Rate-independent soft crawlers
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Publication:5195164
Biomechanical solid mechanics (74L15) Small-strain, rate-independent theories of plasticity (including rigid-plastic and elasto-plastic materials) (74C05) Friction in solid mechanics (74M10) Existence of solutions of dynamical problems in solid mechanics (74H20) Uniqueness of solutions of dynamical problems in solid mechanics (74H25)
Abstract: 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.
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- On the optimal control of rate-independent soft crawlers
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