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dc.contributor.authorGiardina, Fabioen
dc.contributor.authorIida, Fumiyaen
dc.date.accessioned2018-05-22T09:59:03Z
dc.date.available2018-05-22T09:59:03Z
dc.date.issued2018-01en
dc.identifier.issn1932-6203
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/276056
dc.description.abstractLocomotion of machines and robots operating in rough terrain is strongly influenced by the mechanics of the ground-machine interactions. A rolling wheel in terrain with obstacles is subject to collisional energy losses, which is governed by mechanics comparable to hopping or walking locomotion. Here we investigate the energetic cost associated with overcoming an obstacle for rolling and hopping locomotion, using a simple mechanics model. The model considers collision-based interactions with the ground and the obstacle, without frictional losses, and we quantify, analyse, and compare the sources of energetic costs for three locomotion strategies. Our results show that the energetic advantages of the locomotion strategies are uniquely defined given the moment of inertia and the Froude number associated with the system. We find that hopping outperforms rolling at larger Froude numbers and vice versa. The analysis is further extended for a comparative study with animals. By applying size and inertial properties through an allometric scaling law of hopping and trotting animals to our models, we found that the conditions at which hopping becomes energetically advantageous to rolling roughly corresponds to animals’ preferred gait transition speeds. The energetic collision losses as predicted by the model are largely verified experimentally.
dc.format.mediumElectronic-eCollectionen
dc.languageengen
dc.publisherPublic Library of Science (PLoS)
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectMotionen
dc.subjectModels, Theoreticalen
dc.titleCollision-based energetic comparison of rolling and hopping over obstacles.en
dc.typeArticle
prism.issueIdentifier3en
prism.publicationDate2018en
prism.publicationNamePloS oneen
prism.startingPagee0194375
prism.volume13en
dc.identifier.doi10.17863/CAM.23335
dcterms.dateAccepted2018-03-01en
rioxxterms.versionofrecord10.1371/journal.pone.0194375en
rioxxterms.versionVoR*
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.licenseref.startdate2018-01en
dc.contributor.orcidGiardina, Fabio [0000-0002-2660-5935]
dc.contributor.orcidIida, Fumiya [0000-0001-9246-7190]
dc.identifier.eissn1932-6203
rioxxterms.typeJournal Article/Reviewen
pubs.funder-project-idEPSRC (1476475)
rioxxterms.freetoread.startdate2100-01-01


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Attribution 4.0 International
Except where otherwise noted, this item's licence is described as Attribution 4.0 International