TY - GEN
T1 - Towards a terramechanics for bio-inspired locomotion in granular environments
AU - Li, Chen
AU - Ding, Yang
AU - Gravish, Nick
AU - Maladen, Ryan D.
AU - Masse, Andrew
AU - Umbanhowar, Paul B.
AU - Komsuoglu, Haldun
AU - Koditschek, Daniel E.
AU - Goldman, Daniel I.
PY - 2012
Y1 - 2012
N2 - Granular media (GM) present locomotor challenges for terrestrial and extraterrestrial devices because they can flow and solidify in response to localized intrusion of wheels, limbs, and bodies. While the development of airplanes and submarines is aided by understanding of hydrodynamics, fundamental theory does not yet exist to describe the complex interactions of locomotors with GM. In this paper, we use experimental, computational, and theoretical approaches to develop a terramechanics for bio-inspired locomotion in granular environments. We use a fluidized bed to prepare GM with a desired global packing fraction, and use empirical force measurements and the Discrete Element Method (DEM) to elucidate interaction mechanics during locomotion-relevant intrusions in GM such as vertical penetration and horizontal drag. We develop a resistive force theory (RFT) to account for more complex intrusions. We use these force models to understand the locomotor performance of two bio-inspired robots moving on and within GM.
AB - Granular media (GM) present locomotor challenges for terrestrial and extraterrestrial devices because they can flow and solidify in response to localized intrusion of wheels, limbs, and bodies. While the development of airplanes and submarines is aided by understanding of hydrodynamics, fundamental theory does not yet exist to describe the complex interactions of locomotors with GM. In this paper, we use experimental, computational, and theoretical approaches to develop a terramechanics for bio-inspired locomotion in granular environments. We use a fluidized bed to prepare GM with a desired global packing fraction, and use empirical force measurements and the Discrete Element Method (DEM) to elucidate interaction mechanics during locomotion-relevant intrusions in GM such as vertical penetration and horizontal drag. We develop a resistive force theory (RFT) to account for more complex intrusions. We use these force models to understand the locomotor performance of two bio-inspired robots moving on and within GM.
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M3 - Conference contribution
AN - SCOPUS:84874225744
SN - 9780784412190
T3 - Earth and Space 2012 - Proceedings of the 13th ASCE Aerospace Division Conference and the 5th NASA/ASCE Workshop on Granular Materials in Space Exploration
SP - 264
EP - 273
BT - Earth and Space 2012 - Proceedings of the 13th ASCE Aerospace Division Conference and the 5th NASA/ASCE Workshop on Granular Materials in Space Exploration
T2 - 13th Biennial ASCE Aerospace Division International Conference on Engineering, Science, Construction, and Operations in Challenging Environments, Earth and Space 2012 and the 5th NASA/ASCE Workshop on Granular Materials in Space Exploration
Y2 - 15 April 2012 through 18 April 2012
ER -