Shape-induced obstacle attraction and repulsion during dynamic locomotion

Robots still struggle to dynamically traverse complex 3-D terrain with many large obstacles, an ability required for critical applications. Body-obstacle interaction is often inevitable and induces perturbation uncertainty in motion that challenges closed-form dynamic modeling. Here, inspired by recent discovery of a terradynamic streamlined shape, we studied how two body shapes interacting obstacles affect turning pitching motions open-loop multi-legged robot cockroaches during locomotion. With common cuboidal body, the was attracted towards resulting up flipping-over. By contrast, elliptical repelled readily traversed. The animal displayed qualitatively similar induced these shapes. However, unlike robot, capable escaping obstacle attraction subsequent high flipping over, which us develop empirical pitch-and-turn strategy robots. Considering similarity our self-propelled body-obstacle part-feeder robotic part manipulation, developed quasi-static potential energy landscape model explain dependence locomotion on shape. Our experimental modeling results also demonstrated or repulsion inherent property locomotor shape insensitive geometry size. study expanded concept usefulness passive control using physical interaction. step establishing approach transitions.