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Rapid two-anchor crawling from a milliscale prismatic-push-pull (3P) robot.

Wei Zhou1, Nick Gravish1

  • 1Department of Mechanical & Aerospace Engineering, University of California at San Diego, CA, 92093 United States of America.

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Summary

This study introduces a milliscale push-pull robot that moves using two anchor points. The robot exhibits three distinct speed regimes across a wide frequency range, revealing new insights into two-anchor locomotion.

Keywords:
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Area of Science:

  • Robotics
  • Biomimicry
  • Mechanical Engineering

Background:

  • Crawling organisms utilize push-pull locomotion with multiple anchor points.
  • Existing models of two-anchor locomotion primarily focus on low-speed regimes.

Purpose of the Study:

  • To investigate two-anchor locomotion beyond the low-speed regime using a milliscale robot.
  • To explore the relationship between actuation frequency and robot speed.
  • To understand the underlying mechanisms of locomotion at various frequencies.

Main Methods:

  • Designed and fabricated a milliscale robot employing anisotropic friction for push-pull movement.
  • Experimentally tested the robot across a wide range of oscillation frequencies (10-250 Hz).
  • Developed a deterministic two-anchor friction model and later incorporated probabilistic foot slipping.

Main Results:

  • Observed a non-linear speed-frequency relationship with three distinct locomotion regimes.
  • Low frequencies showed linear speed increase; intermediate frequencies resulted in constant speed; higher frequencies exhibited a return to linear speed increase.
  • Experimental results deviated from the deterministic model, with 3D kinematics revealing intermittent ground contact at higher frequencies.

Conclusions:

  • The milliscale robot's locomotion behavior is characterized by three distinct regimes influenced by actuation frequency.
  • Intermittent ground contact and probabilistic foot slipping are crucial factors explaining locomotion at higher frequencies.
  • A modified friction model incorporating probabilistic slipping accurately describes the observed three-regime locomotion.