• Comparative studies reveal principles of movement on and within granular media 

      Ding, Yang; Gravish, Nick; Li, Chen; Maladen, Ryan D.; Mazouchova, Nicole; Sharpe, Sarah S.; Umbanhowar, Paul B.; Goldman, Daniel I. (Georgia Institute of TechnologySpringer Verlag, 2010-06)
      Terrestrial locomotion can take place on complex substrates such as leaf litter, debris, and soil that flow or solidify in response to stress. While principles of movement in air and water are revealed through study of the ...
    • Multi-functional foot use during running in the zebra-tailed lizard (Callisaurus draconoides) 

      Li, Chen; Hsieh, S. Tonia; Goldman, Daniel I. (Georgia Institute of TechnologyCompany of Biologists, 2012-05)
      A diversity of animals that run on solid, level, flat, non-slip surfaces appear to bounce on their legs; elastic elements in the limbs can store and return energy during each step. The mechanics and energetics of running ...
    • Sensitive dependence of the motion of a legged robot on granular media 

      Li, Chen; Umbanhowar, Paul B.; Komsuoglu, Haldun; Koditschek, Daniel E.; Goldman, Daniel I. (Georgia Institute of TechnologyNational Academy of Sciences, 2009-03-03)
      Legged locomotion on flowing ground (e.g., granular media) is unlike locomotion on hard ground because feet experience both solid- and fluid-like forces during surface penetration. Recent bioinspired legged robots display ...
    • Walking and running on yielding and fluidizing ground 

      Qian, Feifei; Zhang, Tingnan; Li, Chen; Masarati, Pierangelo; Birkmeyer, Paul; Pullin, Andrew; Hoover, Aaron; Fearing, Ronald S.; Golman, Daniel I. (Georgia Institute of Technology, 2012-07)
      We study the detailed locomotor mechanics of a small, lightweight robot (DynaRoACH, 10 cm, 25 g) which can move on a granular substrate of closely packed 3 mm diameter glass particles at speeds up to 50 cm/s (5 body ...