Bridging Walking and Slithering -- Stokesian Locomotion

TL;DR

This paper explores how to unify legged and slithering locomotion models using a Stokesian local connection framework, enabling better understanding of diverse movement strategies.

Contribution

It introduces a novel approach to connect legged and slithering motions through a Stokesian local connection model, bridging discrete and continuous constraint-based locomotion.

Findings

Unified framework for legged and slithering locomotion

Models for legged locomotion with slipping

Enhanced understanding of movement constraints

Abstract

Both legged locomotion and slithering motions typically utilize periodic gaits -- repeating cycles of body shape change that produce a net motion through the world. Legged locomotion can be viewed from the perspective of piece-wise contact constraint formation and removal. Slithering and low Reynolds number swimming operate under continuous constraints of force balance, wherein dissipation removes the ability to accumulate momentum. Here we discuss how to bridge the gap between these domains of motion, thereby, among other benefits, producing models for the space of legged locomotion with slipping. The connective fabric is the use of a "Stokesian", or "local connection" model.