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Mitigating memory effects during undulatory locomotion on hysteretic materials
Perrin E Schiebel1, Henry C Astley1,2, Jennifer M Rieser1
1Department of Physics, Georgia Institute of Technology, Atlanta, United States.
Elife
|June 25, 2020
Summary
Snake locomotion on sand relies on speed-dependent forces, not body inertia. Optimized wave shapes minimize material memory effects for efficient movement, aiding robot design.
Area of Science:
- Biomechanics
- Robotics
- Zoology
Background:
- Terrestrial locomotion faces challenges on deformable substrates like sand.
- Understanding snake movement on sand is crucial for biomechanics and robotics.
Purpose of the Study:
- To investigate the locomotion principles of the shovel-nosed snake on sand.
- To develop a new resistive force theory (RFT) for deformable terrain.
- To identify factors limiting snake performance and inform robotic design.
Main Methods:
- Studied shovel-nosed snakes on a model sand substrate.
- Applied a new surface resistive force theory (RFT) calculation.
- Conducted robophysical experiments to simulate snake locomotion failures.
Main Results:
- Body inertia is negligible for snakes on sand; forces are speed-dependent.
- Optimized wave shapes minimize material memory effects for efficient locomotion.
- Material memory effects and lateral slipping hinder performance in non-specialist snakes.
Conclusions:
- Snake locomotion on sand is governed by granular reaction forces and wave shape optimization.
- Resistive force theory explains performance but highlights limitations due to material memory.
- Findings offer insights for improving all-terrain robot locomotion.
