Energy requirements of inchworm crawling on a flexible surface and comparison to earthworm crawling

David Zarrouk, Moshe Shoham

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

7 Scopus citations

Abstract

In a previous investigation, the minimum energy and power requirements for earthworm locomotion over flexible surfaces were analyzed. The optimum conditions of locomotion were obtained as a function of the number of cells, friction coefficients, stroke length, energy recovery factor, and tangential compliance. In this paper we focus on the energy requirements of inchworms which, unlike earthworms, consume energy both during the locomotion of the cells and the clamping. In order to estimate the energy requirements, an experiment was performed on the aorta of a bull in which the normal and tangential compliances were obtained. The analysis allows us to compare between inchworms, regular earthworms and earthworms with lower forward coefficient of friction, and determine which of the devices is more efficient with given environment conditions. We also propose a new gait of locomotion for inchworms which reduces the energy consumption.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages3342-3347
Number of pages6
DOIs
StatePublished - 14 Nov 2013
Externally publishedYes
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 6 May 201310 May 2013

Publication series

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

Conference

Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/TerritoryGermany
CityKarlsruhe
Period6/05/1310/05/13

Fingerprint

Dive into the research topics of 'Energy requirements of inchworm crawling on a flexible surface and comparison to earthworm crawling'. Together they form a unique fingerprint.

Cite this