Title: Locomotion within Granular Media in Animals and Robots.

Author (Invited): Laura Treers, University of Vermont

Abstract:

Modern robots are highly capable in predictable environments but often struggle in unstructured environments commonly found in nature. However, loose terrains and granular environments are ubiquitous in our world, and making robots agile in these settings would open doors to applications in marine and space exploration, geotechnics, disaster response, and agriculture. In this presentation, I introduce my research, which lies at the interface of robotics, physics, and integrative biology; my work draws from reduced order physical models and biomechanics to inform robot design. I first will discuss mywork on improving robotic capability in non-cohesive granular materials: I will introduce the mole crab-inspired robot EMBUR (EMerita BUrrowing Robot), the first legged robot to self-burrow in granular media, as well as my work on extending Granular Resistive Force Theory (RFT) to three dimensions. I will show how these results have implications for the deployment of robotic teams in remote environments. Lastly, I will discuss my recent work on robot interaction with cohesive granular media, and point towards future directions for using physical models to inform more intelligent robotic systems.