Related papers: Robophysical study of jumping dynamics on granular…
Compressing a porous, fluid-filled material will drive the interstitial fluid out of the pore space, as when squeezing water out of a kitchen sponge. Inversely, injecting fluid into a porous material can deform the solid structure, as when…
Dynamics of a dry-rebounding drop was studied experimentally, numerically, and theoretically. Experimental results were reproduced by our computational fluid dynamics simulations, from which time series of kinetic energy, potential energy,…
Soft, amorphous solids such as tissues, foams, and emulsions are composed of deformable particles. However, the effect of single-particle deformability on the collective behavior of soft solids is still poorly understood. We perform…
We investigate the sliding of objects on an inclined granular surface close to the avalanche threshold. Our experiments show that the stability is driven by the surface deformations. Heavy objects generate footprint-like deformations which…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
We study experimentally and computationally the dynamics of granular flow during impacts, where intruders strike a collection of disks from above. In the regime where granular force dynamics are much more rapid than the intruder motion, we…
We measure the quasi-static friction force acting on intruders moving downwards into a granular medium. By utilizing different intruder geometries, we demonstrate that the force acts locally normal to the intruder surface. By altering the…
Jamming is a fundamental transition that governs the mechanical behavior of particulate media, including sand, foam and dense suspensions but also biological tissues: Upon compression, particulate media can change from freely flowing to a…
We discuss the results of simulations of an intruder pulled through a two-dimensional granular system by a spring, using a model designed to lend insight into the experimental findings described by Kozlowski et al. [Phys. Rev. E, 100,…
Granular media are soft matter systems that exhibit some of the extreme behavior of complex fluids. Understanding of the natural formation of planetary bodies, landing on and exploring them, future engineering of structures beyond Earth and…
In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach…
We investigate the drag forces acting on large objects moving through a granular packing immersed in water. In this aim, we conducted uplift experiments involving pulling out horizontal plates at a prescribed velocity vertically. During…
In this paper, we consider a general task of jumping varying distances and heights for a quadrupedal robot in noisy environments, such as off of uneven terrain and with variable robot dynamics parameters. To accurately jump in such…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
Traditional control methods effectively manage robot operations using models like motion equations but face challenges with issues of contact and friction, leading to unstable and imprecise controllers that often require manual tweaking.…
When a rigid body collides with a liquid surface with sufficient velocity, it creates a splash curtain above the surface and entrains air behind the sphere, creating a cavity below the surface. While cavity dynamics have been studied for…
Free surfaces in glassy polymer films are known to induce surface mobile layers with enhanced dynamics. Using molecular dynamics simulations of a bead-spring model, we study a wide variety of layer-resolved structural and dynamical…
We use numerical simulation to investigate the effect an intruder's shape has on the drag and lift forces that it experiences while moving through a granular medium composed of polydisperse disks of mean diameter d. The intruder velocity,v,…
Fluid droplets can be induced to move over rigid or flexible surfaces under external or body forces. We describe the effect of variations in material properties of a flexible substrate as a mechanism for motion. In this paper, we consider a…
We address the challenge of learning to manipulate deformable objects with unknown dynamics. In non-rigid objects, the dynamics parameters define how they react to interactions -- how they stretch, bend, compress, and move -- and they are…