Chapter
Jul 11, 2012
Toward a Terramechanics for Bio-Inspired Locomotion in Granular Environments
Authors: Chen Li [email protected], Yang Ding [email protected], Nick Gravish [email protected], Ryan D. Maladen [email protected], Andrew Masse [email protected], Paul B. Umbanhowar [email protected], Haldun Komsuoglu [email protected], Daniel E. Koditschek [email protected], and Daniel I. Goldman [email protected]Author Affiliations
Publication: Earth and Space 2012: Engineering, Science, Construction, and Operations in Challenging 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.
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© 2012 American Society of Civil Engineers.
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Published online: Jul 11, 2012
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School of Physics, Georgia Institute of Technology, Atlanta, GA 30332, USA. E-mail: [email protected]
School of Physics, Georgia Institute of Technology, Atlanta, GA 30332, USA. E-mail: [email protected]
School of Physics, Georgia Institute of Technology, Atlanta, GA 30332, USA. E-mail: [email protected]
Interdisciplinary Bioengineering Program, Georgia Institute of Technology, Atlanta, GA 30332, USA. E-mail: [email protected]
School of Physics, Georgia Institute of Technology, Atlanta, GA 30332, USA. E-mail: [email protected]
Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA. E-mail: [email protected]
Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA 19104, USA. E-mail: [email protected]
Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA 19104, USA. E-mail: [email protected]
School of Physics, Georgia Institute of Technology, Atlanta, GA 30332, USA. E-mail: [email protected]
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