Title: Undulatory filament robot propulsion in granular beds

Author (Table Talk): Sohum Kapadia, Clark University

Abstract:

We will discuss complementary experiments and Elasto-Hydrodynamic model of an undulating elastic filament in viscous fluid inspired by slender limbless organisms that swim in water and burrow in sediment beds. Building on previous experimental work with magnetoelastic robots composed of a magnet attached to a slender filament-like body that show anguilliform locomotion in low friction environments [1], we demonstrate examples which can power through highly viscous fluids and inside granular beds. The Elasto-Hydrodynamic model which considers the elastic bending, viscous drag, and dipole driving at the head is developed to calculate the shape and speed of the robot. We shall present a comparison between the experimental observations with the model. The further effect of having a robot head that can carry cargo which is larger than the filament body will be also discussed. [1]: Dynamics of magnetoelastic robots in water-saturated granular beds, A. Biwas, et al. Phys. Rev. Fluids 8, 094304 (2023). Supported by National Science Foundation Grant Number 2401729