A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems.

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 efficiently navigate (as animals do) the enormous diversity of natural environments which might be of future interest for autonomous robots; examples include vertical surfaces like trees and cliffs, heterogeneous ground like desert rubble and brush, turbulent flows found near seashores, and deformable/flowable substrates like sand, mud and soil.

Flipper-driven terrestrial locomotion of a sea turtle-inspired robot.

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 gaits, FBot moves with a constant step length.

Effects of worker size on the dynamics of fire ant tunnel construction.

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.

Utilization of granular solidification during terrestrial locomotion of hatchling sea turtles.

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 media, we hypothesize that solidification properties of granular media allow organisms to achieve performance on sand comparable to that on hard ground.