Related papers: A smart granular intruder
We study the behavior of cylindrical objects as they sink into a dry granular bed fluidized due to lateral oscillations, in order to shed light on human constructions and other objects. Somewhat unexpectedly, we have found that, within a…
We study the behavior of cylindrical objects as they sink into a drygranular bed fluidized due to lateral oscillations. Somewhat unexpectedly, we have found that, within a large range of lateral shaking powers,cylinders with flat bottoms…
When an object penetrates into granular matter near a boundary, it experiences a horizontal repulsion due to the intruder-grain-wall interaction. Here we show experimentally that a square cuboid intruder, released from rest with no initial…
Granular grippers can manipulate a wide variety of objects, but need to be pressed on the object to conform to it. If the object is placed on unstable ground, e.g., on sand or water, this step might cause the object to sink or move away…
When a cylindrical object penetrates granular matter near a vertical boundary, it experiences two effects: its center of mass moves horizontally away from the wall, and it rotates around its symmetry axis. Here we show experimentally that,…
A simple model for intruder in vibrating granular bed is constructed by introducing a term that governs frequency dependent granular bed density. Varying the vibrating frequency will drive the buoyant force acting on the intruder by the…
Applying suction grippers in unstructured environments is a challenging task because of depth and tilt errors in vision systems, requiring additional costs in elaborate sensing and control. To reduce additional costs, suction grippers with…
We report an instability of a slider slowly dragged at the surface of a granular bed in a quasistatic regime. The boat-shaped slider sits on the granular medium under its own weight and is free to translate vertically and to rotate around…
The penetration of projectiles into granular materials has been mainly studied using spherical intruders. Here we explore the dynamics of rods penetrating vertically in a two-dimensional granular bed composed of expanded polystyrene…
Intruder mechanics in a granular aggregate is a common subject in engineering and geotechnical applications. However, most studies are limited to spherical intruders or small displacement regimes up to the point of failure. In this work we…
Understanding the penetration dynamics of intruders in granular beds is relevant not only for fundamental physics, but also for geophysical processes and construction on sediments or granular soils in areas potentially affected by…
We develop an original apparatus of the granular impact experiment by which the incident angle of the solid projectile and inclination angle of the target granular layer can be systematically varied. Whereas most of the natural cratering…
We study experimentally the dynamics of a dense intruder sinking under gravity inside a vibrated 2D granular packing. The surrounding flow patterns are characterized and the falling trajectories are interpreted in terms of an effectivive…
Large objects, immersed in a homogeneous granular system, migrate when subjected to vibrations. Under certain conditions large heavy objects rise and similar light ones sink to the bottom. This is called reverse buoyancy. We report an…
We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry…
Using MRI and high-speed video we investigate the motion of a large intruder particle inside a vertically shaken bed of smaller particles. We find a pronounced, non-monotonic density dependence, with both light and heavy intruders moving…
Shells, when confined, can deform in a broad assortment of shapes and patterns, often quite dissimilar to what is produced by their flat counterparts (plates). In this work we discuss the morphological landscape of shells deposited on a…
We study a simple model of periodic contraction and extension of large intruders in a granular bed to understand the mechanism for swimming in an otherwise solid media. Using an event-driven simulation, we find optimal conditions that…
Curvature and mechanics are intimately connected for thin materials, and this coupling between geometry and physical properties is readily seen in folded structures from intestinal villi and pollen grains, to wrinkled membranes and…