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- W4387448689 abstract "Moving on natural muddy terrains, where soil composition and water content vary significantly, is complex and challenging. To understand how mud properties and robot-mud interaction strategies affect locomotion performance on mud, we study the terrestrial locomotion of a mudskipper-inspired robot on synthetic mud with precisely-controlled ratios of sand, clay, and water. We observed a non-monotonic dependence of the robot speed on mud water content. Robot speed was the largest on mud with intermediate levels of water content (25%-26%), but decreased significantly on higher or lower water content. Measurements of mud reaction force revealed two distinct failure mechanisms. At high water content, the reduced mud shear strength led to a large slippage of robot appendages and a significantly reduced step length. At low water content, the increased mud suction force caused appendage entrapment, resulting in a large negative displacement in the robot body during the swing phase. A simple model successfully captured the observed robot performance, and informed adaptation strategies that increased robot speed by more than 200 beginning step to extend robot mobility beyond simple substrates towards a wider range of complex, heterogeneous terrains." @default.
- W4387448689 created "2023-10-10" @default.
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- W4387448689 date "2023-01-01" @default.
- W4387448689 modified "2023-10-11" @default.
- W4387448689 title "Adaptation of flipper-mud interactions enables effective terrestrial locomotion on muddy substrates" @default.
- W4387448689 doi "https://doi.org/10.1109/lra.2023.3323123" @default.
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