@article {2014,
	title = {A robotic crawler exploiting directional frictional interactions: experiments, numerics, and derivation of a reduced model},
	journal = {Proceedings of the Royal Society A 470, 20140333 (2014)},
	year = {2014},
	publisher = {Royal Society Publishing},
	abstract = {We present experimental and numerical results for a model crawler which is able to extract net positional changes from reciprocal shape changes, i.e. {\textquoteleft}breathing-like{\textquoteright} deformations, thanks to directional, frictional interactions with a textured solid substrate, mediated by flexible inclined feet. We also present a simple reduced model that captures the essential features of the kinematics and energetics of the gait, and compare its predictions with the results from experiments and from numerical simulations.},
	doi = {10.1098/rspa.2014.0333},
	author = {Giovanni Noselli and Antonio DeSimone}
}
