Wave-like Robotic Locomotion between Highly Flexible Surfaces and Comparison to Worm Robot Locomotion.

ABSTRACT: In a recent study, we developed a minimally actuated robot that utilizes wave-like locomotion and analyzed its kinematics. In this paper, we present an analysis of the robot's locomotion between two highly flexible surfaces. Initially, we created a simulation model of the robot between two surfaces and determined its speed and the conditions of locomotion based on the flexibility of the surface, the geometrical parameters, and the coefficient of friction for horizontal locomotion and climbing at different angles. Our findings indicate that wave locomotion is capable of consistently advancing along the surface, even when the surface is highly flexible. Next, we developed an experimental setup and conducted multiple experiments to validate the accuracy of our simulation. The results indicate

SUBMITTER: Shachaf D 

PROVIDER: S-EPMC10526330 | biostudies-literature | 2023 Sep

REPOSITORIES: biostudies-literature