A Mechanics Study on the Self-Righting of Abalone from the Substrate

<div>Two-dimensional model of the self-righting process, where point C is the mass center, B is the adhesion point, and <svg height="11.4859pt" id="M30" style="vertical-align:-0.04979992pt" version="1.1" viewbox="-0.0498162 -11.4361 12.9119 11.4859" width="12.9119pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M673 0V28C608 34 594 43 563 129C499 303 432 494 370 665L339 656L132 132C98 43 84 37 20 28V0H238V28C162 35 154 45 175 108C188 150 203 192 219 237H432C454 176 474 122 487 83S491 36 428 28V0H673ZM418 280H234C265 362 296 450 328 535H330L418 280Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.017,-5.741)"><path d="M310 541L304 571C290 586 211 619 185 610L80 76L131 52L310 541Z"></path></g></svg> is the fulcrum point at the transition state.</div>

Applied Bionics and Biomechanics

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Figure 3

Figure 3: A Mechanics Study on the Self-Righting of Abalone from the Substrate 