Crawling on directional surfaces

  title={Crawling on directional surfaces},
  author={Paolo Gidoni and Giovanni Noselli and Antonio DeSimone},
  journal={International Journal of Non-linear Mechanics},
Stasis domains and slip surfaces in the locomotion of a bio-inspired two-segment crawler
By focusing on the tensions in the elastic segments, this work shows that the evolution laws for the system are entirely analogous to the flow rules of elasto-plasticity, and shows that specific choices of the actuation strategy can lead to net displacements also in the direction of higher friction.
The mechanics of hydrogel crawlers in confined environment
This analysis suggests that the existence of a lubrication layer around the particle hinders its motion at low confinement, while an excessive degree of confinement is detrimental to the particle's overall deformation and, thus, to its locomotion efficiency.
Rate-independent soft crawlers
  • P. Gidoni
  • Mathematics
    The Quarterly Journal of Mechanics and Applied Mathematics
  • 2018
This paper applies the theory of rate-independent systems to model the locomotion of bio-mimetic soft crawlers. We prove the well-posedness of the approach and illustrate how the various strategies
Maximum velocity of self-propulsion for an active segment
The motor part of a crawling eukaryotic cell can be represented schematically as an active continuum layer and it is instructive to consider the problem of finding the spatial organization of standard active elements inside a crawling layer ensuring an optimal cost-performance trade-off.
The Optimal Locomotion of a Self-Propelled Worm Actuated by Two Square Waves
The optimal problem of a worm’s motion induced by two peristalsis waves in a viscous medium is studied and it is found that there exist four different cases which should be addressed, and the average velocity in each case can be approximately derived.
On the genesis of directional friction through bristle-like mediating elements
We propose an explanation of the genesis of directional dry friction, as emergent property of the oscillations produced in a bristle-like mediating element by the interaction with microscale
Gait-optimized locomotion of wave-driven soft sheets.
A continuum model is developed which links the deformation of a thin elastic sheet to surface-bound excitation waves and investigates the relationship between induced active stress and self-propulsion performance of self-propelling sheets driven by FitzHugh-Nagumo type chemical waves.


Crawling motility through the analysis of model locomotors: Two case studies
The main conclusion is that there is no snail theorem, which means that the crawling analog of the scallop theorem of low Reynolds number hydrodynamics does not hold for snail-like crawlers.
Mechanics of peristaltic locomotion and role of anchoring
A perturbation analysis of the equation reveals that adequate control of friction with the substrate on which locomotion occurs is indispensable in order to translate the internal motion (propagation of the elongation–contraction wave) into directional migration.
Building a better snail: Lubrication and adhesive locomotion
Many gastropods, such as slugs and snails, crawl via an unusual mechanism known as adhesive locomotion. We investigate this method of propulsion using two mathematical models: one for direct waves
The mechanics of the adhesive locomotion of terrestrial gastropods
Analysis of the traction forces reveals that the kinematics of the pedal waves is far more complex than previously thought, showing significant spatial variation as the waves move from the tail to the head of the animal.
Optimal Strokes for Low Reynolds Number Swimmers: An Example
It is shown how to cast the problem of swimming in the language of control theory, prove global controllability (which implies that the three-sphere swimmer can indeed swim), and propose a numerical algorithm to compute optimal strokes (which turn out to be suitably defined sub-Riemannian geodesics).
A robotic crawler exploiting directional frictional interactions: experiments, numerics and derivation of a reduced model
  • G. Noselli, A. DeSimone
  • Physics
    Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences
  • 2014
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
Swarming, swirling and stasis in sequestered bristle-bots
This study investigating the origin of collective motion and its loss using macroscopic self-propelled bristle-bots, simple automata made from a toothbrush and powered by an onboard cell phone vibrator-motor, shows how the behavioural repertoire of these physically interacting automatons controlled by one parameter translates into the mechanical intelligence of swarms.