Biomechanical analysis of Oligochaeta crawling

Accoto, Dino; Castrataro, Piero; Dario, P.

doi:10.1016/j.jtbi.2004.03.025

Cited by 24 publications

(14 citation statements)

References 8 publications

(7 reference statements)

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“…It assumes elliptical cross-sections and constant volume, and simulates the vermiform elongation and pressure changes of a leech. The motions of leeches have also been described using Lagrangian mechanics and a large system of differential-algebraic equations (Alscher and Beyn, 1998) and by modeling a mass transfer wave that describes peristalsis (Accoto et al, 2004;Dobrolyubov and Douchy, 2002).…”

Section: Hydrostatic Skeleton Models In Biologymentioning

confidence: 99%

Scaling of caterpillar body properties and its biomechanical implications for the use of a hydrostatic skeleton

Lin

Slate

Paetsch

et al. 2011

Journal of Experimental Biology

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SUMMARYCaterpillars can increase their body mass 10,000-fold in 2weeks. It is therefore remarkable that most caterpillars appear to maintain the same locomotion kinematics throughout their entire larval stage. This study examined how the body properties of a caterpillar might change to accommodate such dramatic changes in body load. Using Manduca sexta as a model system, we measured changes in body volume, tissue density and baseline body pressure, and the dimensions of load-bearing tissues (the cuticle and muscles) over a body mass range from milligrams to several grams. All Manduca biometrics relevant to the hydrostatic skeleton scaled allometrically but close to the isometric predictions. Body density and pressure were almost constant. We next investigated the effects of scaling on the bending stiffness of the caterpillar hydrostatic skeleton. The anisotropic nonlinear mechanical response of Manduca muscles and soft cuticle has previously been quantified and modeled with constitutive equations. Using biometric data and these material laws, we constructed finite element models to simulate a hydrostatic skeleton under different conditions. The results show that increasing the internal pressure leads to a non-linear increase in bending stiffness. Increasing the body size results in a decrease in the normalized bending stiffness. Muscle activation can double this stiffness in the physiological pressure range, but thickening the cuticle or increasing the muscle area reduces the structural stiffness. These non-linear effects may dictate the effectiveness of a hydrostatic skeleton at different sizes. Given the shared anatomy and size variation in Lepidoptera larvae, these mechanical scaling constraints may implicate the diverse locomotion strategies in different species.

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Section: Hydrostatic Skeleton Models In Biologymentioning

confidence: 99%

Scaling of caterpillar body properties and its biomechanical implications for the use of a hydrostatic skeleton

Lin

Slate

Paetsch

et al. 2011

Journal of Experimental Biology

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“…9 such velocity is plotted for the robot and the earthworm, showing that the same velocity Fig. 9 A comparison between velocity [body lengths/s] scaling for the robot and for the biological model (data after Accoto et al, 2004) [lengths/s] is reached when the mass is m = 1.3 g. Such mass is very close to that of the current crawler prototype (i.e. 1.2 g).…”

Section: Discussion and Comparison Between Robotic Crawler And Lumbrimentioning

confidence: 70%

Development of a biomimetic miniature robotic crawler

et al. 2006

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The paper presents the development of segmented artificial crawlers endowed with passive hook-shaped frictional microstructures. The goal is to find design rules for fabricating biomimetic, adaptable and mobile machines mimicking segmented animals with hydrostatic skeleton, and intended to move effectively along unstructured substrates.The paper describes the mechanical model, the design and the fabrication of a SMA-actuated segmented microrobot, whose locomotion is inspired by the peristaltic motion of Annelids, and in particular of earthworms (Lumbricus Terrestris). Experimental locomotion performance are compared with theoretical performance predicted by a purposely developed friction model -taking into account design parameters such as number of segments, body mass, special friction enhancement appendixes-and with locomotion performance of real earthworms as presented in literature.Experiments indicate that the maximum speed of the crawler prototype is 2.5 mm/s, and that 3-segment crawlers have almost the same velocity as earthworms having the same weight (and about 330% their length), whereas 4-segment crawlers have the same velocity, expressed as body lengths/s, as earthworms with the same mass (and about 270% their length).

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“…Soft crawlers: from Nature to robotics From anellids, as earthworms [1,53] and leeches [58], to gastropods [40], Nature offers us a large collection of crawling strategies. Each species implements the fundamental mechanism of crawling locomotion in its own way: not only we can observe large differences in the periodic shape change exploited to move [39], but we also find several elements, like mucus or setae, used to modify the frictional interaction with the environment.…”

Section: Introductionmentioning

confidence: 99%

Rate-independent soft crawlers

Gidoni

2018

The Quarterly Journal of Mechanics and Applied Mathematics

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This paper applies the theory of rate-independent systems to model the locomotion of bio-mimetic soft crawlers. We prove the well-posedness of the approach and illustrate how the various strategies adopted by crawlers to achieve locomotion, such as friction anisotropy, complex shape changes and control on the friction coefficients, can be effectively described in terms of stasis domains.Compared to other rate-independent systems, locomotion models do not present any Dirichlet boundary condition, so that all rigid translations are admissible displacements, resulting in a non-coercivity of the energy term. We prove that existence and uniqueness of solution are guaranteed under suitable assumptions on the dissipation potential. Such results are then extended to the case of time-dependent dissipation.arXiv:1710.08340v2 [math.FA] 30 Dec 2017 p. gidoni: Rate-independent soft crawlers Physically, this equation is a force balance: configurational forces (e.g. tension in an elastic body) are described as the spatial gradient of the internal energy E, while frictional forces are obtained as the subdifferential of a dissipation potential R, assumed to be positively homogeneous of degree one, in order to guarantee rate-independence.The variational structure of the problem has favoured the development of an advanced and extensive mathematical theory of rate-independent systems, assisting and inspired by applications in physics of solids and continuum mechanics, modelling phenomena such as elastoplasticity, fracture, damage, phase transitions.Along with these, systems with dry friction has immediately emerged as one of the most fitting applications of the theory, already from the first major achievements in the 70s, with the introduction of Moreau's Sweeping processes [49]. As today, dry friction still contributes to the development of the theory. We mention the recent results adopting multiscale approaches to study the effective friction in the case of fast-oscillating bodies [32] and of hairy surfaces [28]; or the illustration of the properties of non-convex rate independent systems using using simple, representative dry friction toy models [2].

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Biomechanical analysis of Oligochaeta crawling

Cited by 24 publications

References 8 publications

Scaling of caterpillar body properties and its biomechanical implications for the use of a hydrostatic skeleton

Scaling of caterpillar body properties and its biomechanical implications for the use of a hydrostatic skeleton

Development of a biomimetic miniature robotic crawler

Rate-independent soft crawlers

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