Actuated bivalve robot study of the burrowing locomotion in sediment

Koller-Hodac, Agathe; Germann, D.; Gilgen, Alexander; Dietrich, Katja; Hadorn, Maik; Schatz, Wolfgang; Hotz, Peter Eggenberger

doi:10.1109/robot.2010.5509329

Cited by 15 publications

(7 citation statements)

References 14 publications

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“…This approach has evolved from the lever-controlled, aluminum-epoxy, "burrowing" shell models of Stanley [40] to sophisticated, self-propelled, bivalve robots that mimic the size, shape, and burrowing movements of their live counterparts [41][42][43][44][45][46]. The application of robotics to problems in ichnology has great potential for providing valuable data unobtainable by other means, for example in evaluating burrowing of hypothetical animals having morphologies or behaviors not seen in nature.…”

Section: Aims Of the Research Discussed Herementioning

confidence: 99%

Escape Burrowing of Modern Freshwater Bivalves as a Paradigm for Escape Behavior in the Devonian Bivalve Archanodon catskillensis

Knoll¹,

Chamberlain

2017

Geosciences

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Many freshwater bivalves restore themselves to the sediment water interface after burial by upward escape burrowing. We studied the escape burrowing capacity of two modern unionoids, Elliptio complanata and Pyganodon cataracta and the invasive freshwater venerid Corbicula fluminea, in a controlled laboratory setting varying sediment grain size and burial depth. We found that the relatively streamlined E. complanata is a better escape burrower than the more obese P. cataracta. E. complanata is more likely to escape burial in both fine and coarse sand, and at faster rates than P. cataracta. However, successful escape from 10 cm burial, especially in fine sand, is unlikely for both unionoids. The comparatively small and obese C. fluminea outperforms both unionoids in terms of escape probability and escape time, especially when body size is taken into consideration. C. fluminea can escape burial depths many times its own size, while the two unionoids rarely escape from burial equivalent to the length of their shells. E. complanata, and particularly P. cataracta, are morphological paradigms for the extinct Devonian unionoid bivalve Archanodon catskillensis, common in riverine facies of the Devonian Catskill Delta Complex of the eastern United States. Our observations suggest that the escape burrowing capability of A. catskillensis was no better than that of P. cataracta. Archanodon catskillensis was likely unable to escape burial of more than a few centimeters of anastrophically deposited sediment. The long (up to 1 meter), vertical burrows that are associated with A. catskillensis, and interpreted to be its escape burrows, represent a response to episodic, small-scale sedimentation events due to patterns of repetitive hydrologic or weather-related phenomena. They are not a response to a single anastrophic event involving the influx of massive volumes of sediment.

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Section: Aims Of the Research Discussed Herementioning

confidence: 99%

Escape Burrowing of Modern Freshwater Bivalves as a Paradigm for Escape Behavior in the Devonian Bivalve Archanodon catskillensis

Knoll¹,

Chamberlain

2017

Geosciences

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“…A more detailed description of the setup used in this study was published in Germann and Carbajal (2013). Compared to an earlier version of the setup (Koller-Hodac et al, 2010), it featured technical improvements like a modular approach to switch bivalve shell models or an improved control program that used force control instead of position control (Germann and Carbajal, 2013) to make the burrowing process more realistic.…”

Section: Methodsmentioning

confidence: 99%

Artificially evolved functional shell morphology of burrowing bivalves

Germann

Schatz

Hotz

2014

Palaeontologia Electronica

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The morphological evolution of bivalves is documented by a rich fossil record. It is believed that the shell shape and surface sculpture play an important role for the burrowing performance of endobenthic species. While detailed morphometric studies of bivalve shells have been done, there are almost no studies experimentally testing their dynamic properties. To investigate the functional morphology of the bivalve shell, we employed a synthetic methodology and built an experimental setup to simulate the burrowing process. Using an evolutionary algorithm and a printer that prints three dimensional (3D) objects, the first ever artificial evolution of a physical bivalve shell was performed. The result was a vertically flattened shell occupying only the top sediment layers. Insufficient control of the sediment was the major limitation of the setup and restricted the significance of the results. Nevertheless, it is demonstrated that systematic palaeontological research may substantially profit from synthetic methods. We suggest investigating functional morphologies not only by emulating the dynamical processes but also evolutionary pressure using evolutionary algorithms.

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“…6 Autonomous solutions, which can monitor the surrounding environment, make decisions, and adjust their behavior for improving penetration and exploration, could help make the process faster, more reliable, cheaper, and safer for humans and underground infrastructures. 7 However, robotic solutions for such applications are still very limited, [8][9][10][11][12][13] due to the strong constraints imposed on the movement of autonomous systems below ground by the physics of such a cluttered environment (i.e., high pressure and friction, stratifications with different soil impedance, and rocks).…”

Section: Introductionmentioning

confidence: 99%

Passive Morphological Adaptation for Obstacle Avoidance in a Self-Growing Robot Produced by Additive Manufacturing

et al. 2020

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This article presents strategies for the passive path and morphological adaptation of a plant-inspired growing robot that can build its own body by an additive manufacturing process. By exploiting the soft state of the thermoplastic material used by the robot to build its structure, we analyzed the ability of the robot to change its direction of growth without the need for specific cognition and control processes. Obstacle avoidance is computed by the mechanics from the body-environment interaction. The robot can passively adapt its body to flat obstacles with an inclination of up to 50°with resulting reaction forces of up to *10 N. The robot also successfully performs penetration and body adaptation (with 30°obstacle inclination) in artificial soil and in a rough unstructured environment. This approach is founded on observing plant roots and how they move and passively adapt to obstacles in soil before they actively respond followed by cell division-based growth.

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Actuated bivalve robot study of the burrowing locomotion in sediment

Cited by 15 publications

References 14 publications

Escape Burrowing of Modern Freshwater Bivalves as a Paradigm for Escape Behavior in the Devonian Bivalve Archanodon catskillensis

Escape Burrowing of Modern Freshwater Bivalves as a Paradigm for Escape Behavior in the Devonian Bivalve Archanodon catskillensis

Artificially evolved functional shell morphology of burrowing bivalves

Passive Morphological Adaptation for Obstacle Avoidance in a Self-Growing Robot Produced by Additive Manufacturing

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