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Controlling subterranean forces enables a fast, steerable, burrowing soft robot

Nicholas D. Naclerio, Andras Karsai, Mason Murray-Cooper, Yasemin Ozkan-Aydin, Enes Aydin, Daniel I. Goldman, Elliot W. Hawkes
2021 Science Robotics  
These results reveal that (i) tip extension reduces total drag by an amount equal to the skin drag of the body, (ii) granular aeration via tip-based airflow reduces drag with a nonlinear dependence on  ...  We present and test three hypotheses, derived from biological observation and the physics of granular intrusion, and use the results to inform the design of our burrowing robot.  ...  Overview of robotic burrowing with tip extension and granular fluidization. This video summarizes how tip extension, air fluidization, and asymmetry were used to create a soft burrowing robot.  ... 
doi:10.1126/scirobotics.abe2922 pmid:34135117 fatcat:icp7r37vuzclfmbp6ag4gn7bvu

Razor clam to RoboClam: burrowing drag reduction mechanisms and their robotic adaptation

A G Winter, R L H Deits, D S Dorsch, A H Slocum, A E Hosoi
2014 Bioinspiration & Biomimetics  
Acknowledgments This work was supported by the Battelle Memorial Institute, Bluefin Robotics, and the Chevron Corporation.  ...  We thank R Carnes, M Bollini, C Jones, and D Sargent for their contributions to the project.  ...  This analysis indicates that localized fluidization burrowing is possible in cohesive and granular soils, and that the size of the fluidized zone can be predicted from commonly measured geotechnical parameters  ... 
doi:10.1088/1748-3182/9/3/036009 pmid:24713848 fatcat:hlnebte475devbehkdqgvafn6e

A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems

Jeffrey Aguilar, Tingnan Zhang, Feifei Qian, Mark Kingsbury, Benjamin McInroe, Nicole Mazouchova, Chen Li, Ryan Maladen, Chaohui Gong, Matt Travers, Ross L Hatton, Howie Choset (+2 others)
2016 Reports on progress in physics (Print)  
The essential idea is that we must complement study of complex robots in complex situations with systematic study of simplified robophysical devices in controlled laboratory settings and simplified theoretical  ...  The rapidly decreasing cost of constructing sophisticated robot models with easy access to significant computational power bodes well for scientists and engineers to engage in a discipline which can readily  ...  (a-d) adapted from [221] Figure 12 . 12 The RoboClam, a device which can dig in fully saturated soils using a two anchor burrowing technique with local fluidization.  ... 
doi:10.1088/0034-4885/79/11/110001 pmid:27652614 fatcat:qhn6swo7gvaqndqxbdxjq3vlny

Design, Modeling, Control, and Application of Everting Vine Robots

Laura H. Blumenschein, Margaret M. Coad, David A. Haggerty, Allison M. Okamura, Elliot W. Hawkes
2020 Frontiers in Robotics and AI  
Third, we report on everting vine robot control and planning techniques that have been developed to move the robot tip to a target, using a variety of modalities to provide reference inputs to the robot  ...  In nature, tip-localized growth allows navigation in tightly confined environments and creation of structures.  ...  ACKNOWLEDGMENTS We thank our many collaborators on everting vine robot research for discussions related to the topics presented here.  ... 
doi:10.3389/frobt.2020.548266 pmid:33501315 pmcid:PMC7805729 fatcat:7wosgy37bve7vhegpkbkczjjvi

Mechanical models of sandfish locomotion reveal principles of high performance subsurface sand-swimming

R. D. Maladen, Y. Ding, P. B. Umbanhowar, A. Kamor, D. I. Goldman
2011 Journal of the Royal Society Interface  
We test this prediction against two other more detailed modelling approaches: a numerical model of the sandfish coupled to a discrete particle simulation of the granular medium, and an undulatory robot  ...  The RFT, in agreement with the simulated and physical models, predicts that for a single-period sinusoidal wave, maximal speed occurs for A/l % 0.2, the same kinematics used by the sandfish.  ...  We thank Mateo Garcia for characterizing the granular media, and Sarah Steinmetz for help with the animal experiments.  ... 
doi:10.1098/rsif.2010.0678 pmid:21378020 pmcid:PMC3140717 fatcat:3tbyw2lid5ee3nn2ms4dyfpzou

Kinematics and dynamics of running up granular slopes [article]

(:Unkn) Unknown, University, My, Tonia Hsieh
At the angle of repose—the maximum angle providing sand dunes their typical shape—granular media will fluidize with the slightest stress, rendering running at these angles extremely challenging.  ...  On a single step, granular media alternates between solid and fluid-like states with potentially drastic consequences on running performance.  ...  bio-mimetic robotic devices, leading to their improved abilities when navigating granular environments.  ... 
doi:10.34944/dspace/7183 fatcat:sagrqdk4mrbzjbvnd3q3wlr6je