A robotic crawler exploiting directional frictional interactions: Experiments, numerics and derivation of a reduced model

We present experimental and numerical results for a model crawler which is able to extract net positional changes fromreciprocal shape changes, i.e. 'breathinglike' deformations, thanks to directional, frictional interactions with a textured solid substrate, mediated by flexible inclined feet. We also present a simple reduced model that captures the essential features of the kinematics and energetics of the gait, and compare its predictions with the results from experiments and from numerical simulations.