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- W2955493546 abstract "Sandy beaches can be smooth access points for future amphibious robots to enter and exit the water, but the terrain is challenging, especially for smaller scale robots. Strong hydrodynamic forces can interrupt navigation by displacing, reorienting, or even inverting the robot. Looking to animals that navigate these conditions, crabs have legs and gaits that are distinctive from land animals and robots. In order to better understand the potential advantages of crab-like legs for surf-zone terrain, our goal is to evaluate these legs on dry, wet, and submerged sandy terrain. With our modified 1.2 kg HEXY robot, we demonstrate two important advantages of crab-like legs. First, crab-like legs can allow the robot to resist vertical forces greater than the body weight (the maximum force required to lift the robot is 120% of the weight). This is important because, in contrast to robots that increase traction by adding weight, using the legs to effectively increase normal forces means that robots can be built lighter and smaller while still traversing the same environments. Secondly, we show distributed inward gripping with the crab-like legs reduce wave-induced displacement in lab tests (with default feet, waves displace the robot 1–4 cm, but with our crab-like feet, this displacement is eliminated). The modified foot designs of the robot are compatible with legged walking gaits (slow, medium, and fast). In the future, these leg designs and grasping strategies can be used to convert other land-based robots for amphibious locomotion." @default.
- W2955493546 created "2019-07-12" @default.
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- W2955493546 date "2019-01-01" @default.
- W2955493546 modified "2023-10-05" @default.
- W2955493546 title "Crab-Like Hexapod Feet for Amphibious Walking in Sand and Waves" @default.
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- W2955493546 doi "https://doi.org/10.1007/978-3-030-24741-6_14" @default.
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