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Particle sedimentation through porous media is limited by the inability of passive material to overcome surface interactions and a tortuous network of pores. This limits transport, delivery, and effectiveness of chemicals used as reactants,…

We study the structural properties of two-dimensional granular packings prepared by random deposition from a source line. We consider a class of random ballistic deposition models based on single-particle relaxation rules controlled by a…

We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…

A novel effect in a granular material under swirling motion of the container is presented. At low packing densities the material rotates in the same direction as the swirling motion of the container (rotation). At higher densities the…

For lateral vehicle dynamics, planning trajectories for lane-keeping and lane-change can be generalized as a path planning task to stabilize a vehicle onto a target lane, which is a fundamental element in nowadays autonomous driving…

We report observations on very low density limit of one and two balls, vibrated in a box, showing a coherent behavior along a direction parallel to the vibration. This ball behavior causes a significant reduction of the phase space…

Putting several hard balls into a two-dimensional bowl can form a very basic two-dimensional model of hard-ball system. When the two-dimensional bowl has a parallel-rotation at a uniform speed around a center, when the number of balls is…

This paper considers the segregation of a granular mixture in a rotating drum. Extending a recent kinematic model for grain transport on sandpile surfaces to the case of rotating drums, an analysis is presented for radial segregation in the…

Planetary exploration missions require robust locomotion systems capable of operating in extreme environments over extended periods. This paper presents the DISTANT (Distant Transmission and Steering Systems) design, a novel approach for…

Much of the Earth and many surfaces of extraterrestrial bodies are composed of in-cohesive particle matter. Locomoting on granular terrain is challenging for common robotic devices, either wheeled or legged. In this work, we discover a…

We study a two-dimensional granular gas of inelastic spheres subject to multiplicative driving proportional to a power $|v(\vec{x})|^{\delta}$ of the local particle velocity $v(\vec{x})$. The steady state properties of the model are…

Pour sand into a container and only the grains near the top surface move. The collective motion associated with the translational and rotational energy of the grains in a thin flowing layer is quickly dissipated as friction through…

Granular surfaces tend to develop lateral ripples under the action of surface forces exerted by rolling wheels, an effect known as washboard or corrugated road. We report the results of both laboratory experiments and soft-particle direct…

We formulate a phenomenological model for the segregation of binary mixtures of rough and smooth granular materials in a rotating drum. Our model successfully replicates a range of experimental behaviours, e.g., rapid radial segregation;…

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 study a two-dimensional granular system where external driving force is applied to each particle in the system in such a way that the system is driven into a steady state by balancing the energy input and the dissipation due to inelastic…

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…

This paper describes a method for steering deformable linear objects using two robot hands in environments populated by sparsely spaced obstacles. The approach involves manipulating an elastic inextensible rod by varying the gripping…

This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is…

Collaborative transport of objects via pushing by multiple robots has many applications, ranging from construction and warehouse environments to post disaster debris clean-up. Achieving collaborative transport over surfaces with different…