Rocking, Rolling, and Hopping: Exploring the Multi-motion Capabilities of Rigid and Soft Ellipsoidal Actuators
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arXiv
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| Format: | Preprint |
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2024
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| _version_ | 1866914969179652096 |
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| author | Chen, Shih-Yuan Driscoll, Michelle M. |
| author_facet | Chen, Shih-Yuan Driscoll, Michelle M. |
| contents | The problem of a rigid disk rolling down a ramp is a classic problem given to students in introductory mechanics courses. In contrast, systematic studies on the rolling behavior of an ellipse have only recently emerged. Unlike a rolling disk, here the geometric center remains at a constant height from the floor, the center of a rotating ellipse changes nonlinearly due to its eccentric shape. This eccentricity introduces new modes of motion beyond rolling, including rocking and hopping. Leveraging this multi-motion behavior, we design an ellipsoidal actuator which exhibits both rolling and hopping behaviors in response to changes in the applied angular velocity. Using a simple geometric framework, we successfully capture the motion of the actuator as a force-driven rigid ellipsoid on a non-slip flat surface, and identify the critical angular velocity for the rolling-to-hopping transition. Furthermore, by adding deformability to the actuator, we unlock new functionalities, enabling soft actuators that can climb slopes and work together to collectively ascend stairs. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_07396 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Rocking, Rolling, and Hopping: Exploring the Multi-motion Capabilities of Rigid and Soft Ellipsoidal Actuators Chen, Shih-Yuan Driscoll, Michelle M. Soft Condensed Matter The problem of a rigid disk rolling down a ramp is a classic problem given to students in introductory mechanics courses. In contrast, systematic studies on the rolling behavior of an ellipse have only recently emerged. Unlike a rolling disk, here the geometric center remains at a constant height from the floor, the center of a rotating ellipse changes nonlinearly due to its eccentric shape. This eccentricity introduces new modes of motion beyond rolling, including rocking and hopping. Leveraging this multi-motion behavior, we design an ellipsoidal actuator which exhibits both rolling and hopping behaviors in response to changes in the applied angular velocity. Using a simple geometric framework, we successfully capture the motion of the actuator as a force-driven rigid ellipsoid on a non-slip flat surface, and identify the critical angular velocity for the rolling-to-hopping transition. Furthermore, by adding deformability to the actuator, we unlock new functionalities, enabling soft actuators that can climb slopes and work together to collectively ascend stairs. |
| title | Rocking, Rolling, and Hopping: Exploring the Multi-motion Capabilities of Rigid and Soft Ellipsoidal Actuators |
| topic | Soft Condensed Matter |
| url | https://arxiv.org/abs/2410.07396 |