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

Noselli, Giovanni; DeSimone, Antonio

doi:10.1098/rspa.2014.0333

Cited by 18 publications

(24 citation statements)

References 32 publications

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“…These designs are similar to those featuring in so called continuum or serpentine robots which feature in surgical and industrial applications [9]. As discussed in [10], similar locomotion mechanisms can be found in certain other robots such as the ETH-Zürich MagMite [11,12], the University of Texas at Arlington ARRIpede robot [13,14], a design from the University of Trento [15,16] and a design from Carnegie-Mellon University [17] that features an electromagnetic drive. The designs listed above that feature varying curvature and adhesion of limbs also have their natural counterparts in a wide variety of creatures who move using limbless crawling (peristaltic locomotion [18,19,20]).…”

Section: Introductionmentioning

confidence: 87%

“…A key to successful locomotion is to vary the normal force N 1 at the contact point so that the static friction criterion will be violated and the tip of the rod will slip forward. To see how this can be achieved using the profile (28), we solve the boundary value problem given by (15) and (16) to determine the deformed shape of the rod and the dimensionless normal forces at the tip. As can be seen from Figure 8(b), asκ max decreases, eventually a point is reached where the tip of the rod slips.…”

Section: Phase Amentioning

confidence: 99%

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Flexing into motion: A locomotion mechanism for soft robots

Zhou

Majidi

O’Reilly

2015

International Journal of Non-Linear Mechanics

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Several recent designs of soft robots feature locomotion mechanisms that entail orchestrating changes to intrinsic curvature to enable the robot's limbs to either stick, adhere, or slip on the robot's workspace. The resulting locomotion mechanism has several features in common with peristaltic locomotion that can be found in the animal world. The purpose of the present paper is to examine the feasibility of, and design guidelines for, a locomotion mechanism that exploits the control of intrinsic curvature on a rough surface. With the help of a quasi-static analysis of a continuous model of a soft robot's limb, we show precisely how locomotion is induced and how the performance can be enhanced by controlling the curvature profile. Our work provides a framework for the theoretical analysis of the locomotion of the soft robot and the resulting analysis is also used to develop some design guidelines.

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Section: Introductionmentioning

confidence: 87%

Section: Phase Amentioning

confidence: 99%

Flexing into motion: A locomotion mechanism for soft robots

Zhou

Majidi

O’Reilly

2015

International Journal of Non-Linear Mechanics

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“…Limbless locomotion by snakes or worms gives a paradigm for locomotion in rough and complex environ-ments [1,2,3,4,5]. Soft and hard robotic devices can crawl over a surface due to an asymmetric or directional dynamic friction (e.g., [6,7,8,9,10]). Snakes and snake-like robots (e.g., [11,12,13,14]) propel themselves by exploiting asymmetry in the friction they generate on a substrate.…”

Section: Introductionmentioning

confidence: 99%

A Light-Weight Vibrational Motor Powered Recoil Robot That Hops Rapidly Across Granular Media

Quillen

Nelson

Askari

et al. 2019

Journal of Mechanisms and Robotics

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A 1 cm coin vibrational motor fixed to the center of a 4 cm square foam platform moves rapidly across granular media (poppy seeds, millet, corn meal) at a speed of up to 30 cm/s, or about 5 body lengths/s. Fast speeds are achieved with dimensionless acceleration number, similar to a Froude number, up to 50, allowing the light-weight 1.4 g mechanism to remain above the substrate, levitated and propelled by its kicks off the surface. The mechanism is low cost and moves without any external moving parts. With 2 s exposures we photograph the trajectory of the mechanism using an LED blocked except for a pin-hole and fixed to the mechanism. Trajectories can exhibit period doubling phenomena similar to a ball bouncing on a vibrating table top. A two dimensional numerical model gives similar trajectories, though a vertical drag force is required to keep the mechanism height low. We attribute the vertical drag force to aerodynamic suction from air flow below the mechanism base and through the granular substrate. Our numerical model suggests that speed is maximized when the mechanism is prevented from jumping high off the surface. In this way the mechanism resembles a galloping or jumping animal whose body remains nearly at the same height above the ground during its gait.

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“…(Gioia et al, 2002;Gioia and Ortiz, 1997)), or morphing through the use of martensitic thin films (e.g., made of shape-memory-alloys (Bhattacharya et al, 1999)) or of semiconductor bilayers deposited using molecular beam epitaxy (Danescu et al, 2013). While predicting and controlling a shape change of a given system is interesting in itself, these shape changes can be exploited to perform useful functions like, for example, the use of bimetallic strips as thermostats (Timoshenko, 1925), pumping fluid in a micro-fluidic circuit (Bhattacharya et al, 1999), or for the locomotion of soft, bioinspired micro-robots DeSimone et al (2015DeSimone et al ( , 2013; Noselli and DeSimone (2014).…”

Section: Introductionmentioning

confidence: 99%

Spontaneous morphing of equibiaxially pre-stretched elastic bilayers: The role of sample geometry

Caruso

Cvetković

Lucantonio

et al. 2018

International Journal of Mechanical Sciences

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An elastic bilayer, consisting of an equibiaxially pre-stretched sheet bonded to a stress-free one, spontaneously morphs into curved shapes in the absence of external loads or constraints. Using experiments and numerical simulations, we explore the role of geometry for square and rectangular samples in determining the equilibrium shape of the system, for a fixed pre-stretch. We classify the observed shapes over a wide range of aspect ratios according to their curvatures and compare measured and computed values, which show good agreement. In particular, as the bilayer becomes thinner, a bifurcation of the principal curvatures occurs, which separates two scaling regimes for the energy of the system. We characterize the transition between these two regimes and show the peculiar features that distinguish square from rectangular samples. The results for our model bilayer system may help explaining morphing in more complex systems made of active materials.

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

Cited by 18 publications

References 32 publications

Flexing into motion: A locomotion mechanism for soft robots

Flexing into motion: A locomotion mechanism for soft robots

A Light-Weight Vibrational Motor Powered Recoil Robot That Hops Rapidly Across Granular Media

Spontaneous morphing of equibiaxially pre-stretched elastic bilayers: The role of sample geometry

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