Continuous models for peristaltic locomotion with application to worms and soft robots

Continuous models for peristaltic locomotion with application to worms and soft robots

A continuous model for the peristaltic locomotion of compressible and incompressible rod-like bodies is presented. Using Green and Naghdi’s theory of a directed rod, incompressibility is enforced as an internal constraint. A discussion on muscle actuation models for a single continuum is included. T...

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Veröffentlicht in:Biomechanics and modeling in mechanobiology 2021-02, Vol.20 (1), p.5-30
Hauptverfasser: Hemingway, Evan G., O’Reilly, Oliver M.
Format: Artikel
Sprache:eng
Schlagworte:
Actuation
Biological and Medical Physics
Biomedical Engineering and Bioengineering
Biomimetics
Biophysics
Compressibility
Computational fluid dynamics
Constraint modelling
Directors
Engineering
Incompressibility
Locomotion
Mechanics
Muscles
Original Paper
Robotics
Robots
Soft robotics
Space life sciences
Theoretical and Applied Mechanics
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Beschreibung
Zusammenfassung:A continuous model for the peristaltic locomotion of compressible and incompressible rod-like bodies is presented. Using Green and Naghdi’s theory of a directed rod, incompressibility is enforced as an internal constraint. A discussion on muscle actuation models for a single continuum is included. The resulting theory is demonstrated in a simulation of a soft-robotic device. In addition, a calibration of parameters is performed and the incompressible rod is validated against a biomimetic model of earthworm locomotion.
ISSN:1617-7959
1617-7940
DOI:10.1007/s10237-020-01365-w