Terradynamically streamlined shapes in animals and robots enhances traversability through densely cluttered terrain

@article{Li2015TerradynamicallySS,
  title={Terradynamically streamlined shapes in animals and robots enhances traversability through densely cluttered terrain},
  author={Chen Li and Andrew O. Pullin and Duncan W. Haldane and Han K Lam and Ronald S. Fearing and Robert J. Full},
  journal={Bioinspiration \& biomimetics},
  year={2015},
  volume={10 4},
  pages={
          046003
        }
}
Many animals, modern aircraft, and underwater vehicles use fusiform, streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through cluttered terrain where three-dimensional, multi-component obstacles like grass, shrubs, vines, and leaf litter also resist motion, but it is unknown whether their body shape plays a major role in traversal. Few ground vehicles or terrestrial robots have… 
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