: experiments, numerics, and derivation of a reduced model JF - Proceedings of the Royal Society A 470, 20140333 (2014) Y1 - 2014 A1 - Giovanni Noselli A1 - Antonio DeSimone AB - 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. PB - Royal Society Publishing U1 - 34594 U2 - Mathematics ER -