Journal
SCIENCE
Volume 339, Issue 6126, Pages 1408-1412Publisher
AMER ASSOC ADVANCEMENT SCIENCE
DOI: 10.1126/science.1229163
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Funding
- Burroughs Wellcome Fund
- Army Research Laboratory Micro Autonomous Systems and Technology Collaborative Technology Alliance
- Army Research Office
- NSF
- Miller Institute for Basic Research in Science of the University of California, Berkeley
- Division Of Physics
- Direct For Mathematical & Physical Scien [1150760] Funding Source: National Science Foundation
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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 interactions with solid ground, many animals move on substrates that flow in response to intrusion. However, locomotor-ground interaction models on such flowable ground are often unavailable. We developed a force model for arbitrarily-shaped legs and bodies moving freely in granular media, and used this terradynamics to predict a small legged robot's locomotion on granular media using various leg shapes and stride frequencies. Our study reveals a complex but generic dependence of stresses in granular media on intruder depth, orientation, and movement direction and gives insight into the effects of leg morphology and kinematics on movement.
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