Robust maneuverability in flipper-based systems across complex terrains.
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| Title: | Robust maneuverability in flipper-based systems across complex terrains. |
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| Authors: | Chikere NC; Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN, United States of America., Fish FE; Department of Biology, West Chester University, West Chester, PA, United States of America., Ozkan-Aydin Y; Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN, United States of America. |
| Source: | Bioinspiration & biomimetics [Bioinspir Biomim] 2025 Oct 15; Vol. 20 (6). Date of Electronic Publication: 2025 Oct 15. |
| Publication Type: | Journal Article |
| Language: | English |
| Journal Info: | Publisher: Institute of Physics Publishing Country of Publication: England NLM ID: 101292902 Publication Model: Electronic Cited Medium: Internet ISSN: 1748-3190 (Electronic) Linking ISSN: 17483182 NLM ISO Abbreviation: Bioinspir Biomim Subsets: MEDLINE |
| Imprint Name(s): | Original Publication: Bristol, UK : Institute of Physics Publishing, 2006- |
| MeSH Terms: | Robotics*/instrumentation , Robotics*/methods , Turtles*/physiology , Locomotion*/physiology , Biomimetics*/instrumentation, Animals ; Gait/physiology ; Equipment Design ; Biomechanical Phenomena ; Swimming/physiology |
| Abstract: | Sea turtle hatchlings display maneuvering capabilities across diverse aquatic and coastal terrains. While turning behavior is crucial in aquatic environments, it is equally vital for terrestrial locomotion by hatchlings that must quickly navigate obstacle-rich terrain on their way to the sea. This study introduces a robotic prototype that emulates the turning strategies of juvenile sea turtles to optimize turning rate and energy consumption across diverse terrestrial surfaces. The research investigates the rotational displacement capabilities of a bioinspired robot across five distinct gait configurations: one involving all flippers in a unique pattern, and four employing reduced flipper combinations, including front, diagonal, back, and single flippers. We investigated the robot's turning capabilities on diverse granular and compliant media, including four specified rock sizes, a consistent foam platform, and dry sand. Comparative analyses were conducted using rigid and soft flipper designs. Key locomotion features, including roll, pitch, yaw, and lift height, were quantified for each configuration. The results reveal significant differences in rotational behavior across terrains and gait styles, highlighting the interplay between flipper design, gait strategy, and environmental adaptability. This research advances the understanding of bioinspired robotics for applications in complex and variable environments. (Creative Commons Attribution license.) |
| Contributed Indexing: | Keywords: bioinspired robotics; flipper-based locomotion; maneuverability; sea turtles; terrestrial locomotion |
| Entry Date(s): | Date Created: 20250923 Date Completed: 20251015 Latest Revision: 20251015 |
| Update Code: | 20251015 |
| DOI: | 10.1088/1748-3190/ae0aaa |
| PMID: | 40987310 |
| Database: | MEDLINE |
Nájsť tento článok vo Web of Science | Abstract: | Sea turtle hatchlings display maneuvering capabilities across diverse aquatic and coastal terrains. While turning behavior is crucial in aquatic environments, it is equally vital for terrestrial locomotion by hatchlings that must quickly navigate obstacle-rich terrain on their way to the sea. This study introduces a robotic prototype that emulates the turning strategies of juvenile sea turtles to optimize turning rate and energy consumption across diverse terrestrial surfaces. The research investigates the rotational displacement capabilities of a bioinspired robot across five distinct gait configurations: one involving all flippers in a unique pattern, and four employing reduced flipper combinations, including front, diagonal, back, and single flippers. We investigated the robot's turning capabilities on diverse granular and compliant media, including four specified rock sizes, a consistent foam platform, and dry sand. Comparative analyses were conducted using rigid and soft flipper designs. Key locomotion features, including roll, pitch, yaw, and lift height, were quantified for each configuration. The results reveal significant differences in rotational behavior across terrains and gait styles, highlighting the interplay between flipper design, gait strategy, and environmental adaptability. This research advances the understanding of bioinspired robotics for applications in complex and variable environments.<br /> (Creative Commons Attribution license.) |
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| ISSN: | 1748-3190 |
| DOI: | 10.1088/1748-3190/ae0aaa |