Conditions for Worm-Robot Locomotion in a Flexible Environment: Theory and Experiments
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Biological vessels are characterized by their substantial compliance and low friction that present a major challenge for crawling robots for minimally invasive medical procedures. Quite a number of studies considered the design and construction of crawling robots; however, very few focused on the interaction between the robots and the flexible environment. In a previous study, we derived the analytical efficiency of worm locomotion as a function of the number of cells, friction coefficients, normal forces, and local (contact) tangential compliance. In this paper, we introduce the structural effects of environment compliance, generalize our previous analysis to include dynamic and static coefficients of friction, determine the conditions of locomotion as function of the external resisting forces, and experimentally validate our previous and newly obtained theoretical results. Our experimental setup consists of worm robot prototypes, flexible interfaces with known compliance and a Vicon motion capture system to measure the robot positioning. Separate experiments were conducted to measure the tangential compliance of the contact interface that is required for computing the analytical efficiency. The validation experiments were performed for both types of compliant conditions, local and structural, and the results are shown to be in clear match with the theoretical predictions. Specifically, the convergence of the tangential deflections to an arithmetic series and the partial and overall loss of locomotion verify the theoretical predictions.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it