Stasis domains and slip surfaces in the locomotion of a bio-inspired two-segment crawler

@article{Gidoni2016StasisDA,
  title={Stasis domains and slip surfaces in the locomotion of a bio-inspired two-segment crawler},
  author={Paolo Gidoni and Antonio DeSimone},
  journal={Meccanica},
  year={2016},
  volume={52},
  pages={587-601}
}
We formulate and solve the locomotion problem for a bio-inspired crawler consisting of two active elastic segments (i.e., capable of changing their rest lengths), resting on three supports providing directional frictional interactions. The problem consists in finding the motion produced by a given, slow actuation history. By focusing on the tensions in the elastic segments, we show that the evolution laws for the system are entirely analogous to the flow rules of elasto-plasticity. In… 
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