01079nas a2200121   4500008004100000245012700041210006900168260002900237520052100266100002200787700002200809856012600831       2014                        en  d00aA robotic crawler exploiting directional frictional interactions: experiments, numerics, and derivation of a reduced model0 arobotic crawler exploiting directional frictional interactions e  bRoyal Society Publishing3 aWe present experimental and numerical results for a model crawler which is able to extract net positional changes from reciprocal shape changes, i.e. ‘breathing-like’ 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.1 aNoselli, Giovanni1 aDeSimone, Antonio  uhttps://math.sissa.it/publication/robotic-crawler-exploiting-directional-frictional-interactions-experiments-numerics-and