Propulsion by reciprocal motion into granular media

The force experienced by an object moving in a granular medium is a necessary input to describe locomotion problems in such a context. Towards this objective, resistive force theory (RFT) has been developed for granular flows inspired by previous developments in the case of viscous flows. In viscous fluids, a reciprocal motion does not lead to a net propulsion due to the kinematics reversibility of viscous flows that is included in the RFT. We show that, in a granular medium, a reciprocal motion allows for propulsion. We investigate the specific mechanisms underlying this propulsion and discuss how they differ from that of viscous flows. Understanding these phenomena permit both the accurate description of locomotion in sand and the refinement of the RFT for granular materials. These achievements provide opportunities towards the development of robots that are able to progress inside granular media and are suitable for controlling industrial processes.