NDLI: Teaching RoboClam to Dig: The design, testing, and genetic algorithm optimization of a biomimetic robot

Content Provider	IEEE Xplore Digital Library
Author	Winter, A.G. Deits, R.L.H. Dorsch, D.S. Hosoi, A.E. Slocum, A.H.
Copyright Year	2010
Description	Author affiliation: Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA (Winter, A.G.; Deits, R.L.H.; Dorsch, D.S.; Hosoi, A.E.; Slocum, A.H.)
Abstract	Razor clams (Ensis directus) are one of nature's most adept burrowing organisms, able to dig to 70cm at nearly 1cm/s using only 0.21J/cm. We discovered that Ensis reduces burrowing drag by using motions of its shell to fluidize a thin layer of substrate around its body. We have developed RoboClam, a robot that digs using the same mechanisms as Ensis, to explore how localized fluidization burrowing can be extended to engineering applications. In this work we present burrowing performance results of RoboClam in Ensis' habitat. Using a genetic algorithm to optimize RoboClam's kinematics, the machine was able to burrow at speeds comparable to Ensis, with a power law relationship between digging energy and depth of n = 1.17, close to the n = 1 achieved by the animal. Pushing through static soil has a theoretical energy-depth power law of n = 2, which means that Ensis-inspired digging motions can provide exponential energetic savings over existing burrowing methods.
Starting Page	4231
Ending Page	4235
File Size	1090163
Page Count	5
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5654364
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Soil End effectors Substrates Pistons Gallium Friction
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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