title: Geometric visualization of self-propulsion in a complex medium.
abstract: Combining geometric mechanics theory, laboratory robotic experiment, and numerical simulation, we study the locomotion in granular media of the simplest noninertial swimmer, the Purcell three-link swimmer. Using granular resistive force laws as inputs, the theory relates translation and rotation of the body to shape changes (movements of the links). This allows analysis, visualization, and prediction of effective movements that are verified by experiment. The geometric approach also facilitates comparison between swimming in granular media and in viscous fluids.
authors.affiliation: School of Mechanical, Industrial, and Manufacturing Engineering, Oregon State University, Corvallis, Oregon 97331, USA.
authors.forename: Ross L
authors.initials: RL
authors.lastname: Hatton
authors.affiliation: School of Physics, Georgia Institute of Technology, Atlanta, Georgia 30332, USA.
authors.forename: Yang
authors.initials: Y
authors.lastname: Ding
authors.affiliation: Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213, USA.
authors.forename: Howie
authors.initials: H
authors.lastname: Choset
authors.affiliation: School of Physics, Georgia Institute of Technology, Atlanta, Georgia 30332, USA.
authors.forename: Daniel I
authors.initials: DI
authors.lastname: Goldman