Mitigating memory effects during undulatory locomotion on hysteretic materials
© Schiebel et al. While terrestrial locomotors often contend with permanently deformable substrates like sand, soil, and mud, principles of motion on such materials are lacking. We study the desert-specialist shovel-nosed snake traversing a model sand and find body inertia is negligible despite rapi...
| Main Authors: | , , , , , , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
eLife Sciences Publications, Ltd
2021
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| Online Access: | https://hdl.handle.net/1721.1/135984 |
| _version_ | 1826196247284809728 |
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| author | Schiebel, PE Astley, HC Rieser, JM Agarwal, S Hubicki, C Hubbard, AM Diaz, K Mendelson, JR Kamrin, K Goldman, DI |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Schiebel, PE Astley, HC Rieser, JM Agarwal, S Hubicki, C Hubbard, AM Diaz, K Mendelson, JR Kamrin, K Goldman, DI |
| author_sort | Schiebel, PE |
| collection | MIT |
| description | © Schiebel et al. While terrestrial locomotors often contend with permanently deformable substrates like sand, soil, and mud, principles of motion on such materials are lacking. We study the desert-specialist shovel-nosed snake traversing a model sand and find body inertia is negligible despite rapid transit and speed dependent granular reaction forces. New surface resistive force theory (RFT) calculation reveals how wave shape in these snakes minimizes material memory effects and optimizes escape performance given physiological power limitations. RFT explains the morphology and waveform-dependent performance of a diversity of non-sand-specialist snakes but overestimates the capability of those snakes which suffer high lateral slipping of the body. Robophysical experiments recapitulate aspects of these failure-prone snakes and elucidate how re-encountering previously deformed material hinders performance. This study reveals how memory effects stymied the locomotion of a diversity of snakes in our previous studies (Marvi et al., 2014) and indicates avenues to improve all-terrain robots. |
| first_indexed | 2024-09-23T10:23:31Z |
| format | Article |
| id | mit-1721.1/135984 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T10:23:31Z |
| publishDate | 2021 |
| publisher | eLife Sciences Publications, Ltd |
| record_format | dspace |
| spelling | mit-1721.1/1359842023-12-14T15:32:29Z Mitigating memory effects during undulatory locomotion on hysteretic materials Schiebel, PE Astley, HC Rieser, JM Agarwal, S Hubicki, C Hubbard, AM Diaz, K Mendelson, JR Kamrin, K Goldman, DI Massachusetts Institute of Technology. Department of Mechanical Engineering © Schiebel et al. While terrestrial locomotors often contend with permanently deformable substrates like sand, soil, and mud, principles of motion on such materials are lacking. We study the desert-specialist shovel-nosed snake traversing a model sand and find body inertia is negligible despite rapid transit and speed dependent granular reaction forces. New surface resistive force theory (RFT) calculation reveals how wave shape in these snakes minimizes material memory effects and optimizes escape performance given physiological power limitations. RFT explains the morphology and waveform-dependent performance of a diversity of non-sand-specialist snakes but overestimates the capability of those snakes which suffer high lateral slipping of the body. Robophysical experiments recapitulate aspects of these failure-prone snakes and elucidate how re-encountering previously deformed material hinders performance. This study reveals how memory effects stymied the locomotion of a diversity of snakes in our previous studies (Marvi et al., 2014) and indicates avenues to improve all-terrain robots. 2021-10-27T20:30:14Z 2021-10-27T20:30:14Z 2020-06-01 2020-07-21T18:54:05Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/135984 en 10.7554/eLife.51412 eLife Creative Commons Attribution 4.0 International license https://creativecommons.org/licenses/by/4.0/ application/pdf eLife Sciences Publications, Ltd eLife |
| spellingShingle | Schiebel, PE Astley, HC Rieser, JM Agarwal, S Hubicki, C Hubbard, AM Diaz, K Mendelson, JR Kamrin, K Goldman, DI Mitigating memory effects during undulatory locomotion on hysteretic materials |
| title | Mitigating memory effects during undulatory locomotion on hysteretic materials |
| title_full | Mitigating memory effects during undulatory locomotion on hysteretic materials |
| title_fullStr | Mitigating memory effects during undulatory locomotion on hysteretic materials |
| title_full_unstemmed | Mitigating memory effects during undulatory locomotion on hysteretic materials |
| title_short | Mitigating memory effects during undulatory locomotion on hysteretic materials |
| title_sort | mitigating memory effects during undulatory locomotion on hysteretic materials |
| url | https://hdl.handle.net/1721.1/135984 |
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