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Much of the Earth and many surfaces of extraterrestrial bodies are composed of non-cohesive particulate matter. Locomoting on such granular terrain is challenging for common robotic devices, either wheeled or legged. In this work, we discover a robust alternative locomotion mechanism on granular media-generating movement via self-vibration. To demonstrate the effectiveness of this locomotion mechanism, we develop a cube-shaped robot with an embedded vibratory motor and conduct systematic experiments on granular terrains of various particle properties and slopes. We investigate how locomotion changes as a function of vibration frequency/intensity on such granular terrains. Compared to hard surfaces, we find such a vibratory locomotion mechanism enables the robot to move faster, and more stably on granular surfaces, facilitated by the interaction between the body and surrounding grains. We develop a numerical simulation of a vibrating single cube on granular media, enabling us to justify our hypothesis that the cube achieves locomotion through the oscillations excited at a distance from the cube’s center of mass. The simplicity in structural design and controls of this robotic system indicates that vibratory locomotion can be a valuable alternative way to produce robust locomotion on granular terrains. We further demonstrate that such cube-shaped robots can be used as modular units for vibratory robots with capabilities of maneuverable forward and turning motions, showing potential practical scenarios for robotic systems.
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Dynamics of magnetoelastic robots in water-saturated granular beds
We investigate the dynamics of a magnetoelastic robot with a dipolar magnetic head and a slender elastic body as it performs undulatory strokes and burrows through water-saturated granular beds. The robot is actuated by an oscillating magnetic field and moves forward when the stroke amplitude increases above a critical threshold. By visualizing the medium, we show that the undulating body fluidizes the bed, resulting in the appearance of a dynamic burrow, which rapidly closes in behind the moving robot as the medium loses energy. We investigate the applicability of Lighthill's elongated body theory of fish locomotion, and estimate the contribution of thrust generated by the undulating body and the drag incorporating the granular volume fraction-dependent effective viscosity of the medium. The projected speeds are found to be consistent with the measured speeds over a range of frequencies and amplitudes above the onset of forward motion. However, systematic deviations are found to grow with increasing driving, pointing to a need for further sophisticated modeling of the medium-structure interactions.
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- Award ID(s):
- 1805398
- PAR ID:
- 10466590
- Publisher / Repository:
- American Physical Society
- Date Published:
- Journal Name:
- Physical Review Fluids
- Volume:
- 8
- Issue:
- 9
- ISSN:
- 2469-990X
- Page Range / eLocation ID:
- 094304
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1103/PhysRevFluids.8.094304
