Explaining and Exploiting the Resistive Force Theory- Toward Optimal, Flexible, Locomotor Designs
Technical Report,05 May 2015,05 Jul 2019
Massachusetts Institute of Technology (MIT) Cambridge United States
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The project has several primary objectives 1 Determine a theoretical underpinning for the Resistive Force Theory RFT of granular intrusion. 2 Identify and test possible scaling laws in granular locomotion. 3 Attempt to optimize a locomotor using RFT. 4 Explore possible benefits of flexibility in locomotor design. Regarding 1 it is important to realize that should the simplifications present in RFT derive from a mechanical nature, our confidence and understanding of this approach would permit significant gains in modeling traction and locomotion problems in loose terrains.
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