%0 Journal Article
%T A robotic crawler exploiting directional frictional interactions: experiments, numerics, and derivation of a reduced model
%A Giovanni Noselli
%A Antonio DeSimone
%J Physics
%D 2014
%I arXiv
%R 10.1098/rspa.2014.0333
%X We present experimental and numerical results for a model crawler which is able to extract net positional changes from reciprocal shape changes, i.e. 'breathing-like' deformations, thanks to directional, frictional interactions with a textured solid substrate, mediated by flexible inclined feet. We also present a simple reduced model that captures the essential features of the kinematics and energetics of the gait, and compare its predictions with the results from experiments and from numerical simulations.
%U http://arxiv.org/abs/1408.6470v1