Compliant Fins for Locomotion in Granular Media

In this paper, we present an approach to study the behavior of compliant plates in granular media and optimize performance a robot that utilizes technique for mobility. From previous work fundamental tests on thin plate force generation inside media, introduce origami-inspired mechanism with non-linear compliance joints can be used propulsion. This concept one-sided joint limits create asymmetric gait cycle avoids more complicated alternatives often found other swimming/digging robots. To analyze its locomotion as well shape propulsive force, utilize Resistive Force Theory (RFT) starting point. Adding theory enables us predict time-based evolution when they are dragged rotated. It also permits rational design swimming robots where fin variables may optimized against characteristics medium. is done using Python-based dynamic simulation library model deformation aspects robot's gait. Finally, prototype test modelling techniques mentioned above.