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About this paper
Xunjie Chen, Liuyin Wang, Xinyan Huang, Jerry Shan, Yantao Shen, Jingang Yi
Researchers at Rutgers University and the University of Nevada developed a 3D resistive force model to characterize foot-mud interactions for legged robots, accounting for mud's visco-elasticity, thixotropy, and suction effects. This model informed the design of a morphing robotic foot, which reduced energy consumption by 32-57% and suction forces by approximately 60% compared to fixed-shape feet on muddy terrains.
Key insights
- Mud's rheological behaviors, including stress thickening during intrusion, time-dependent stress relaxation, and pronounced suction effects during retraction, are crucial for accurate modeling and are distinct from granular media.
- Mud-intrinsic parameters like immediate resistive stiffness and yielding stress are highly sensitive to water content (e.g., 95% and 88% reduction, respectively, from 15% to 35% water content) but less sensitive to shear speed.
- Actively adapting the foot's contact area during different gait phases significantly reduces retractive suction forces by breaking the cavity seal, leading to improved energy efficiency and stability on muddy terrains.
Summary by alphaXiv.
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