Bulletin of the American Physical Society
APS March Meeting 2018
Monday–Friday, March 5–9, 2018; Los Angeles, California
Session B50: Robophysics: Robotics Meets Physics
11:15 AM–2:15 PM,
Monday, March 5, 2018
LACC Room: 511B
Sponsoring Units: DBIO GSOFT
Chair: Daniel Goldman, Georgia Institute of Technology
Abstract: B50.00007 : Geometric Swimming with an Extensible Backbone*
12:51 PM–1:03 PM
(Oregon State Univ)
In this work, we consider the effect of curvature-coupled backbone extensibility on the efficiency of swimming systems. We consider two backbones with extensible curvature. One, in which the deformation is piecewise-constant along the body, is inspired by soft pneumatic actuators, while the other encodes a serpenoid motion in which the curvature is a sinusoidal wave traveling along the body. Maximum-efficiency gaits are identified for various levels of extensibility, and the results are compared to non-extensible systems at RMS-equivalent body-lengths.
Initial results indicate that active extensibility can provide improved locomotion performance. Serpenoid system performance suggests a limit to attainable efficiency, as that backbone contains a higher number of segments. Future work will include performing this analysis on an experimentally derived set of kinematics.
*This work was supported by the National Science Foundation under CMMI Grant 1653220.
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