Maneuvering on non-Newtonian fluidic terrain: a survey of animal and bio-inspired robot locomotion techniques on soft yielding grounds

Author:

Godon Simon,Kruusmaa Maarja,Ristolainen Asko

Abstract

Frictionally yielding media are a particular type of non-Newtonian fluids that significantly deform under stress and do not recover their original shape. For example, mud, snow, soil, leaf litters, or sand are such substrates because they flow when stress is applied but do not bounce back when released. Some robots have been designed to move on those substrates. However, compared to moving on solid ground, significantly fewer prototypes have been developed and only a few prototypes have been demonstrated outside of the research laboratory. This paper surveys the existing biology and robotics literature to analyze principles of physics facilitating motion on yielding substrates. We categorize animal and robot locomotion based on the mechanical principles and then further on the nature of the contact: discrete contact, continuous contact above the material, or through the medium. Then, we extract different hardware solutions and motion strategies enabling different robots and animals to progress. The result reveals which design principles are more widely used and which may represent research gaps for robotics. We also discuss that higher level of abstraction helps transferring the solutions to the robotics domain also when the robot is not explicitly meant to be bio-inspired. The contribution of this paper is a review of the biology and robotics literature for identifying locomotion principles that can be applied for future robot design in yielding environments, as well as a catalog of existing solutions either in nature or man-made, to enable locomotion on yielding grounds.

Funder

Horizon 2020 Framework Programme

Publisher

Frontiers Media SA

Subject

Artificial Intelligence,Computer Science Applications

Cited by 4 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. A Reduced-Order Mud Reaction Force Model for Robotic Foot-Mud Interactions;2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM);2024-07-15

2. Foot Shape-Dependent Resistive Force Model for Bipedal Walkers on Granular Terrains;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13

3. The Physics of Animal Behavior: Form, Function, and Interactions;Annual Review of Condensed Matter Physics;2024-03-11

4. Adaptation of Flipper-Mud Interactions Enables Effective Terrestrial Locomotion on Muddy Substrates;IEEE Robotics and Automation Letters;2023-12

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