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Actuated Bivalve Robot -- Study of the Burrowing Locomotion in Sediment


Koller-Hodac, A; Germann, D; Gilgen, A; Dietrich, K; Hadorn, M; Schatz, W; Eggenberger Hotz, P (2010). Actuated Bivalve Robot -- Study of the Burrowing Locomotion in Sediment. In: IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA, 3 May 2010 - 8 May 2010, 1209-1214.

Abstract

This paper presents the design and control of an actuated bivalve robot, which has been developed to study the burrowing locomotion of bivalves in sediment. The setup consists of a tank filled with sand and water, plastic models of bivalve shells capable of expelling water and an external actuation mechanism simulating the rocking burrowing motion typically used by these animals. The realistic shell shapes have been realized using three-dimensional plotting techniques allowing testing influences of different shell shapes and surface structures (sculptures) on the burrowing efficiency. Based on the experimental setup, the burrowing process has been reproduced. The results show that this setup can be used to identify correlations in the burrowing process. Further experimental work will investigate the influence of factors such as shell shape and sculpture or the motion sequence on the burrowing performance. Keywords: biorobotics; biomimetics; burrowing locomotion; bivalves

This paper presents the design and control of an actuated bivalve robot, which has been developed to study the burrowing locomotion of bivalves in sediment. The setup consists of a tank filled with sand and water, plastic models of bivalve shells capable of expelling water and an external actuation mechanism simulating the rocking burrowing motion typically used by these animals. The realistic shell shapes have been realized using three-dimensional plotting techniques allowing testing influences of different shell shapes and surface structures (sculptures) on the burrowing efficiency. Based on the experimental setup, the burrowing process has been reproduced. The results show that this setup can be used to identify correlations in the burrowing process. Further experimental work will investigate the influence of factors such as shell shape and sculpture or the motion sequence on the burrowing performance. Keywords: biorobotics; biomimetics; burrowing locomotion; bivalves

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3 citations in Web of Science®
3 citations in Scopus®
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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Event End Date:8 May 2010
Deposited On:19 Jan 2011 07:38
Last Modified:05 Apr 2016 14:35
Publisher DOI:10.1109/ROBOT.2010.5509329
Official URL:http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=05509329
Other Identification Number:1380
Permanent URL: http://doi.org/10.5167/uzh-42428

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