Abstract

Snails crawl by generating a sequence of pedal waves via ventral muscle contractions, known as waves, and relaxations termed inter-waves. These actions transfer propulsive forces from a single foot to the ground through a thin layer of mucus secreted by the snail. Inspired by the adhesive locomotion of snails, we have developed a bioinspired soft robot equipped with a single-soft foot. This foot features a network of embedded pneumatic chambers generating various traveling wave patterns, two lateral bending actuators for steering, and distributed fluidic channels for selective artificial mucus deposition. A powerhouse comprised of a compact wireless controller, a pressure sensor, a pump, electro valves, and mucus storage housed in a shell mounted on the soft foot, creating an untethered robot control for robophysical analysis. Here, we show two experimental pathways in analyzing the physics behind snail
Original languageEnglish
JournalBulletin of the American Physical Society
ISSN0003-0503
Publication statusAccepted/In press - 2024
EventAPS March Meeting 2024 - Minneapolis
Duration: 4. Mar 20248. Mar 2024

Conference

ConferenceAPS March Meeting 2024
CityMinneapolis
Period04/03/202408/03/2024

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