Analysis of earthworm-like robotic locomotion on compliant surfaces

David Zarrouk, Inna Sharf, Moshe Shoham

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

19 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages1574-1579
Number of pages6
DOIs
StatePublished - 26 Aug 2010
Externally publishedYes
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 3 May 20107 May 2010

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/TerritoryUnited States
CityAnchorage, AK
Period3/05/107/05/10

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