Actuated Bivalve Robot -- Study of the Burrowing Locomotion...

Actuated Bivalve Robot -- Study of the Burrowing Locomotion in Sediment

inproceedings
Agathe Koller-Hodac, Daniel Germann, Alexander Gilgen, Katja Dietrich, Maik Hadorn, Wolfgang Schatz, Peter Eggenberger Hotz
This paper presents the design and control of an actuated bivalve robot, which has been developed to study the burrowing locomotion of bivalves in sediment. The setup consists of a tank filled with sand and water, plastic models of bivalve shells capable of expelling water and an external actuation mechanism simulating the rocking burrowing motion typically used by these animals. The realistic shell shapes have been realized using three-dimensional plotting techniques allowing testing influences of different shell shapes and surface structures (sculptures) on the burrowing efficiency. Based on the experimental setup, the burrowing process has been reproduced. The results show that this setup can be used to identify correlations in the burrowing process. Further experimental work will investigate the influence of factors such as shell shape and sculpture or the motion sequence on the burrowing performance. Keywords: biorobotics; biomimetics; burrowing locomotion; bivalves
Actuated Bivalve Robot -- Study of the Burrowing Locomotion in Sediment
2010
Copyright © 2010 IEEE. Reprinted from the proceedings of the IEEE International Conference on Robotics and Automation, 2010. This material is posted here with permission of the IEEE. Internal or personal use of this material is permitted. However, pe
1209-1214
May
IEEE International Conference on Robotics and Automation (ICRA)
ailab