利用方向摩擦相互作用的机器人履带车：简化模型的实验、数值和推导
A robotic crawler exploiting directional frictional interactions: experiments, numerics, and derivation of a reduced model
摘要：
我们提出了实验和数值结果的模型爬行器，它能够提取净位置的变化，从相互的形状变化，即“呼吸样”的变形，由于方向，摩擦相互作用与纹理固体基板，介导的灵活倾斜的脚。我们还提出了一个简单的简化模型，捕捉步态的运动学和能量学的基本特征，并将其预测与实验和数值模拟的结果进行比较。
英文摘要：
We present experimental and numerical results for a model crawler which is able to extract net positional changes from reciprocal shape changes, i.e. 'breathing-like' deformations, thanks to directional, frictional interactions with a textured solid substrate, mediated by flexible inclined feet. We also present a simple reduced model that captures the essential features of the kinematics and energetics of the gait, and compare its predictions with the results from experiments and from numerical simulations.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
