ArticleScience advances2021
Surprising simplicity in the modeling of dynamic granular intrusion.
Article in Science advances, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed.
- Modeling of slip rate-dependent traversability for path planning of wheeled mobile robot in sandy terrain.Frontiers in robotics and AI · 2024Article
- Swift progress for robots over complex terrain.Nature · 2023Article
- Mechanistic framework for reduced-order models in soft materials: Application to three-dimensional granular intrusion.Proceedings of the National Academy of Sciences of the United States of America · 2023Article
- Toward a 3D physical model of diffusive polymer chains.Frontiers in physics · 2023Article
- Mole crab-inspired vertical self-burrowing.Frontiers in robotics and AI · 2022Article
Corrections and comments
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Authors and funding
4 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Granular intrusions, such as dynamic impact or wheel locomotion, are complex multiphase phenomena where the grains exhibit solid-like and fluid-like characteristics together with an ejected gas-like phase. Despite decades of modeling efforts, a unified description of the physics in such intrusions is as yet unknown. Here, we show that a continuum model based on the simple notions of frictional flow and tension-free separation describes complex granular intrusions near free surfaces. This model captures dynamics in a variety of experiments including wheel locomotion, plate intrusions, and running legged robots. The model reveals that one static and two dynamic effects primarily give rise to intrusion forces in such scenarios. We merge these effects into a further reduced-order technique (dynamic resistive force theory) for rapid modeling of granular locomotion of arbitrarily shaped intruders. The continuum-motivated strategy we propose for identifying physical mechanisms and corresponding reduced-order relations has potential use for a variety of other materials.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.