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) |
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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 |
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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