Reduction of granular drag inspired by self-burrowing rotary seeds

2017 ◽  
Vol 29 (4) ◽  
pp. 041702 ◽  
Author(s):  
Wonjong Jung ◽  
Sung Mok Choi ◽  
Wonjung Kim ◽  
Ho-Young Kim
Keyword(s):  
Granular Drag

scholarly journals Stick-slip fluctuations in granular drag

2001 ◽  
Vol 64 (3) ◽  
Author(s):  
I. Albert ◽  
P. Tegzes ◽  
R. Albert ◽  
J. G. Sample ◽  
A. -L. Barabási ◽  
...  
Keyword(s):  
Stick Slip ◽  
Granular Drag

Granular drag force during immersion in dry quicksand

2020 ◽  
Vol 364 ◽  
pp. 986-993
Author(s):  
Ali Abbas Zaidi
Keyword(s):  
Drag Force ◽  
Granular Drag

Material remodeling and unconventional gaits facilitate locomotion of a robophysical rover over granular terrain

2020 ◽  
Vol 5 (42) ◽  
pp. eaba3499 ◽  
Author(s):  
Siddharth Shrivastava ◽  
Andras Karsai ◽  
Yasemin Ozkan Aydin ◽  
Ross Pettinger ◽  
William Bluethmann ◽  
...  
Keyword(s):  
Granular Media ◽  
Autonomous Robots ◽  
Robot Dynamics ◽  
Force Measurements ◽  
Lunar Rover ◽  
Self Organized ◽  
Wheeled Vehicle ◽  
Substrate Disturbance ◽  
Resistive Force Theory ◽  
Granular Drag

Autonomous robots and vehicles must occasionally recover from locomotion failure in loosely consolidated granular terrain. Recent mobility challenges led NASA Johnson Space Center to develop a prototype robotic lunar rover Resource Prospector 15 (RP15) capable of wheeled, legged, and crawling behavior. To systematically understand the terradynamic performance of such a device, we developed a scaled-down rover robot and studied its locomotion on slopes of dry and wet granular media. Addition of a cyclic-legged gait to the robot’s wheel spinning action changes the robot dynamics from that of a wheeled vehicle to a locomotor paddling through frictional fluid. Granular drag force measurements and modified resistive force theory facilitate modeling of such dynamics. A peculiar gait strategy that agitates and cyclically reflows grains under the robot allows it to “swim” up loosely consolidated hills. Whereas substrate disturbance typically hinders locomotion in granular media, the multimode design of RP15 and a diversity of possible gaits facilitate formation of self-organized localized frictional fluids that enable effective robust transport.

scholarly journals Jamming and Fluctuations in Granular Drag

2000 ◽  
Vol 84 (22) ◽  
pp. 5122-5125 ◽  
Author(s):  
I. Albert ◽  
P. Tegzes ◽  
B. Kahng ◽  
R. Albert ◽  
J. G. Sample ◽  
...  
Keyword(s):  
Granular Drag

scholarly journals Low-velocity granular drag in reduced gravity

2011 ◽  
Vol 83 (1) ◽  
Author(s):  
D. J. Costantino ◽  
J. Bartell ◽  
K. Scheidler ◽  
P. Schiffer
Keyword(s):  
Reduced Gravity ◽  
Low Velocity ◽  
Granular Drag

An Experimental Study of the Fluctuations in Granular Drag

2000 ◽  
Vol 627 ◽  
Author(s):  
István Albert ◽  
Pál Tegzes ◽  
Réka Albert ◽  
John Sample ◽  
Albert-László Barabási ◽  
...  
Keyword(s):  
Experimental Study ◽  
Long Range ◽  
Drag Force ◽  
Granular Medium ◽  
Force Chains ◽  
Stick Slip ◽  
Granular Drag

ABSTRACTWe study fluctuations in the drag force resisting the motion of an object being pulled through a dense spherical granular medium. These fluctuations are stick-slip in nature due to the jamming and reorganization of the grains. The fluctuations in the force are periodic at small depths, but they become “stepped” at large depths. We interpret this transition as a consequence of the long-range nature of the force chains.

scholarly journals Granular drag on a discrete object: Shape effects on jamming

2001 ◽  
Vol 64 (6) ◽  
Author(s):  
I. Albert ◽  
J. G. Sample ◽  
A. J. Morss ◽  
S. Rajagopalan ◽  
A.-L. Barabási ◽  
...  
Keyword(s):  
Object Shape ◽  
Discrete Object ◽  
Shape Effects ◽  
Granular Drag
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