Design and control of a mobil robot with an articulated body
International Journal of Robotics Research
The Art of Molecular Dynamics Simulation
The Art of Molecular Dynamics Simulation
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Kaa: an autonomous serpentine robot utilizes behavior control
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
iSprawl: Design and Tuning for High-speed Autonomous Open-loop Running
International Journal of Robotics Research
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A previous study of a sand-swimming lizard, the sandfish, revealed that it swims within granular media at speeds up to 0.4 body-lengths/cycle using body undulations (approximately a single period sinusoidal traveling wave) without limb use. Inspired by the organism, we develop a numerical model of a robot swimming in a simulated granular medium to guide the design of a physical device. Both in simulation and experiment the robot swims limblessly subsurface at speeds up to 0.3 body-lengths/cycle and, like the animal, increases its speed by increasing its oscillation frequency. The performance of the robot measured in terms of its wave efficiency η, the ratio of its forward speed to wave speed, is 0.34 脗卤 0.02, within 8% of the simulation prediction. Both in simulation and experiment, η increases with increasing particleâ聙聰particle friction but decreases with increasing bodyâ聙聰particle friction. On a flat, rigid surface the robot fails to move forward, as expected, due to the frictional isotropy between the interacting surfaces. However, the surface and subsurface performance of the robot on low friction particles are comparable. Our work provides a validated simulation tool and the design of a robot that can move on or within yielding terrestrial substrates.