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Biological terrestrial locomotion occurs on substrate materials with a range of rheological behaviour, which can affect limb-ground interaction, locomotor mode and performance. Surfaces like sand, a granular medium, can display solid or fluid-like behaviour in response to stress. Based on our previous experiments and models of a robot moving on granular(More)
To discover principles of flipper-based terrestrial locomotion we study the mechanics of a hatchling sea turtle-inspired robot, FlipperBot (FBot), during quasi-static movement on granular media. FBot implements a symmetric gait using two servo-motor-driven front limbs with flat-plate flippers and either freely rotating or fixed wrist joints. For a range of(More)
Social insects work together to complete tasks. However, different individuals within a colony may vary in task proficiency. We investigated if fire ant (Solenopsis invicta) worker body size influenced the ability to construct tunnels--a key component of subterranean nests. We monitored excavation by worker groups in a substrate of small wetted glass(More)
Discovery of fundamental principles which govern and limit effective locomotion (self-propulsion) is of intellectual interest and practical importance. Human technology has created robotic moving systems that excel in movement on and within environments of societal interest: paved roads, open air and water. However, such devices cannot yet robustly and(More)
Kinematic locomotion model Figure S1: Idealized turtle body velocity vs time assuming a period of constant acceleration (during t stance) during stride of period T. From kinematic observations (Fig. 1) of turtles, we find that the instantaneous velocity during terrestrial locomotion starts from zero at the beginning of the stride and then increases linearly(More)
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