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Geometric Visualization of Self-Propulsion in a Complex Medium

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https://ir.library.oregonstate.edu/concern/articles/2j62s5508

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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. DOI: 10.1103/PhysRevLett.110.078101
  • Keywords: Low Reynolds number, Locomotion
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  • Hatton, R., Ding, Y., Choset, H., & Goldman, D. (2013). Geometric visualization of self-propulsion in a complex medium. Physical Review Letters, 110(7) doi: 10.1103/PhysRevLett.110.078101
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  • 110
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  • 7
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  • Funding for R. L. H. and H. C. provided by NSF Grant No. 1000389 and ARO Grant No. W911NF-11- 1-0404, and for Y. D. and D. I. G. by The Burroughs Wellcome Fund, NSF PoLS Grants No. PHY-0749991 and No. PHY-1150760, ARO Grant No. W911NF-11-1- 0514, and the ARL MAST CTA.
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