Paper ID: 2305.04773

Multi-legged matter transport: a framework for locomotion on noisy landscapes

Baxi Chong, Juntao He, Daniel Soto, Tianyu Wang, Daniel Irvine, Grigoriy Blekherman, Daniel I. Goldman

While the transport of matter by wheeled vehicles or legged robots can be guaranteed in engineered landscapes like roads or rails, locomotion prediction in complex environments like collapsed buildings or crop fields remains challenging. Inspired by principles of information transmission which allow signals to be reliably transmitted over noisy channels, we develop a ``matter transport" framework demonstrating that non-inertial locomotion can be provably generated over ``noisy" rugose landscapes (heterogeneities on the scale of locomotor dimensions). Experiments confirm that sufficient spatial redundancy in the form of serially-connected legged robots leads to reliable transport on such terrain without requiring sensing and control. Further analogies from communication theory coupled to advances in gaits (coding) and sensor-based feedback control (error detection/correction) can lead to agile locomotion in complex terradynamic regimes.

Submitted: May 8, 2023