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    Biophysically inspired development of a sand-swimming robot 

    Maladen, Ryan D.; Ding, Yang; Umbanhowar, Paul B.; Kamor, Adam; Goldman, Daniel I. (Georgia Institute of Technology, 2011)
    Previous study of a sand-swimming lizard, the sandfish, Scincus scincus, revealed that the animal swims within granular media at speeds up to 0:4 body-lengths/cycle using body undulation (approximately a single period ...
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    Integrating a Hierarchy of Simulation Tools for Legged Robot Locomotion 

    Slatton, Andrew; Cohen, Daniel; Ding, Yang; Umbanhowar, Paul B.; Goldman, Daniel I.; Haynes, G. Clark; Komsuoglu, Haldun; Koditschek, Daniel E. (Georgia Institute of Technology, 2008-09)
    We are interested in the development of a variety of legged robot platforms intended for operation in unstructured outdoor terrain. In such settings, the traditions of rational engineering design, driven by analytically ...
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    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 Technology, 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 ...
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    Systematic study of the performance of small robots on controlled laboratory substrates 

    Li, Chen; Hoover, Aaron M.; Birkmeyer, Paul; Umbanhowar, Paul B.; Fearing, Ronald S.; Goldman, Daniel I. (Georgia Institute of Technology, 2010-04)
    The design of robots able to locomote effectively over a diversity of terrain requires detailed ground interaction models; unfortunately such models are lacking due to the complicated response of real world substrates which ...
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    Crucial role of sidewalls in velocity distributions in quasi-two-dimensional granular gases 

    van Zon, J. S.; Kreft, J.; Goldman, Daniel I.; Miracle, D.; Swift, J. B.; Swinney, Harry L. (Georgia Institute of Technology, 2004-10-19)
    Our experiments and three-dimensional molecular dynamics simulations of particles confined to a vertical monolayer by closely spaced frictional walls (sidewalls) yield velocity distributions with non-Gaussian tails and a ...
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    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 ...
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    Nontrivial Impact 

    Karsai, Andras (Georgia Institute of Technology, 2015-08-18)
    The purpose of this investigation is to identify and calculate the forces that occur on an impulsive object as it intrudes into granular media. The system analyzed is a computational model of a sinusoidally actuated ...
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    Multi-functional foot use during running in the zebra-tailed lizard (Callisaurus draconoides) 

    Li, Chen; Hsieh, S. Tonia; Goldman, Daniel I. (Georgia Institute of Technology, 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 ...
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    A terradynamics of legged locomotion on granular media 

    Li, Chen; Zhang, Tingnan; Goldman, Daniel I. (Georgia Institute of Technology, 2013-03-22)
    The theories of aero- and hydrodynamics predict animal movement and device design in air and water through the computation of lift, drag, and thrust forces. Although models of terrestrial legged locomotion have focused on ...
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    The Effect of limb kinematics on the speed of a legged robot on granular media 

    Li, Chen; Umbanhowar, Paul B.; Komsuoglu, | Haldun; Goldman, Daniel I. (Georgia Institute of Technology, 2010-04-22)
    Achieving effective locomotion on diverse terrestrial substrates can require subtle changes of limb kinematics. Biologically inspired legged robots (physical models of organisms) have shown impressive mobility on hard ...
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    AuthorGoldman, Daniel I. (14)Li, Chen (6)Umbanhowar, Paul B. (6)Ding, Yang (5)Swinney, Harry L. (3)Zhang, Tingnan (3)Birkmeyer, Paul (2)Fearing, Ronald S. (2)Hoover, Aaron (2)Komsuoglu, | Haldun (2)... View MoreSubject
    Granular media (17)
    Legged locomotion (3)Locomotion (3)Granular systems (2)Legged robots (2)Rheology (2)Sandfish (2)Swimming (2)Added mass (1)Animal locomotion (1)... View MoreDate Issued2010 - 2016 (12)2003 - 2009 (5)Has File(s)Yes (17)
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