%0 Journal Article %J Proceedings of the Royal Society A 470, 20140333 (2014) %D 2014 %T A robotic crawler exploiting directional frictional interactions: experiments, numerics, and derivation of a reduced model %A Giovanni Noselli %A Antonio DeSimone %X 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. %B Proceedings of the Royal Society A 470, 20140333 (2014) %I Royal Society Publishing %G en %1 34594 %2 Mathematics %$ Submitted by gnoselli@sissa.it (gnoselli@sissa.it) on 2015-03-07T18:10:10Z No. of bitstreams: 1 bristle_crawlers.pdf: 9309327 bytes, checksum: 10f6df9814dd01c888aa9ec7836f1dff (MD5) %R 10.1098/rspa.2014.0333