{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:06:04Z","timestamp":1777716364560,"version":"3.51.4"},"reference-count":34,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2013,6,1]],"date-time":"2013-06-01T00:00:00Z","timestamp":1370044800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2013,6]]},"abstract":"<jats:p>We study the locomotor mechanics of a small, lightweight robot (DynaRoACH, 10\u2009cm, 25\u2009g) which can move on a granular substrate of 3\u2009mm diameter glass particles at speeds up to 5 body length\/s, approaching the performance of certain desert-dwelling animals. To reveal how the robot achieves this performance, we used high-speed imaging to capture its kinematics, and developed a numerical multi-body simulation of the robot coupled to an experimentally validated simulation of the granular medium. Average speeds measured in experiment and simulation agreed well, and increased nonlinearly with stride frequency, reflecting a change in propulsion mode. At low frequencies, the robot used a quasi-static \u201crotary walking\u201d mode, in which the substrate yielded as legs penetrated and then solidified once vertical force balance was achieved. At high frequencies the robot propelled itself using the speed-dependent fluid-like inertial response of the material. The simulation allows variation of parameters which are inconvenient to modify in experiment, and thus gives insight into how substrate and robot properties change performance. Our study reveals how lightweight animals can achieve high performance on granular substrates; such insights can advance the design and control of robots in deformable terrains.<\/jats:p>","DOI":"10.1177\/0278364913481690","type":"journal-article","created":{"date-parts":[[2013,7,1]],"date-time":"2013-07-01T12:14:24Z","timestamp":1372680864000},"page":"859-869","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":32,"title":["Ground fluidization promotes rapid running of a lightweight robot"],"prefix":"10.1177","volume":"32","author":[{"given":"Tingnan","family":"Zhang","sequence":"first","affiliation":[{"name":"Georgia Institute of Technology, Atlanta, GA, USA"}]},{"given":"Feifei","family":"Qian","sequence":"additional","affiliation":[{"name":"Georgia Institute of Technology, Atlanta, GA, USA"}]},{"given":"Chen","family":"Li","sequence":"additional","affiliation":[{"name":"Georgia Institute of Technology, Atlanta, GA, USA"},{"name":"University of California at Berkeley, Berkeley, CA, USA"}]},{"given":"Pierangelo","family":"Masarati","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria Aerospaziale, Politecnico di Milano, Milano, Italy"}]},{"given":"Aaron M.","family":"Hoover","sequence":"additional","affiliation":[{"name":"University of California at Berkeley, Berkeley, CA, USA"},{"name":"Franklin W. Olin College of Engineering, Needham, MA, USA"}]},{"given":"Paul","family":"Birkmeyer","sequence":"additional","affiliation":[{"name":"University of California at Berkeley, Berkeley, CA, USA"}]},{"given":"Andrew","family":"Pullin","sequence":"additional","affiliation":[{"name":"University of California at Berkeley, Berkeley, CA, USA"}]},{"given":"Ronald S.","family":"Fearing","sequence":"additional","affiliation":[{"name":"University of California at Berkeley, Berkeley, CA, USA"}]},{"given":"Daniel I.","family":"Goldman","sequence":"additional","affiliation":[{"name":"Georgia Institute of Technology, Atlanta, GA, 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