Kinematic Analysis of Atlantic Mole Crab Burrowing
Session Number
1
Advisor(s)
Laura Treers, Chhayank Srivastava, UVM INTERACT Lab
Location
B 108
Discipline
Engineering
Start Date
15-4-2026 10:15 AM
End Date
15-4-2026 11:00 AM
Abstract
Modern robotics increasingly draws inspiration from organisms that efficiently navigate complex natural environments. The Atlantic mole crab (Emerita talpoida) is an exemplary model due to its ability to rapidly burrow into shifting sandy substrates along coastal beaches. This capability comes from its specialized appendage structure and coordinated movement patterns, enabling the mole crab to overcome resistive forces within granular media. This study aims to investigate the kinematics of mole crab burrowing to identify mechanical strategies that may improve future robotics designs. Using video analysis and MATLAB-based motion tracking, key points on the appendage are marked to analyze leg movement through the burrowing cycle. We analyze the leg trajectory and position relative to the body’s center, velocity changes over time, and differences in speed between the power stroke and return stroke through normalization techniques. Currently, our goal is to identify consistent patterns and correlations in movement across multiple individuals. By translating these biological movement strategies into quantitative models, this research aims to contribute to the design of next-generation burrowing robots capable of effective locomotion in granular or hard-to-traverse environments.
Kinematic Analysis of Atlantic Mole Crab Burrowing
B 108
Modern robotics increasingly draws inspiration from organisms that efficiently navigate complex natural environments. The Atlantic mole crab (Emerita talpoida) is an exemplary model due to its ability to rapidly burrow into shifting sandy substrates along coastal beaches. This capability comes from its specialized appendage structure and coordinated movement patterns, enabling the mole crab to overcome resistive forces within granular media. This study aims to investigate the kinematics of mole crab burrowing to identify mechanical strategies that may improve future robotics designs. Using video analysis and MATLAB-based motion tracking, key points on the appendage are marked to analyze leg movement through the burrowing cycle. We analyze the leg trajectory and position relative to the body’s center, velocity changes over time, and differences in speed between the power stroke and return stroke through normalization techniques. Currently, our goal is to identify consistent patterns and correlations in movement across multiple individuals. By translating these biological movement strategies into quantitative models, this research aims to contribute to the design of next-generation burrowing robots capable of effective locomotion in granular or hard-to-traverse environments.