Development of a reduced-order modeling technique for granular locomotion

Abstract

The work is aimed towards the development and expansion of a reduced-order modeling technique called granular Resistive Force Theory(RFT) for modeling wheeled locomotion on granular beds. A combination of various modeling techniques, namely plasticity-based continuum modeling, discrete element method (DEM) modeling, along with RFT and collaborative experimentation are used for evaluation and expanding upon the capabilities of granular RFT. A dimensionless formulation corresponding to the onset of catastrophic rise in slipping of wheels during granular locomotion is proposed. This limit also corresponds to the limits of the existing form of RFT in modeling wheel-granular media interaction accurately. Along with granular locomotion, general problems of granular intrusion have also been studied extensively using continuum modeling to characterize the general force response of different granular media based on various system parameters.