@article{oai:ipsj.ixsq.nii.ac.jp:00217581,
 author = {Tung, D. Ta and Takuya, Umedachi and Michiyo, Suzuki and Yoshihiro, Kawahara and Tung, D. Ta and Takuya, Umedachi and Michiyo, Suzuki and Yoshihiro, Kawahara},
 issue = {3},
 journal = {情報処理学会論文誌},
 month = {Mar},
 note = {Soft-bodied animals move by using the anisotropic friction between their body and the environment. Inspired by these bodily structures, we propose a wriggle soft-bodied robot with an anisotropic frictional skin to support its locomotion. We combine soft and rigid materials in 3D printers to make different patterns of frictional anisotropy. We build a simulation model to predict the locomotion speed of the robot with different anisotropic frictional patterns. By using these patterns as the ventral side, we design a wriggle soft-bodied robot that can move 2.8 times faster than a robot with an omnidirectional frictional ventral surface. The fabrication time is less than one hour, and the locomotion speed is 0.17 body-lengths per second.
------------------------------
This is a preprint of an article intended for publication Journal of
Information Processing(JIP). This preprint should not be cited. This
article should be cited as: Journal of Information Processing Vol.30(2022) (online)
DOI　http://dx.doi.org/10.2197/ipsjjip.30.201
------------------------------, Soft-bodied animals move by using the anisotropic friction between their body and the environment. Inspired by these bodily structures, we propose a wriggle soft-bodied robot with an anisotropic frictional skin to support its locomotion. We combine soft and rigid materials in 3D printers to make different patterns of frictional anisotropy. We build a simulation model to predict the locomotion speed of the robot with different anisotropic frictional patterns. By using these patterns as the ventral side, we design a wriggle soft-bodied robot that can move 2.8 times faster than a robot with an omnidirectional frictional ventral surface. The fabrication time is less than one hour, and the locomotion speed is 0.17 body-lengths per second.
------------------------------
This is a preprint of an article intended for publication Journal of
Information Processing(JIP). This preprint should not be cited. This
article should be cited as: Journal of Information Processing Vol.30(2022) (online)
DOI　http://dx.doi.org/10.2197/ipsjjip.30.201
------------------------------},
 title = {A Printable Soft-bodied Wriggle Robot with Frictional 2D-anisotropy Surface},
 volume = {63},
 year = {2022}
}