Lateral bending and buckling aids biological and robotic earthworm anchoring and locomotion

Ozkan-Aydin Yasemin; Liu Bangyuan; Ferrero Alexandra CarruthersSeidel MaxHammond Frank L. IIIGoldman Daniel I

首页> 外文期刊>Bioinspiration & biomimetics >Lateral bending and buckling aids biological and robotic earthworm anchoring and locomotion

【24h】

Lateral bending and buckling aids biological and robotic earthworm anchoring and locomotion

机译：Lateral bending and buckling aids biological and robotic earthworm anchoring and locomotion

获取原文

获取原文并翻译 | 示例

掌桥外文数据库（机构版） >>

开具论文收录证明 >>

文献代查 >>

页面导航

摘要
著录项
相关主题

摘要

Earthworms (Lumbricus terrestris) are characterized by soft, highly flexible and extensible bodies, and are capable of locomoting in most terrestrial environments. Previous studies of earthworm movement focused on the use of retrograde peristaltic gaits in which controlled contraction of longitudinal and circular muscles results in waves of shortening/thickening and thinning/lengthening of the hydrostatic skeleton. These waves can propel the animal across ground as well as into soil. However, worms benefit from axial body bends during locomotion. Such lateral bending and buckling dynamics can aid locomotor function via hooking/anchoring (to provide propulsion), modify travel orientation (to avoid obstacles and generate turns) and even generate snake-like undulatory locomotion in environments where peristaltic locomotion results in poor performance. To the best of our knowledge, lateral bending and buckling of an earthworm's body has not yet been systematically investigated. In this study, we observed that within confined environments, worms use lateral bending and buckling to anchor their body to the walls of their burrows and tip (anterior end) bending to search the environment. This locomotion strategy improved the performance of our soft-bodied robophysical model of the earthworm both in a confined (in an acrylic tube) and above-ground heterogeneous environment (rigid pegs), where present peristaltic robots are relatively limited in terradynamic capabilities. In summary, lateral bending and buckling facilitates the mobility of earthworm locomotion in diverse terrain and can play an important role in the creation of low cost soft robotic devices capable of traversing a variety of environments.

著录项

来源
《Bioinspiration & biomimetics》 |2022年第1期|共11页
作者
Ozkan-Aydin Yasemin; Liu Bangyuan; Ferrero Alexandra CarruthersSeidel MaxHammond Frank L. IIIGoldman Daniel I;
展开▼
作者单位

Univ Notre Dame;

Georgia Inst Technol;

展开▼
收录信息
原文格式 PDF
正文语种英语
中图分类生物工程学（生物技术）;
关键词
earthworm; peristaltic gait; soft robotics; lateral bending and buckling; TERRESTRIAL LOCOMOTION; BURROWING BEHAVIOR; LEGGED LOCOMOTION; SNAKE; KINEMATICS; DYNAMICS; ANIMALS; SYSTEMS; MODELS;

Lateral bending and buckling aids biological and robotic earthworm anchoring and locomotion

摘要

著录项

相关主题

期刊订阅