Peristaltic wave locomotion with a millipede inspired mechanism

Abstract eng:
We propose the model of a flexible mechanism that adapts to unstructured terrains. The locomotion mechanics is inspired by the one of multi-legged organisms such as millipedes and millipedes, whose efficiency in exploring unstructured environments is due to high redundancy and robustness of their locomotion system based on multiple contacts with the terrain. Leg to ground contact kinematics can be modeled as a peristaltic displacement wave [1], with periodic contact that provides redundancy and robustness for locomotion. The body of the mechanism is modeled as a Timoshenko beam, whose kinematics captures the basic morphology of millipedes and centipedes bodies. With respect to our work in [2] we propose a different locomotion model that is based on the mechanics of legged peristaltic locomotion [3]. A Lagrangian approach is used to derive the governing equations of the system that couple locomotion and shape morphing, that are illustrated by simulation results.

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