Towards a terramechanics for bio-inspired locomotion in granular environments

Chen Li; Yang Ding; Nick Gravish; Ryan D. Maladen; Andrew Masse; Paul Umbanhowar; Haldun Komsuoglu; Daniel E. Koditschek; Daniel I. Goldman

Towards a terramechanics for bio-inspired locomotion in granular environments

Chen Li^*, Yang Ding, Nick Gravish, Ryan D. Maladen, Andrew Masse, Paul Umbanhowar, Haldun Komsuoglu, Daniel E. Koditschek, Daniel I. Goldman

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Scopus citations

Abstract

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.

Original language	English (US)
Title of host publication	Earth and Space 2012 - Proceedings of the 13th ASCE Aerospace Division Conference and the 5th NASA/ASCE Workshop on Granular Materials in Space Exploration
Pages	264-273
Number of pages	10
State	Published - Dec 1 2012
Event	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 - Pasadena, CA, United States Duration: Apr 15 2012 → Apr 18 2012

Other

Other	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
Country/Territory	United States
City	Pasadena, CA
Period	4/15/12 → 4/18/12

ASJC Scopus subject areas

Civil and Structural Engineering
Environmental Engineering
Building and Construction

Cite this

Li, C., Ding, Y., Gravish, N., Maladen, R. D., Masse, A., Umbanhowar, P., Komsuoglu, H., Koditschek, D. E., & Goldman, D. I. (2012). Towards a terramechanics for bio-inspired locomotion in granular environments. In Earth and Space 2012 - Proceedings of the 13th ASCE Aerospace Division Conference and the 5th NASA/ASCE Workshop on Granular Materials in Space Exploration (pp. 264-273)

Li, Chen ; Ding, Yang ; Gravish, Nick ; Maladen, Ryan D. ; Masse, Andrew ; Umbanhowar, Paul ; Komsuoglu, Haldun ; Koditschek, Daniel E. ; Goldman, Daniel I. / Towards a terramechanics for bio-inspired locomotion in granular environments. Earth and Space 2012 - Proceedings of the 13th ASCE Aerospace Division Conference and the 5th NASA/ASCE Workshop on Granular Materials in Space Exploration. 2012. pp. 264-273

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title = "Towards a terramechanics for bio-inspired locomotion in granular environments",

abstract = "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.",

author = "Chen Li and Yang Ding and Nick Gravish and Maladen, {Ryan D.} and Andrew Masse and Paul Umbanhowar and Haldun Komsuoglu and Koditschek, {Daniel E.} and Goldman, {Daniel I.}",

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note = "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 ; Conference date: 15-04-2012 Through 18-04-2012",

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Li, C, Ding, Y, Gravish, N, Maladen, RD, Masse, A, Umbanhowar, P, Komsuoglu, H, Koditschek, DE & Goldman, DI 2012, Towards a terramechanics for bio-inspired locomotion in granular environments. in Earth and Space 2012 - Proceedings of the 13th ASCE Aerospace Division Conference and the 5th NASA/ASCE Workshop on Granular Materials in Space Exploration. pp. 264-273, 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, Pasadena, CA, United States, 4/15/12.

Towards a terramechanics for bio-inspired locomotion in granular environments. / Li, Chen; Ding, Yang; Gravish, Nick; Maladen, Ryan D.; Masse, Andrew; Umbanhowar, Paul; Komsuoglu, Haldun; Koditschek, Daniel E.; Goldman, Daniel I.

Earth and Space 2012 - Proceedings of the 13th ASCE Aerospace Division Conference and the 5th NASA/ASCE Workshop on Granular Materials in Space Exploration. 2012. p. 264-273.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Li, Chen

AU - Ding, Yang

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AU - Maladen, Ryan D.

AU - Masse, Andrew

AU - Umbanhowar, Paul

AU - Komsuoglu, Haldun

AU - Koditschek, Daniel E.

AU - Goldman, Daniel I.

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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

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Y2 - 15 April 2012 through 18 April 2012

ER -

Towards a terramechanics for bio-inspired locomotion in granular environments

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