Animal and Robotic Locomotion on Wet Granular Media

Bagheri, Hosain; Taduru, Vishwarath; Panchal, Sachin; White, Shawn; Marvi, Hamidreza

doi:10.1007/978-3-319-63537-8_2

Cited by 4 publications

(8 citation statements)

References 43 publications

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“…Similarly, it was found that in the case of hermit crabs, bigger individuals ran faster on beach sand by increasing stride length, but not frequency ( Herreid and Full, 1986 ). Other research showed that basilisk lizards also increase their speed on sand by solely increasing their stride length ( Bagheri et al., 2017 ). Salamanders use undulations of their body to take larger steps ( Edwards, 1989 ) and walk on mud using a gait ( Aydin et al., 2017 ) which keeps three legs on the ground to reduce the pressure on the substrate.…”

Section: Statics-based Movementsmentioning

confidence: 99%

“…The performance drop is probably due to an increase in acceleration-related vertical ground support force that leads to deeper sinkage of the legs ( Li et al., 2009 ; Qian et al., 2012 ). The BasiliskBot was designed to study the effects of substrate properties on the locomotion parameters and showed that a higher sand saturation level led to increased stride length, which, in turn, increased velocity ( Bagheri et al., 2017 ). Similar velocity drops were observed at higher stepping frequencies.…”

Section: Statics-based Movementsmentioning

confidence: 99%

“…Some robot prototypes are addressing the challenge of traversing yielding terrains. Some quadruped ( Raibert et al., 2008 ; Bagheri et al., 2017 ) or hexapod robots with rigid ( Li et al. (2013) ; Li et al.…”

Section: Introductionmentioning

confidence: 99%

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Maneuvering on non-Newtonian fluidic terrain: a survey of animal and bio-inspired robot locomotion techniques on soft yielding grounds

2023

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Frictionally yielding media are a particular type of non-Newtonian fluids that significantly deform under stress and do not recover their original shape. For example, mud, snow, soil, leaf litters, or sand are such substrates because they flow when stress is applied but do not bounce back when released. Some robots have been designed to move on those substrates. However, compared to moving on solid ground, significantly fewer prototypes have been developed and only a few prototypes have been demonstrated outside of the research laboratory. This paper surveys the existing biology and robotics literature to analyze principles of physics facilitating motion on yielding substrates. We categorize animal and robot locomotion based on the mechanical principles and then further on the nature of the contact: discrete contact, continuous contact above the material, or through the medium. Then, we extract different hardware solutions and motion strategies enabling different robots and animals to progress. The result reveals which design principles are more widely used and which may represent research gaps for robotics. We also discuss that higher level of abstraction helps transferring the solutions to the robotics domain also when the robot is not explicitly meant to be bio-inspired. The contribution of this paper is a review of the biology and robotics literature for identifying locomotion principles that can be applied for future robot design in yielding environments, as well as a catalog of existing solutions either in nature or man-made, to enable locomotion on yielding grounds.

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Section: Statics-based Movementsmentioning

confidence: 99%

Section: Statics-based Movementsmentioning

confidence: 99%

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Maneuvering on non-Newtonian fluidic terrain: a survey of animal and bio-inspired robot locomotion techniques on soft yielding grounds

2023

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“…Some are even capable of changing their shapes in order to perform multiple locomotion gaits (Prostak, 2014; Nemoto et al, 2015; Mintchev and Floreano, 2016; Grzimek's Animal Life Encyclopedia, 2017). Species in nature such as snakes, lizards, and insects can adapt their gaits in response to different types of terrains that they navigate, which vary from smooth terrains to bumpy ones (Bagheri et al, 2015). Most species switch their locomotion modes to traverse different terrains, for example, to overcome obstacles such as pits and bumpy surfaces on their ways.…”

Section: Development Of the Scorpio Robot Using The Proposed System-omentioning

confidence: 99%

A System-of-Systems Bio-Inspired Design Process: Conceptual Design and Physical Prototype of a Reconfigurable Robot Capable of Multi-Modal Locomotion

et al. 2019

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Modern engineering problems require solutions with multiple functionalities in order to meet their practical needs to handle a variety of applications in different scenarios. Conventional design paradigms for single design purpose may not be able to satisfy this requirement efficiently. This paper proposes a novel system-of-systems bio-inspired design method framed in a solution-driven bio-inspired design paradigm. The whole design process consists of eight steps, that is, (1) biological solutions identification, (2) biological solutions definition/champion biological solutions, (3) principle extraction from each champion biological solution, (4) merging of extracted principles, (5) solution reframing, (6) problem search, (7) problem definition, and (8) principles application & implementation. The steps are elaborated and a case study of reconfigurable robots is presented following these eight steps. The design originates from the multimodal locomotion capabilities of two species (i.e., spiders and primates) and is analyzed based on the Pugh analysis. The resulting robotic platform could be potentially used for urban patrolling purposes.

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“…Unlike the former methods, which create analytical solutions from empirical data or treat granular media as a continuum, DEM models the granular terrain by simulating each individual particle or an approximation thereof. This provides a future path for experiments, which may be difficult to replicate or characterize responses for …”

Section: Introductionmentioning

confidence: 99%

Screw‐generated forces in granular media: Experimental, computational, and analytical comparison

2019

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This study presents an experimental, computational, and analytical comparison of a submerged, double‐helix Archimedes screw generating propulsive force against a bed of glass beads. Three screws of different pitch lengths were studied. Each screw was tested at six speeds in approximately 10 trials for a total of 180 experimental trials. These experiments were then replicated in EDEM, a discrete element method (DEM) software program. DEM simulation results for thrust forces in the 30–120 rpm regime had a 5%–20% inflation of forces compared to experimental results. These simulations were then compared with resistive force theory (RFT) plate approximation of the screw geometries. We analyze a superposition‐based partition approach to the full‐length screws as well as force generation in shortened, one‐ and two‐blade screws. We find that the force generation is dependent on the flow patterns and cannot be reduced to partitioned approximations as with simple intruders. © 2018 American Institute of Chemical Engineers AIChE J, 65: 894–903, 2019

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Animal and Robotic Locomotion on Wet Granular Media

Cited by 4 publications

References 43 publications

Maneuvering on non-Newtonian fluidic terrain: a survey of animal and bio-inspired robot locomotion techniques on soft yielding grounds

Maneuvering on non-Newtonian fluidic terrain: a survey of animal and bio-inspired robot locomotion techniques on soft yielding grounds

A System-of-Systems Bio-Inspired Design Process: Conceptual Design and Physical Prototype of a Reconfigurable Robot Capable of Multi-Modal Locomotion

Screw‐generated forces in granular media: Experimental, computational, and analytical comparison

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