Rate-independent soft crawlers

DOI10.1093/QJMAM/HBY010zbMATH Open1451.74169arXiv1710.08340OpenAlexW2765309130MaRDI QIDQ5195164FDOQ5195164

Authors: Paolo Gidoni 

Publication date: 18 September 2019

Published in: The Quarterly Journal of Mechanics and Applied Mathematics (Search for Journal in Brave)

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.

Full work available at URL: https://arxiv.org/abs/1710.08340

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Mathematics Subject Classification ID

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)

Cited In (14)

• Exact and perturbation methods in the dynamics of legged locomotion
• Formation of a nontrivial finite-time stable attractor in a class of polyhedral sweeping processes with periodic input
• A differential equation approach to evolutionary quasi-variational inequalities arising in contact problems
• Existence and uniqueness of solutions for an integral perturbation of Moreau's sweeping process
• Dynamical systems coupled with monotone set-valued operators: formalisms, applications, well-posedness, and stability
• A vanishing-inertia analysis for finite-dimensional rate-independent systems with nonautonomous dissipation and an application to soft crawlers
• Stabilization of periodic sweeping processes and asymptotic average velocity for soft locomotors with dry friction
• On the optimal control of rate-independent soft crawlers
• Stasis domains and slip surfaces in the locomotion of a bio-inspired two-segment crawler
• An elementary approach based on variational inequalities for modeling a friction-based locomotion problem
• Moreau-Yosida regularization of degenerate state-dependent sweeping processes
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