Youtube channel


Terradynamics of Legged Locomotion on Flowable Ground

Li et al. 2013, Science

Legged Robot Running on Granular Media

Legged Robot Running on Granular Media – Experiment

Legged Robot Running on Granular Media – Simulation

Resistive Force Measurement using A Plate Element

Direct Measurement of Force on Robot Leg

Resistive Force Theory Prediction of Force on Robot Leg

Simulation of Legged Robot on Mars using Terradynamics


Multi-functional Foot Use on Solid Ground vs. Granular Media

Li et al. 2012, Journal of Experimental Biology

Zebra-Tailed Lizard Running on Solid Ground

Zebra-Tailed Lizard Running on Granular Media


Leg Morphology Affects Locomotion on Solid Ground & Granular Media

Li et al. 2010, Proceedings of SPIE

DASH on Solid Ground

RoACH on Solid Ground

DASH on Granular Media

RoACH on Granular Media


Sensitive Dependence of Legged Locomotion on Granular Media

Li et al. 2009, PNAS

SandBot Stuck with Gait Tuned for Solid Ground

SandBot Moving with Gait Tuned for Granular Media

Control of Granular Media Compaction by Air Fluidized Bed

SandBot on Granular Media of Different Compactions

SandBot Walking Mode

SandBot Swimming Mode