title: Enhanced Locomotion Efficiency of a Bio-inspired Walking Robot using Contact Surfaces with Frictional Anisotropy.
abstract: Based on the principles of morphological computation, we propose a novel approach that exploits the interaction between a passive anisotropic scale-like material (e.g., shark skin) and a non-smooth substrate to enhance locomotion efficiency of a robot walking on inclines. Real robot experiments show that passive tribologically-enhanced surfaces of the robot belly or foot allow the robot to grip on specific surfaces and move effectively with reduced energy consumption. Supplementing the robot experiments, we investigated tribological properties of the shark skin as well as its mechanical stability. It shows high frictional anisotropy due to an array of sloped denticles. The orientation of the denticles to the underlying collagenous material also strongly influences their mechanical interlocking with the substrate. This study not only opens up a new way of achieving energy-efficient legged robot locomotion but also provides a better understanding of the functionalities and mechanical properties of anisotropic surfaces. That understanding will assist developing new types of material for other real-world applications.
authors.affiliation: Embodied AI and Neurorobotics Lab, Centre for BioRobotics, The Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, Odense M, DK-5230, Denmark.|Bernstein Center for Computational Neuroscience (BCCN), The Third Institute of Physics, Georg-August-Universität Göttingen, Göttingen, D-37077, Germany.
authors.forename: Poramate
authors.initials: P
authors.lastname: Manoonpong
authors.affiliation: Department of Functional Morphology and Biomechanics, Zoological Institute, Kiel University, Kiel, D-24118, Germany.
authors.forename: Dennis
authors.initials: D
authors.lastname: Petersen
authors.affiliation: Department of Functional Morphology and Biomechanics, Zoological Institute, Kiel University, Kiel, D-24118, Germany.
authors.forename: Alexander
authors.initials: A
authors.lastname: Kovalev
authors.affiliation: Bernstein Center for Computational Neuroscience (BCCN), The Third Institute of Physics, Georg-August-Universität Göttingen, Göttingen, D-37077, Germany.
authors.forename: Florentin
authors.initials: F
authors.lastname: Wörgötter
authors.affiliation: Department of Functional Morphology and Biomechanics, Zoological Institute, Kiel University, Kiel, D-24118, Germany.
authors.forename: Stanislav N
authors.initials: SN
authors.lastname: Gorb
authors.affiliation: Department of Functional Morphology and Biomechanics, Zoological Institute, Kiel University, Kiel, D-24118, Germany.
authors.forename: Marlene
authors.initials: M
authors.lastname: Spinner
authors.affiliation: Department of Functional Morphology and Biomechanics, Zoological Institute, Kiel University, Kiel, D-24118, Germany.|Mads Clausen Institute, University of Southern Denmark, Sønderborg, DK-6400, Denmark.
authors.forename: Lars
authors.initials: L
authors.lastname: Heepe