Peristaltic Waves as Optimal Gaits in Metameric Bio-Inspired Robots.

ABSTRACT: Peristalsis, i.e., a motion pattern arising from the propagation of muscle contraction and expansion waves along the body, is a common locomotion strategy for limbless animals. Mimicking peristalsis in bio-inspired robots has attracted considerable attention in the literature. It has recently been observed that maximal velocity in a metameric earthworm-like robot is achieved by actuating the segments using a "phase coordination" principle. This paper shows that, in fact, peristalsis (which requires not only phase coordination, but also that all segments oscillate at same frequency and amplitude) emerges from optimization principles. More precisely, basing our analysis on the assumption of small deformations, we show that peristaltic waves provide the optimal actuation solution in th

SUBMITTER: Agostinelli D 

PROVIDER: S-EPMC7806059 | biostudies-literature | 2018

REPOSITORIES: biostudies-literature