Crawlers in viscous environments: Linear vs non-linear rheology

DeSimone, Antonio; Guarnieri, Federica; Noselli, Giovanni; Tatone, A.

doi:10.1016/j.ijnonlinmec.2013.02.007

Cited by 29 publications

(26 citation statements)

References 30 publications

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“…As an example of our results, we call the reader's attention on equations �3.15) and �3. 17), showing that the achievable displacement typically equals a fraction of the change of body length in one cycle, and that this fraction tends to one only in the limit case of infinite contrast between the resistance forces in the easy and hard direction. In this ideal limit case, there is no backsliding, and all the available extension/contraction of the crawler's body is converted into 'useful' displacement, as it is commonly assumed in the classical biological literature [1,31].…”

Section: Discussionmentioning

confidence: 99%

“…In the case of crawlers exploiting dry friction, or lubricating fluid layers with complex rheology �such as the mucus secreted by snails [11,13]), resistance forces are nonlinear functions of the sliding velocity and locomotion is typically accomplished through stick-and-slip. Even when resistance forces are linear in the sliding velocity, if they also depend on the size of the contact region, then locomotion is still possible, provided that more elaborate strategies are employed [16,17,28]. These are very similar to those that are effective in low Reynolds number swimming, and show that the transition between crawling and swimming motility is much more blurred than what was previously thought.…”

Section: � Introductionmentioning

confidence: 91%

“…In this study we generalize the approach to quasi-static crawling introduced in [16,17,28] to the case of directional substrates, namely, substrates on which the resistance to motion is sensitive to the sign of the sliding velocity. More precisely, we consider cases in which the mechanical interactions between the crawler and the substrate on which it moves are described by a force per unit �current) length denoted by f �x� t), which we call 'friction force'.…”

Section: Formulation Of the Problemmentioning

confidence: 99%

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Crawling on directional surfaces

Gidoni

Noselli

DeSimone

2014

International Journal of Non-Linear Mechanics

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In this paper we study crawling locomotion based on directional frictional interactions, namely, frictional forces that are sensitive to the sign of the sliding velocity. Surface interactions of this type are common in biology, where they arise from the presence of inclined hairs or scales at the crawler/substrate interface, leading to low resistance when sliding 'along the grain', and high resistance when sliding 'against the grain'. This asymmetry can be exploited for locomotion, in a way analogous to what is done in cross-country skiing �classic style, diagonal stride).We focus on a model system, namely, a continuous one-dimensional crawler and provide a detailed study of the motion resulting from several strategies of shape change. In particular, we provide explicit formulae for the displacements attainable with reciprocal extensions and contractions �breathing), or through the propagation of extension or contraction waves. We believe that our results will prove particularly helpful for the study of biological crawling motility and for the design of bio-mimetic crawling robots.

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Section: Discussionmentioning

confidence: 99%

Section: � Introductionmentioning

confidence: 91%

Section: Formulation Of the Problemmentioning

confidence: 99%

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Crawling on directional surfaces

Gidoni

Noselli

DeSimone

2014

International Journal of Non-Linear Mechanics

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“…We extend now our approach to quasi-static crawling [21][22][23]26] by considering T-periodic, reciprocal shape changes of the system shown in figure 9, such that its length first monotonically decreases from the initial value of L to L −s, and then monotonically increases from L −s to L. At any instant t, the configuration of the system is known upon determination of the two coordinates x i (t) and of the two lengths δ i (t), with i = {1, 2}. The compatibility of the displacements requires that…”

Section: A One-dimensional Model For the Bristle-crawlermentioning

confidence: 99%

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

Noselli

DeSimone

2014

Proc. R. Soc. A.

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We present experimental and numerical results for a model crawler which is able to extract net positional changes from reciprocal shape changes, i.e. 'breathinglike' 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.

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“…There are many recent publications where mechanical and/ or mathematical models of locomotion of crawling systems are analysed [8][9][10][11]. Tanaka et al [12] studied the mechanics of peristaltic locomotion and the role of anchoring in locomotory waves by simple mechanical modelling of a peristaltic crawler.…”

Section: Introductionmentioning

confidence: 99%

Common mechanics of mode switching in locomotion of limbless and legged animals

Kuroda

Kunita

Takai

et al. 2014

J. R. Soc. Interface.

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Crawling using muscular waves is observed in many species, including planaria, leeches, nemertea, aplysia, snails, chitons, earthworms and maggots. Contraction or extension waves propagate along the antero-posterior axis of the body as the crawler pushes the ground substratum backward. However, the observation that locomotory waves can be directed forward or backward has attracted much attention over the past hundred years. Legged organisms such as centipedes and millipedes exhibit parallel phenomena; leg tips form density waves that propagate backward or forward. Mechanical considerations reveal that leg-density waves play a similar role to locomotory waves in limbless species, and that locomotory waves are used by a mechanism common to both legged and limbless species to achieve crawling. Here, we report that both mode switching of the wave direction and friction control were achieved when backward motion was induced in the laboratory. We show that the many variations of switching in different animals can essentially be classified in two types according to mechanical considerations. We propose that during their evolution, limbless crawlers first moved in a manner similar to walking before legs were obtained. Therefore, legged crawlers might have learned the mechanical mode of movement involved in walking long before obtaining legs.

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Crawlers in viscous environments: Linear vs non-linear rheology

Cited by 29 publications

References 30 publications

Crawling on directional surfaces

Crawling on directional surfaces

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

Common mechanics of mode switching in locomotion of limbless and legged animals

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