TY - GEN
T1 - Analysis of earthworm-like robotic locomotion on compliant surfaces
AU - Zarrouk, David
AU - Sharf, Inna
AU - Shoham, Moshe
PY - 2010/8/26
Y1 - 2010/8/26
N2 - An inherent characteristic of biological vessels and tissues is that they exhibit significant compliance or flexibility, both in the normal and tangential directions. The latter in particular is atypical of standard engineering materials and presents additional challenges for designing robotic mechanisms for navigation inside biological vessels by crawling on the tissue. Several studies aimed at designing and building such robots have been carried out but little was done on analyzing the interactions between the robots and their flexible environment. In this study, we will analyze the interaction between earthworm robots and biological tissues where contact mechanics is the dominant factor. Specifically, the efficiency of locomotion of earthworm robots is derived as a function of the tangential flexibility, friction coefficients, number of cells in the robot and external forces.
AB - An inherent characteristic of biological vessels and tissues is that they exhibit significant compliance or flexibility, both in the normal and tangential directions. The latter in particular is atypical of standard engineering materials and presents additional challenges for designing robotic mechanisms for navigation inside biological vessels by crawling on the tissue. Several studies aimed at designing and building such robots have been carried out but little was done on analyzing the interactions between the robots and their flexible environment. In this study, we will analyze the interaction between earthworm robots and biological tissues where contact mechanics is the dominant factor. Specifically, the efficiency of locomotion of earthworm robots is derived as a function of the tangential flexibility, friction coefficients, number of cells in the robot and external forces.
UR - http://www.scopus.com/inward/record.url?scp=77955806986&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509846
DO - 10.1109/ROBOT.2010.5509846
M3 - Conference contribution
AN - SCOPUS:77955806986
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1574
EP - 1579
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -