413 citations · 2k across the 45 of their papers we have counts for
6 papers · 1 filter
Towards a terramechanics for bio-inspired locomotion in granular environments
Chen Li, Yang Ding, Nick Gravish +6
Granular media (GM) present locomotor challenges for terrestrial and extraterrestrial devices because they can flow and solidify in response to localized intrusion of wheels, limbs…
The Soft Landing Problem: Minimizing Energy Loss by a Legged Robot Impacting Yielding Terrain
Daniel J. Lynch, Kevin M. Lynch, Paul B. Umbanhowar
Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomoti…
Modified Archimedes' principle predicts rising and sinking of intruders in sheared granular flows
Lu Jing, Julio M. Ottino, Richard M. Lueptow +1
We computationally determine the force on single spherical intruder particles in sheared granular flows as a function of particle size, particle density, shear rate, overburden pre…
Segregation models for density-bidisperse granular flows
Yifei Duan, Paul B. Umbanhowar, Julio M. Ottino +1
Individual constituent balance equations are often used to derive expressions for species-specific segregation velocities in flows of dense granular mixtures. We propose a semiempi…
Identifying Invariant Ergodic Subsets and Barriers to Mixing by Cutting and Shuffling: Study in a Bi-rotated Hemisphere
Thomas F. Lynn, Julio M. Ottino, Paul B. Umbanhowar +1
Mixing by cutting-and-shuffling can be mathematically described by the dynamics of piecewise isometries (PWIs), higher dimensional analogs of one-dimensional interval exchange tran…
Pattern formation in a fully-3D segregating granular flow
Mengqi Yu, Paul B. Umbanhowar, Julio M. Ottino +1
Segregation patterns of size-bidisperse particle mixtures in a fully-three-dimensional flow produced by alternately rotating a spherical tumbler about two perpendicular axes are st…