Locomotion Characteristics of a Foxtail and a Foxtail-like Robot

강아지풀 및 강아지풀모사로봇의 이동특성에 관한 연구

  • Lee, Min-Su (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Kim, Yeong-Hyeok (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Leem, Sang-Huyck (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Kim, Byung-Kyu (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
  • 이민수 (한국항공대학교 항공우주 및 기계공학부) ;
  • 김영혁 (한국항공대학교 항공우주 및 기계공학부) ;
  • 임상혁 (한국항공대학교 항공우주 및 기계공학부) ;
  • 김병규 (한국항공대학교 항공우주 및 기계공학부)
  • Received : 2009.08.19
  • Accepted : 2010.10.21
  • Published : 2010.12.01


A foxtail moves forward on a flat surface when pushed by a vertical force. The distance moved by the foxtail depends on the degree of deformation. We experimentally investigated the main parameters that influence the distance moved while varying the pushing force, area, and velocity. We then fabricated a nylon barb that mimics the foxtail barb and performed theoretical and experimental analyses of the displacement according to the acting force and the deflection. In addition, we investigated the relation between the displacement and the angle of a foxtail-like robot's leg by varying the clearance between the robot body and the inner surface of the pipe. To find the design parameters of the barb of the robot for tubular-type digestive organs and blood vessels, we studied the relation between the acting force and the elastic modulus while varying the leg diameter.




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