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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 ...
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 ...
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 ...
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 ...
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 ...
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 ...
Multi-functional foot use during running in the zebra-tailed lizard (Callisaurus draconoides)
(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 ...
A terradynamics of legged locomotion on granular media
(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 ...
The Effect of limb kinematics on the speed of a legged robot on granular media
(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 ...