Comparative Studies Reveal Principles of Movement on and Within Granular Media. Ding, Y., Gravish, N., Li, C., Maladen, R., D., Mazouchova, N., Sharpe, S., S., Umbanhowar, P., B., & Goldman, D., I. In Natural Locomotion in Fluids and on Surfaces, The IMA Volumes in Mathematics and its Applications, volume 155, pages 281-292, 2012.
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