Publication: Analysis of the motion of soft animals (Gastropods)
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2018-09
Defense date
2018-10-04
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Abstract
Terrestrial gastropods crawl by means of a train of pedal waves produced by the
contraction and relaxation of the muscles in their ventral foot. The areas between two
consecutive pedal waves are known as interwave regions and they remain stationary to
the substrate while crawling happens. Adhesive locomotion of terrestrial gastropods
involves the secretion of a non-Newtonian yield-stress mucus that communicates the
stress of the ventral foot to the ground.
This project puts forward a theoretical model in which the only source of adhesive
locomotion is the geometry of the pedal waves, rather than the rheological properties of
the mucus. The model is based on the proven existence of small vertical displacements in
the ventral surface of terrestrial gastropods and provides a region where any combination
of values for the pedal wavelength and the lag between the horizontal and vertical pedal
waves allows locomotion to happen. In order to validate this theoretical model, the images
taken during a set of experiments performed by Universidad Carlos III in collaboration
with the University of California and Stanford University in 2010, have been analyzed
through a Digital Particle Image Velocimetry technique. In summary, the aim of this
project is to answer the following question: can a biomimetic robot crawl using a
Newtonian mucus?
The results show that for three out of the four experiments analyzed, the values obtained
fit in the region proposed by the model. Even if three experiments are not conclusive
enough to validate the calculations, this project opens the doors to the development of
biomimetic robots capable of mimicking terrestrial gastropod’s adhesive locomotion
using substances exhibiting a Newtonian behavior.
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Keywords
Terrestrial gastropods, Particle image velocimetry, Newtonian mucus