Explaining and Exploiting the Resistive Force Theory- Toward Optimal, Flexible, Locomotor Designs

Abstract

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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Document Details

Document Type
Technical Report
Publication Date
Oct 07, 2019
Accession Number
AD1094664

Entities

People

  • Ken Kamrin

Organizations

  • Massachusetts Institute of Technology

Tags

DTIC Thesaurus Topics

  • Applied Mechanics
  • Differential Equations
  • Elastic Waves
  • Experimental Data
  • Granular Materials
  • Information Operations
  • Intrusion
  • Locomotion
  • Massachusetts
  • Mechanical Properties
  • Mechanics
  • Military Research
  • Plastic Properties
  • Scaling Laws
  • Simulations
  • Teamwork
  • Theses

Readers

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