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Controlled Locomotion of a Minimal Soft Structure by Stick-Slip Nonlinearity.

T Barois1, A Boucherie1, L Tadrist2

  • 1<a href="https://ror.org/057qpr032">Univ. Bordeaux</a>, CNRS, <a href="https://ror.org/05qsp5m64">LOMA</a>, UMR 5798, F-33400 Talence, France.

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This study introduces a novel locomotion mechanism using soft structures and stick-slip transitions. The system exhibits controlled forward or backward movement and multimodal motion capabilities.

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Area of Science:

  • Soft robotics
  • Mechanical engineering
  • Nonlinear dynamics

Background:

  • Traditional locomotion mechanisms often require complex active control systems.
  • Understanding passive dynamic systems is crucial for developing novel robotic solutions.
  • The stick-slip phenomenon is a key characteristic in many natural and engineered systems.

Purpose of the Study:

  • To present a novel locomotion mechanism based on the stick-slip transition in a soft passive resonant structure.
  • To investigate the relationship between excitation parameters and motion control.
  • To demonstrate the potential for achieving complex, controlled movements.

Main Methods:

  • Harmonic vertical driving of a soft passive structure with internal mechanical resonance.
  • Analysis of resonance dephasing and threshold response for stick-slip transition.
  • Experimental validation of a derived motion acceleration threshold.
  • Investigation of velocity inversion under specific excitation conditions.

Main Results:

  • The soft structure exhibits controllable forward or backward locomotion.
  • A critical acceleration threshold for motion was established and experimentally validated.
  • A non-trivial regime near resonance showed velocity inversion with increasing driving amplitude.
  • Controlled multimodal motion was achieved by integrating multiple internal resonances.

Conclusions:

  • The presented mechanism offers a simple yet effective method for passive locomotion.
  • Resonance and stick-slip dynamics provide a powerful toolkit for motion control in soft systems.
  • This work opens avenues for designing adaptable and versatile soft robotic systems.