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Walking and running on yielding and fluidizing ground
(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 ...
Biophysically inspired development of a sand-swimming robot
(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 ...
Systematic study of the performance of small robots on controlled laboratory substrates
(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 ...
Crucial role of sidewalls in velocity distributions in quasi-two-dimensional granular gases
(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 ...
Comparative studies reveal principles of movement on and within granular media
(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 ...
Integrating a Hierarchy of Simulation Tools for Legged Robot Locomotion
(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 ...
Nontrivial Impact
(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 ...
Simulation and theoretical study of swimming and resistive forces within granular media
(Georgia Institute of Technology, 2011-11-14)
Understanding animal locomotion requires modeling the interaction of the organism with its environment. Locomotion within granular media like sand, soil, and debris that display both solid and fluid-like behavior in response ...
Kink-induced transport and segregation in oscillated granular layers
(Georgia Institute of Technology, 2003-09-26)
We use experiments and molecular dynamics simulations of vertically oscillated granular layers to study horizontal particle segregation induced by a kink (a boundary between domains oscillating out of phase). Counterrotating ...
Dynamics of drag and force distributions for projectile impact in a granular medium
(Georgia Institute of Technology, 2004-05-14)
Our experiments and molecular dynamics simulations on a projectile penetrating a two-dimensional granular medium reveal that the mean deceleration of the projectile is constant and proportional to the impact velocity. Thus, ...